PATENT DOCUMENT

Publication Number: US-10768738-B1
Application Number: US-201715717543-A
Country: US
Kind Code: B1

Title: Electronic device having a haptic actuator with magnetic augmentation

Abstract:
Disclosed herein are electronic devices having piezoelectric haptic actuators to generate haptic output. The haptic actuators can be configured as a beam with a bendable material layer and a piezoelectric material layer the cause the beam to bend. The bending force can be increased by coupling a magnet to the beam and positioning a ferritic plate near the magnet. Alternatively, a ferritic plate can be attached to the beam, with the magnet positioned apart from, but near, the plate. The haptic actuator can have a two-sided piezoelectric configuration, having a piezoelectric layer on each side of the bendable material layer. A two-sided piezoelectric configuration can have a second magnet and ferritic plate pair on a side of the beam opposite the first. The haptic actuator may use electromagnets.

Claims:
What is claimed is: 
     
       1. An electronic device, comprising:
 an enclosure defining an interior volume and an exterior surface; 
 a haptic actuator positioned within the interior volume and comprising:
 an elongated substrate having a first end that is fixed with respect to the enclosure and a second end that is free to move in an actuation direction that is transverse to a length of the elongated substrate; 
 a piezoelectric layer attached to a side of the elongated substrate; 
 a first magnetic element positioned proximate to a first side of the second end of the elongated substrate and offset from the elongated substrate, the first magnetic element fixed relative to the enclosure such that the first magnetic element remains stationary when the elongated substrate moves in the actuation direction; and 
 a second magnetic element positioned proximate to a second side of the second end of the elongated substrate and offset from the elongated substrate, the second magnetic element fixed relative to the enclosure such that the magnetic element remains stationary when the elongated substrate moves in the actuation direction; and 
 
 control circuitry configured to apply an actuation signal to the piezoelectric layer; wherein:
 in response to the actuation signal, the piezoelectric layer causes the elongated substrate to move along the actuation direction; and 
 movement of the elongated substrate causes an actuator tab to contact an interior portion of the enclosure to produce a localized deflection along the exterior surface of the enclosure. 
 
 
     
     
       2. The electronic device of  claim 1 , wherein:
 the electronic device further comprises a touch-sensitive display positioned at least partially within the enclosure; 
 the touch-sensitive display is configured to receive touch input; and 
 the haptic actuator is configured to produce the localized deflection in response to the touch input. 
 
     
     
       3. The electronic device of  claim 1 , wherein the actuator tab is integrally formed with the elongated substrate. 
     
     
       4. The electronic device of  claim 1 , wherein:
 the haptic actuator further comprises a third magnetic element coupled to the elongated substrate and positioned at the second end of the elongated substrate; and 
 the first magnetic element comprises a ferritic plate positioned proximate to the second end of the elongated substrate and separated from the third magnetic element by a gap. 
 
     
     
       5. The electronic device of  claim 4 , wherein the third magnetic element comprises a Halbach array oriented to have a face producing a strongest magnetic field directed toward the ferritic plate. 
     
     
       6. The electronic device of  claim 4 , wherein the piezoelectric layer is a first piezoelectric layer, the ferritic plate is a first ferritic plate, the gap is a first gap, and further comprising:
 a second piezoelectric layer attached to the elongated substrate opposite to the side of the elongated substrate with the first piezoelectric layer; 
 and 
 a second ferritic plate positioned proximate to the second end of the elongated substrate and separated from the second magnetic element by a second gap; wherein: 
 in response to the actuation signal, the first piezoelectric layer and the second piezoelectric layer cause the elongated substrate to move along the actuation direction. 
 
     
     
       7. The electronic device of  claim 6 , wherein, in an absence of the actuation signal, the elongated substrate has a single stable equilibrium position that is substantially equidistant from the first ferritic plate and the second ferritic plate. 
     
     
       8. The electronic device of  claim 6 , wherein, in an absence of the actuation signal:
 the elongated substrate has a first stable equilibrium position when displaced towards the first ferritic plate, and 
 the elongated substrate has a second stable equilibrium position when displaced towards the second ferritic plate. 
 
     
     
       9. The electronic device of  claim 1 , wherein:
 the electronic device includes a display; 
 the enclosure includes a cover sheet positioned over the display and forming a portion of the exterior surface; and 
 the localized deflection is along a surface of the cover sheet. 
 
     
     
       10. The electronic device of  claim 1 , wherein:
 the elongated substrate is one of an array of elongated substrates positioned parallel to each other, each having a first end fixed with respect to the enclosure and a second end that is free to move; 
 a respective piezoelectric layer is positioned along a respective side of each elongated substrate of the array of elongated substrates; 
 a respective magnetic element is positioned on each elongated substrate; and 
 each elongated substrate of the array of elongated substrates is configured to cause a corresponding localized deflection at a respective location on the exterior surface of the electronic device. 
 
     
     
       11. An electronic device, comprising:
 an enclosure; and 
 a haptic actuator positioned within the enclosure and comprising:
 an elongated substrate having a fixed end and a free end opposite to the fixed end, the free end being free to move in an actuation direction; 
 an actuator tab positioned at the free end of the elongated substrate and extending in a direction that is transverse to a length of the elongated substrate; 
 a piezoelectric layer coupled to the elongated substrate; 
 a first ferritic plate coupled to a first side of the elongated substrate and positioned toward the free end of the elongated substrate; 
 a second ferritic plate coupled to a second side of the elongated substrate and positioned toward the free end of the elongated substrate; 
 a first magnet structure positioned near the free end and on the first side of the elongated substrate and separated from the first ferritic plate by a first gap, the first magnet structure fixed relative to the enclosure while the elongated substrate moves in the actuation direction; 
 a second magnet structure positioned near the free end and on the second side of the elongated substrate and separated from the second ferritic plate by a second gap, the second magnet structure fixed relative to the enclosure while the elongated substrate moves in the actuation direction; and 
 a control unit operatively coupled to the piezoelectric layer and configured to cause the elongated substrate to move along the actuation direction and cause the actuator tab to contact the enclosure to produce a tactile output along an exterior surface of the enclosure. 
 
 
     
     
       12. The electronic device of  claim 11 , wherein:
 the control unit is configured to apply an actuation signal to the piezoelectric layer to cause the elongated substrate to move the first ferritic plate toward the first magnet structure; and 
 the control unit is configured to apply a de-actuation signal to the piezoelectric layer to cause the first ferritic plate to move away from the first magnet structure. 
 
     
     
       13. The electronic device of  claim 11 , wherein the actuator tab is integrally formed with the elongated substrate. 
     
     
       14. The electronic device of  claim 11 , wherein:
 the piezoelectric layer is a first piezoelectric layer, and 
 the haptic actuator further comprises a second piezoelectric layer positioned on a side of the elongated substrate opposite to the first piezoelectric layer. 
 
     
     
       15. The electronic device of  claim 14 , wherein:
 the control unit is configured to apply a first actuation signal to the first piezoelectric layer; and 
 the control unit is configured to apply a second actuation signal to the second piezoelectric layer. 
 
     
     
       16. The electronic device of  claim 11 , wherein:
 the first magnet structure is an electromagnet; 
 the control unit controls a current through the electromagnet; and 
 a magnetic pole of the electromagnet is oriented toward the first ferritic plate. 
 
     
     
       17. An electronic device comprising:
 an enclosure defining an interior volume and an exterior surface of the electronic device; 
 a display positioned at least partially within the interior volume; and 
 a haptic actuator positioned within the interior volume and comprising:
 an elongated substrate having a free end that is free to move along a nonlinear path; 
 a piezoelectric layer positioned along a side of the elongated substrate; 
 a first magnet structure coupled to a first side of the elongated substrate and positioned toward the free end of the elongated substrate; 
 a second magnet structure positioned near the first side of the free end of the elongated substrate and separated from the first magnet structure by a first gap, the second magnet structure fixed with respect to the enclosure such that the second magnet structure remains stationary as the free end moves along the nonlinear path; 
 a third magnet structure coupled to a second side of the elongated substrate and positioned toward the free end of the elongated substrate; 
 a fourth magnet structure positioned near the second side of the free end of the elongated substrate and separated from the third magnet structure by a second gap, the fourth magnet structure fixed with respect to the enclosure such that the fourth magnet structure remains stationary as the free end moves along the nonlinear path; and 
 a control unit configured to apply an actuation signal to the piezoelectric layer; wherein:
 in response to the actuation signal, the piezoelectric layer causes the free end of the elongated substrate to move along the nonlinear path to produce a tactile output along the exterior surface of the enclosure. 
 
 
 
     
     
       18. The electronic device of  claim 17 , wherein:
 the second magnet structure is an electromagnet; 
 the control unit is configured to control a current in the electromagnet; 
 a magnetic pole of the first magnet structure is oriented toward the second magnet structure; and 
 a magnetic pole of the second magnet structure is oriented toward the first magnet structure. 
 
     
     
       19. The electronic device of  claim 17 , wherein:
 the piezoelectric layer is a first piezoelectric layer and 
 the haptic actuator further comprises a second piezoelectric layer positioned on the elongated substrate opposite the first piezoelectric layer. 
 
     
     
       20. The electronic device of  claim 19 , wherein:
 the fourth magnet structure is an electromagnet; and 
 the control unit is configured to apply a de-actuation signal to the second magnet structure and the fourth magnet structure such that:
 the first magnet structure is subjected to a first repulsion force by the second magnet structure; and 
 
 the third magnet structure is subjected to a second repulsion force by the fourth magnet structure.

Description:
FIELD 
     This disclosure generally relates to an electronic device having a haptic actuator; and more specifically, an electronic device having a haptic actuator with a piezoelectric cantilever configured to produce a tactile output along a surface of the device. 
     BACKGROUND 
     Electronic devices include a variety of ways to provide feedback or output to a user. For example, many traditional electronic devices include a display that can be used to produce a visual output or feedback to the user. Many electronic devices may also include a speaker or other audio component for providing an acoustic output or feedback to a user. The embodiments described herein are directed to an electronic device having a haptic actuator for producing another type of output. In particular, the embodiments described herein are directed to a haptic actuator that is configured to produce a tactile output or feedback along an exterior surface of the device. The haptic actuators described herein may be particularly well suited for integration into portable electronic devices where space is limited. 
     SUMMARY 
     This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description section. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter. 
     Disclosed herein are electronic devices that have haptic actuators that create haptic or tactile outputs on an exterior surface of the electronic device. The haptic actuators use various configurations of piezoelectric structures configured to bend or move in response to actuation signals. 
     More specifically, described herein is an electronic device having an enclosure defining an exterior surface and an interior volume, in which is a haptic actuator. The haptic actuator comprises an elongated substrate with a first end fixed with respect to the enclosure, and a second end free to move in an actuation direction transverse to a length of the elongated substrate. The elongated substrate has attached along one side a piezoelectric layer. A magnetic element is coupled to the elongated substrate towards its second end. A ferritic plate is positioned near, but separate from, the magnetic element to form a gap. The haptic actuator also includes control circuitry that applies an actuation signal to the piezoelectric layer which causes a movement of the elongated substrate, which then causes a localized deflection of the enclosure along the exterior surface. Additionally, the haptic actuator may have an actuator tab positioned toward the second end of the elongated substrate. 
     Additional and/or other embodiments have two piezoelectric layers positioned on opposite sides of the elongated substrate, two magnetic elements on opposite sides of the elongated substrate, and two ferritic plates on opposite sides of the elongated substrate. For such embodiments there may be a single stable state in which magnetic attraction forces balance the elongated substrate between the two ferritic plates. Alternatively, there may be two stable states, in which the elongated substrate is bent toward the first or the second ferritic plate. 
     Also described herein is an electronic device having an enclosure defining an exterior surface and an interior volume that includes a haptic actuator. The haptic actuator comprises an elongated substrate with a first end fixed with respect to the enclosure, and a second end free to move in an actuation direction transverse to a length of the elongated substrate. The elongated substrate has a piezoelectric layer attached along one side. A ferritic plate is coupled to the elongated substrate towards its second end. A magnet structure is positioned near, but separate from, the ferritic plate to form a gap. A control unit is configured to apply an actuation signal to the piezoelectric layer, which causes the elongated substrate to move along the actuation direction, which causes a tactile output at the exterior surface of the electronic device. Additionally, the haptic actuator may have an extension positioned toward the second end of the elongated substrate. The magnet structure may be implemented as a Halbach array, or as an electromagnet. When an electromagnet is used, the control unit may also be able to apply a de-actuation signal to the piezoelectric layer to cause the elongated substrate to bend so that the magnet structure and the ferritic plate move apart. 
     Additional and/or alternative embodiments have two piezoelectric layers positioned along opposite sides of the elongated substrate, two ferritic plates coupled to the elongated substrate on opposite sides, and two magnet structures placed near but separate from the ferritic plates. For such embodiments there may be a single stable state in which magnetic attraction forces balance the elongated substrate between the two magnet structures. Alternatively, there may be two stable states, in which the elongated substrate is bent toward the first or the second magnet structure. 
     Also described herein is an electronic device having an enclosure defining an exterior surface, an interior surface, and an interior volume that includes a haptic actuator. The haptic actuator comprises an elongated substrate with a first end fixed with respect to the enclosure, and a second end free to move in an actuation direction transverse to a length of the elongated substrate. The elongated substrate has two piezoelectric layers attached along opposite sides. A first magnet structure is coupled to the elongated substrate towards its second end. A second magnet structure is positioned near, but separate from, the first magnet structure to form a gap. A control unit is configured to apply an actuation signal to the piezoelectric layers, which cause the elongated substrate to move along the actuation direction, which causes a tactile output at the exterior surface of the electronic device. In additional and/or alternative embodiments, the second magnet structure is an electromagnet, with current controlled by the control unit, and magnetic poles of the first and the second magnet structures oriented toward each other. 
     In additional and/or alternative embodiments, a third magnet structure is coupled to the elongated substrate toward the second end, and a fourth magnet structure positioned near but separate from the third magnet structure to form a corresponding gap. The fourth magnet structure can be an electromagnet, and the control unit can apply a de-actuation signal to at least one of the electromagnets to cause a repulsion force. 
    
    
     
       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. 
         FIG. 1A  illustrates a front of an electronic device. 
         FIG. 1B  illustrates a back of an electronic device. 
         FIG. 1C  illustrates a mechanism for producing a tactile output along a surface of an electronic device. 
         FIG. 1D  illustrates a mechanism for producing a tactile output along a surface of an electronic device. 
         FIG. 1E  illustrates a mechanism for producing a tactile output through holes in the surface of an enclosure of an electronic device. 
         FIG. 1F  illustrates a switch mechanism having a contact on a bendable arm. 
         FIG. 2A  illustrates an example actuator for producing a tactile output. 
         FIG. 2B  illustrates an actuated state of the example actuator of  FIG. 2A . 
         FIG. 2C  illustrates another example actuator for producing a tactile output. 
         FIG. 2D  illustrates an actuated state of the example actuator of  FIG. 2C . 
         FIG. 2E  illustrates another example actuator for producing a tactile output. 
         FIG. 2F  illustrates an actuated state of the example actuator of  FIG. 2E . 
         FIG. 3A  illustrates a side view of a haptic actuator with magnetic augmentation. 
         FIG. 3B  illustrates a side view of a haptic actuator with magnetic augmentation. 
         FIG. 4A  illustrates a side view of a haptic actuator with magnetic augmentation. 
         FIG. 4B  illustrates a side view of a piezoelectric structure with magnetic augmentation. 
         FIG. 5A  illustrates a cutaway top view through an enclosure of an electronic device with a haptic actuator having an array of piezoelectric structures. 
         FIG. 5B  illustrates a side view of the haptic actuator array of  FIG. 5A . 
         FIG. 6  illustrates a side view of a piezoelectric structure having a Halbach array of magnets for magnetic augmentation. 
         FIG. 7  illustrates a side view of a piezoelectric structure having an electromagnet for magnetic augmentation. 
         FIG. 8  illustrates a configuration of magnets on a piezoelectric structure. 
         FIG. 9  illustrates a configuration of magnet structures on a piezoelectric structure and complementary electromagnets. 
         FIG. 10  shows a block diagram of components of an electronic device. 
     
    
    
     The use of cross-hatching or shading in the accompanying figures is generally provided to clarify the boundaries between adjacent elements and also to facilitate legibility of the figures. Accordingly, neither the presence nor the absence of cross-hatching or shading conveys or indicates any preference or requirement for particular materials, material properties, element proportions, element dimensions, commonalities of similarly illustrated elements, or any other characteristic, attribute, or property for any element illustrated in the accompanying figures. 
     Additionally, it should be understood that the proportions and dimensions (either relative or absolute) of the various features and elements (and collections and groupings thereof) and the boundaries, separations, and positional relationships presented therebetween, are provided in the accompanying figures merely to facilitate an understanding of the various embodiments described herein and, accordingly, may not necessarily be presented or illustrated to scale, and are not intended to indicate any preference or requirement for an illustrated embodiment to the exclusion of embodiments described with reference thereto. 
     DETAILED DESCRIPTION 
     Reference will now be made in detail to representative embodiments illustrated in the accompanying drawings. It should be understood that the following descriptions are not intended to limit the embodiments to one preferred embodiment. To the contrary, it is intended to cover alternatives, modifications, and equivalents as can be included within the spirit and scope of the described embodiments as defined by the appended claims. 
     The embodiments described herein are directed to electronic devices having haptic actuators that use flexible piezoelectric structures to produce haptic or tactile outputs. The piezoelectric structures have one or more components or layers of piezoelectric material connected to a substrate or layer of bendable material. The piezoelectric materials may be actuated by, for example, applying a voltage or electrical signal, which causes the piezoelectric materials to expand or contract which, in turn, causes the flexible substrate to bend or flex. Bending or flexing of the flexible substrate may produce the haptic or tactile output. 
     Some example embodiments are directed to a cantilevered piezoelectric structure. For example, the piezoelectric structure may be configured as an elongated substrate (e.g., a beam or shaft) that is fixed at one end and extends towards a free end to define a cantilever structure. In response to actuation of a piezoelectric material coupled to the elongated substrate, the free end can move or oscillate along an actuation direction that is transverse to the length or long axis of the elongated substrate. The movement of the free end of the beam or shaft may follow an arced or nonlinear path. As used herein, “actuation direction” will refer to either of the two directions transverse to the long axis of the beam. The free end can be connected, either directly or indirectly, to a component of the electronic device on which the user can tactilely feel a touch, movement, or vibration. For example, the user may tactilely feel a local deformation of an exterior surface or the oscillations or vibrations of the haptic structure. 
     In some embodiments, an actuator tab or extension is connected to the free end and oriented in the actuation direction of the vibration or motion of the free end. The actuator tab or extension can contact an inner surface of a housing or enclosure of the electronic device so that movement of the haptic actuator causes a haptic or tactile output on an exterior surface of the housing. 
     The term “haptic actuator”, as used herein, may be used to refer to an actuator or device that can be used to produce a haptic or tactile output. A haptic output, depending on the implementation, may be generally used to refer to an output that may be sensed kinesthetically or tactilely by the user. As the name implies, a tactile output may be used to refer to an output that is sensed tactilely or through a touch of the user. 
     The haptic actuators described herein may include one or two piezoelectric elements and may be referred to as one-sided (also termed “unimorph”) or two-sided (also termed “bimorph”) piezoelectric structures, respectively. These terms and the corresponding description are provided by way of example and various implementations may use more than two piezoelectric elements and/or rearrange the various elements to achieve the same results and effects described herein. For purposes of this disclosure, the term one-sided piezoelectric structure may be used to refer to a structure in which the beam or elongated substrate contains a layer of piezoelectric material affixed to one side of the substrate. An applied voltage may cause the piezoelectric material to contract or expand, and so cause the substrate layer to bend or deflect. As used herein, the term two-sided piezoelectric structure may be used to refer to a structure in which a second layer of piezoelectric material is attached to the beam or elongated substrate along a side opposite to the first layer of piezoelectric material. If the first piezoelectric layer is made to contract, and the second piezoelectric layer is made to expand, an even larger bending force may be applied to the bendable substrate layer, enhancing the haptic output response. 
     For some implementations, it may be desirable to increase the movement to produce an increased haptic or tactile output. The bendable material of the elongated substrate typically exerts a restoring force that counteracts the bending force applied by the piezoelectric layers. Such a restoring force typically increases with the amount of bending or deflection, which may limit the effective stroke or movement that can be provided by a particular piezoelectric structure. To increase the movement or stroke of a haptic actuator, various embodiments described herein provide an augmenting force using the attraction between a magnet and a plate of ferritic material, or between a magnet and another magnet. When a pole of a magnet is directed to a ferritic plate or object, as the magnet approaches the ferritic material, the force on each increases. Embodiments disclosed below use various configurations of magnets and ferritic plates to augment the bending force applied by the piezoelectric material. In one embodiment, the haptic actuator has a cantilever configuration for a one-sided piezoelectric structure for the piezoelectric material and the bendable substrate. A magnet is affixed towards the free end of the actuator on one side, with one of its poles directed transverse to the long axis of the haptic actuator and toward a ferritic plate mounted apart or separate from the haptic actuator to leave a gap between the plate and the magnet. As the haptic actuator is bent by actuation of the piezoelectric layer, the force between the plate and magnet increases and so augments the bending or deflection of the haptic actuator. 
     As described herein, a more balanced configuration may be obtained using a two-sided piezoelectric structure, with a second magnet attached to the haptic actuator opposite the first magnet, and a second ferritic plate mounted near the second magnet but apart from the haptic actuator. A second force between the second magnet and the second plate is applied to the haptic actuator in a direction opposite to the first force between the first plate and the first magnet. These two augmentation forces can balance in the absence of actuation applied to the piezoelectric layers, producing to a single stable equilibrium position for the haptic actuator. 
     Other embodiments use alternative configurations and positions for the ferritic plates and magnets. For example, one or more ferritic plates may be positioned on the elongated haptic actuator structure, with the magnets mounted separate from the haptic actuator so as to leave a gap with their respective plates. The individual magnets themselves may be implemented as electromagnets, may be a Halbach array, or may have another implementation. 
     Further, although certain electronic devices are specifically mentioned as examples, the haptic actuators are not limited to those examples. 
     These and other embodiments are discussed below with reference to  FIGS. 1A-10 . However, those skilled in the art will readily appreciate that the detailed description given herein with respect to these Figures is for explanatory purposes only and should not be construed as limiting. 
       FIG. 1A  shows an electronic device  100  that may use various embodiments of the haptic actuators discussed below. The electronic device  100  in  FIG. 1A  may be a smart phone, a tablet computer, a personal electronic device, a wearable electronic device, or any other type of electronic device. The electronic device  100  shown includes an enclosure  102  defining an interior volume of the electronic device  100 . The enclosure  102  includes a housing and cover sheet (e.g., cover glass) that define an exterior surface  103 . The exterior surface (hereinafter “surface”) may include any exterior surface of the device  100  including a display, housing, cover, case, or other component forming a portion of an exterior of the device  100 . 
     As shown in  FIG. 1A , the device  100  may include a display  105  that is configured to produce a graphical or visual output for the device  100 . The display  105  may include or be positioned below a cover sheet, such as a cover glass or cover made from another transparent material. The display  105  may include a liquid-crystal display (LCD) element, an organic light-emitting diode (OLED) element, an electroluminescent (EL) element, or other type of display element that can be configured to produce a graphical or visual output for the device  100 . 
     In some implementations, the display  105  is a touch-sensitive display that includes a touch sensor configured to receive touch input. The touch sensor may include an array of capacitive nodes that are configured to detect the presence and location of a user&#39;s finger. The electronic device  100  may also have one or more dedicated mechanisms, such as a push button  104 , by which a user can provide a button-press input. The device  100  may be responsive to the touch input or button-press input and may be configured to perform a function or produce a corresponding output in response to the touch input. For example, the device  100  may include one or more haptic actuators, as described herein, that are configured or that are operable to produce a tactile output in response to a touch input detected using the touch-sensitive display. 
     In the example of  FIG. 1A , one or more haptic actuators may be configured to produce a tactile output along the exterior surface  103  of the device  100  (e.g., the surface of the cover sheet or cover glass). As shown in  FIG. 1A , the external surface  103  of the enclosure  102  may locally deform or deflect to create a protrusion  106   a  or a recess  106   b . The protrusion  106   a  may form a protrusion that is sufficiently raised to be tactically perceptible to the user. Similarly, the recess  106   b  may be sufficiently recessed to be tactically perceptible to the user. In some cases, the degree of deflection may range between 0.1 mm to 1 mm or greater. The tactile output due to the protrusion  106   a  or the recess  106   b  may depend on the amount of deflection, as well as the speed and/or location of the deflection. In some cases, multiple local deflections are used in combination to produce a particular tactile output. 
       FIG. 1B  depicts a rear view of a device having a haptic actuator, in accordance with the embodiments described herein. More specifically,  FIG. 1B  depicts an electronic device  100  that includes a haptic actuator configured to produce a tactile output along a rear portion of the exterior surface  103  of the enclosure  102 . In this example, one or more haptic actuators may be configured or operable to produce a local deformation that is tactically perceptible to a user. As shown in  FIG. 1B , the rear portion of the exterior surface  103  of the enclosure  102  may locally deform or deflect to create a protrusion  107   a  or a recess  107   b.    
     The embodiments of  FIGS. 1A and 1B  may be implemented together or separately. Specifically, the device  100  may be configured to produce a tactile output along the front surface (e.g., through the display and/or cover sheet), along the back surface (e.g., through the housing or enclosure), or along both the front and back surfaces of the device  100 . While the examples of  FIGS. 1A and 1B  depict a local deformation, the device may be configured to produce a tactile or haptic output in accordance with any one or more of the following examples depicted below with respect to  FIGS. 1C-1F . 
       FIG. 1C  and  FIG. 1D  depict cross-sectional views of the device of  FIGS. 1A and 1B . In particular,  FIGS. 1C and 1D  illustrate how a haptic actuator may be used to create a localized deflection of the enclosure  102 .  FIG. 1C  depicts a cross-sectional view A-A of  FIG. 1A  illustrating a localized deflection or protrusion  106   a .  FIG. 1D  depicts a cross-sectional view B-B of  FIG. 1A  illustrating a localized deflection or recess  106   b . In both of these examples, the enclosure  102  may be locally deformed to create the tactile output. The portion of the enclosure  102  may correspond to the cover sheet and/or display of  FIG. 1A  or the rear surface of the enclosure  102  of  FIG. 1B . The haptic actuator, including in this example an arm  110  and an actuator tab  108 , may be positioned within an interior volume defined by the enclosure  102  of the electronic device  100 . 
     The localized deflection may be caused by the extension or actuator tab  108   a ,  108   b  exerting a contact force outward against an interior surface of the enclosure of the electronic device  100 . As explained in more detail below, an actuator tab  108   a ,  108   b  may contact or otherwise interface with the interior surface of the electronic device  100  to cause the localized deflection. The actuator tab may be actuated or moved due to a bending or deflection of an arm  110  of a haptic actuator, which moves the actuator tab  108  along an actuation direction (e.g., vertically as depicted). 
       FIG. 1D  shows an inward localized deflection  106   b  (e.g., dimple or recess) along an exterior surface of the enclosure, which may be tactically perceived by a user. The actuator tab  108  may be coupled to an inner surface or feature of the enclosure. For example, the actuator tab  108   b  may be coupled to the enclosure  102  by an adhesive or fastener so that a downward movement of the arm  110  of the haptic actuator causes a localized deflection or recess  106   b.    
       FIG. 1E  shows a side view of another embodiment configured to produce a tactile or haptic output at a surface  102  of an enclosure of an electronic device. The arm  110  and the actuator tab  108  are positioned beneath an opening  116  in the enclosure  102 . Actuation that causes the arm  110  to move upward can cause the actuator tab  108  to extend through the opening  116 . The extension of the actuator tab  108  through the opening  116  may be tactically perceived by the user. For example, the user may feel a top or upper portion of the actuator tab  108  that protrudes through the opening  116  using his or her finger. Alternatively, the actuator tab  108  may be moved downward or away from the external surface to define a depression or recess through the opening  116  that may be tactically perceived by the user. 
       FIG. 1F  shows a side view of an embodiment of an alternate use of the haptic actuators disclosed herein in electronic devices, such as electronic device  100 . Though the embodiment does not directly produce a tactile or haptic output on an enclosure of an electronic device, the actuation mechanisms may use various embodiments disclosed herein.  FIG. 1F  shows a configuration of an electrical switch having a first contact  112  on an underside of the enclosure  102  of the electronic device  100  and a second contact  114  on the surface of the nob or actuator tab  108 . The haptic actuator may cause the arm  110  to deflect upwards to cause the switch to close. Alternatively, the first contact  112  and second contact  114  may be in contact at rest, so that a downward deflection of the arm  110  causes the switch to open. The second contact  114  extends through the arm  110  to other sections or components of the circuit. 
     Though the embodiments disclosed below are described with respect to an electronic device  100  of  FIGS. 1A-1F , the embodiments are not limited to that application or specific implementations. For example, the haptic devices described herein may also be implemented on a variety of devices including, without limitation, notebook computers, tablet computers, desktop computers, portable display devices, wearable electronic devices (e.g., smart watches), personal digital assistants, braille readers, health monitoring devices, and the like. 
       FIGS. 2A and 2B  show an embodiment of a haptic actuator  200   a  having a one-sided piezoelectric configuration or structure. The one-sided piezoelectric structure shown includes a bendable elongated substrate  204  having an elongated dimension and a piezoelectric layer  202  positioned along a side of the elongated substrate  204 . The piezoelectric layer  202  may be coupled (e.g., attached or fixed) with respect to the side of the elongated substrate  204 . While shown as a flat planar section, the elongated substrate  204  may be shaped as an elongated round beam, or other elongated shape. The elongated substrate  204  may be made of an appropriate flexible material. In some embodiments, the flexible material can be stainless steel, aluminum, other metals or alloys, polymers, ceramics or other materials. 
     The elongated substrate  204  has a first end that is fixed with respect to the enclosure of the device. In this example, the elongated substrate  204  is attached to a support structure  206   a  which may form part of the enclosure or be attached to the enclosure. The elongated substrate  204  also has a second, free end that is free to move in an actuation direction. In some cases, the free end moves along a nonlinear path as the elongated substrate  204  bends or deflects. The elongated substrate  204  may also be described as a cantilever or cantilevered structure. 
     The haptic actuator  200   a  also includes an extension or actuator tab  108  positioned along an end of the elongated substrate  204 . The actuator tab  108  may interface with or contact the enclosure to create a tactile output. Specifically, as described above with respect to  FIGS. 1A-1F , the actuator tab  108  may be used to create a localized deformation or other feature that may be tactically perceptible to the user. 
     In the example of  FIGS. 2A and 2B , the haptic actuator  200   a  includes a single piezoelectric layer  202  connected along a side of the elongated substrate  204 . The piezoelectric layer  202  can be actuated by applying a voltage or other actuation signal to cause the piezoelectric material to either expand or contract in a direction substantially aligned with the length or elongated dimension of the elongated substrate  204 . For example, a voltage may be applied to opposite ends of the piezoelectric layer  202 . The voltage or electrical signal may be applied between a first end, located proximate to the support structure  206   a , and a second end, located proximate the free end of the elongated substrate  204 . 
     The piezoelectric layer  202  may be operatively coupled to control circuitry through a series of conductive traces or other type of electrical conduit. The electrical traces may be formed along or within the elongated substrate  204 . The electrical connections can be implemented as a separate layer (e.g., a flexible substrate or flexible circuit) within the haptic actuator  200   a . The control circuitry may be configured to apply an actuation signal (e.g., a voltage or a current signal) to the piezoelectric layer  202 . A more detailed description of example control circuitry is provided below with respect to  FIG. 10 . In some embodiments, a first actuation signal, such as a first polarity of voltage, can cause a contraction of the piezoelectric layer  202 , and a second actuation signal, such as the opposite polarity of voltage, can cause an expansion of the piezoelectric layer  202 . Expansion and contraction of the piezoelectric layer  202  may cause the elongated substrate  204  to bend or deflect resulting in the free end of the elongated substrate  204  (and the actuator tab  108 ) to move along an actuation direction or nonlinear path. 
       FIG. 2B  illustrates the haptic actuator  200   a  bent or deflected when the piezoelectric layer  202  is actuated by an actuation signal. In  FIG. 2B , the actuation signal applied to the piezoelectric layer  202  has caused it to contract. The contraction then forces the elongated substrate  204  to bend towards the piezoelectric layer in response and move along an actuation direction or nonlinear path. This moves the extension or actuator tab  108  along an actuation direction from the rest position it had in the unactuated state shown in  FIG. 2A . The amount of deflection or bend shown may be an exaggeration of that used in some embodiments. For small deflections, the displacement of the extension or actuator tab  108  may be substantially vertical. 
     However, due to the cantilevered support configuration, the actuator tab  108  may also be described as moving along a nonlinear path. 
       FIGS. 2C-D  show an embodiment of a haptic actuator  200   b  having a two-sided piezoelectric configuration or structure. In the two-sided piezoelectric structure shown, the haptic actuator  200   b  includes a flexible elongated substrate  210 . As with the elongated substrate  204  of  FIG. 2A , the elongated substrate  210  may be shaped as a flat planar section, an elongated round beam, or other elongated shape. Similarly, the elongated substrate  210  may be made of an appropriate flexible material such as stainless steel, another metal, a flexible plastic or other material. 
     In the two-sided piezoelectric structure of  FIG. 2C  there are two piezoelectric layers positioned along and/or attached to opposite sides of the elongated substrate  210 . A first piezoelectric layer  208   a  is attached along a first side of the elongated substrate  210 , and a second piezoelectric layer  208   b  is attached to another side of the elongated substrate  210 . In the embodiment shown, the piezoelectric layers  208   a ,  208   b  are on opposite sides of the elongated substrate  210 , and are approximately equal in length in order to provide balanced forces in each direction. Other embodiments may use different positions and lengths for a pair of piezoelectric layers. 
     The haptic actuator  200   b  also includes a support structure  207  to which a first end of the elongated substrate  210  is fixed. The opposite end is free to move along a nonlinear path formed as the elongated substrate  210  pivots or bends about the fixed first end. At the opposite end of the elongated substrate  210  is a pin, actuator tab  108 , or other structure that can create a haptic or tactile sensation along a surface of an enclosure of an electronic device when haptic actuator  200   b  is actuated. The piezoelectric layers  208   a ,  208   b  may be attached to the support structure  207  or, in an alternative embodiment the piezoelectric layers  208   a ,  208   b  are separated from the support structure  207  by a gap or space. In the particular embodiment shown if  FIG. 2C , both the piezoelectric layers  208   a ,  208   b  and the elongated substrate  210  extend into the support structure  207 . As with the haptic actuator  200   a , electrical traces, an electrical conduit (e.g., a flex circuit) or other electrical connection may be used to operably couple the piezoelectric layers  208   a ,  208   b  to control circuitry that is configured to apply an actuation signal(s) to the piezoelectric layers  208   a ,  208   b . The electrical connections may be through or on the elongated substrate  210 . Alternatively, the electrical connections can be implemented as a separate component (e.g., a flex circuit, printed circuit board, or wires) that are electrically coupled to the piezoelectric layers  208   a ,  208   b.    
     In some implementations, the two piezoelectric layers  208   a ,  208   b  may be configured to receive respective complementary actuation signals that cause one to contract and the other to expand. The complementary actuation signals may exert two bending forces along the elongated substrate  210  causing it to bend or deflect along an actuation direction (e.g., along a nonlinear path). In the situation shown in  FIG. 2C , the actuation direction is transverse to a length of the elongated substrate  210  (e.g., substantially vertical, as depicted). When no signals or balanced signals are applied to the two piezoelectric layers  208   a ,  208   b , the elongated substrate  210  may remain in a stable equilibrium position in which the elongated substrate  210  is un-deflected or substantially straight. 
       FIG. 2D  depicts the haptic actuator  200   b  in an actuated state. Specifically, in  FIG. 2D , the top piezoelectric layer  208   a  may be actuated to contract into a contracted state, and the bottom piezoelectric layer  208   b  may be actuated to expand into an expanded state. As a result of the actuation of the piezoelectric layers  208   a ,  208   b , the elongated substrate  210  may bend or deflect resulting in the free end (and the actuator tab  108 ) moving in an actuation direction that is transverse to the length or elongated dimension of the elongated substrate  210 . Due to the cantilevered support, the actuation may cause a movement of the free end (and the actuator tab  108 ) that is along a nonlinear path. For sufficiently small movements, the path may be substantially vertical or almost linear. 
       FIGS. 2E and 2F  depict an alternative embodiment  200   c  of the haptic actuator  200   b  shown in  FIGS. 2C-D . As with the haptic actuator  200   b , the haptic actuator  200   c  has at least two piezoelectric layers,  208   a ,  208   b , as in  FIGS. 2C-D . However, the haptic actuator  200   c  lacks the elongated substrate  210  in haptic actuator  200   b . The two piezoelectric layers  208   a  and  208   b  are coupled or linked to form a single beam that bends or deflects. The direction of the bending is determined by the signals applied to the two piezoelectric layers  208   a  and  208   b . When a first signal applied to piezoelectric layer  208   a  causes it to contract, and a second signal applied to the second piezoelectric layer  208   b  causes it to expand, the single beam deflects upwards, as depicted in  FIG. 2F . The piezoelectric layers  208   a  and  208   b  may be formed from a variety of piezoelectric materials. In some instances, one or both of the piezoelectric layers  208   a  and  208   b  may include a ceramic material that may provide a specific amount of stiffness to the beam or actuator. In some implementations, each of the two piezoelectric layers  208   a  and  208   b  may separately include multiple layers of one or more piezoelectric materials. In multi-layer configurations, the respective multiple layers associated with either of the piezoelectric layers  208   a ,  208   b  may be configured and/or electrically coupled to bend in the same direction as the other layers in either of the piezoelectric layers  208   a ,  208   b  in response to an actuation signal. 
     As shown in  FIGS. 2E and 2F , the actuator tab  108  is positioned toward the end of the beam formed by the linked piezoelectric layers  208   a  and  208   b . The two linked piezoelectric layers  208   a  and  208   b  are supported at one end at support structure  207 . The signal connections to piezoelectric layers  208   a  and  208   b  may through or support structure  207 . 
     The examples of  FIGS. 2A-2F  are provided by way of illustration and are not intended to be limiting in nature. With respect to the example haptic actuators  200   a ,  200   b , and  200   c , and in the following embodiments, variations of the shapes, positions, connections, and other properties of the piezoelectric layers, the elongated substrates and other components of haptic actuators may vary depending on the limitation and are considered within the scope of this disclosure. 
     As described in the examples of  FIGS. 3A-9 , the movement of a haptic actuator may be augmented so that the displacement and/or the force applied by movement of their free ends is increased, which may result in an improved or enhanced haptic or tactile output. As described in the following examples, the augmentation can be accomplished by various combinations of magnets, magnetic structures, and ferritic plates configured to apply additional or augmenting forces along the actuation direction. When such augmenting forces are applied towards the free end of an elongated substrate, a torque about the fixed end occurs, helping to deflect, bend, or move the elongated substrate. 
       FIG. 3A  is a cross section illustration of a first embodiment of certain components of a haptic actuator  300   a . The haptic actuator  300   a  includes a one-sided piezoelectric structure that includes an elongated substrate  304 , such as described above, and a piezoelectric layer  302  positioned along and/or attached to a side of the elongated substrate  304 . The support structure (omitted from this figure) fixes a first, fixed end of the elongated substrate  304  with respect to an enclosure or housing. The elongated substrate  304  also has a second, free end that is opposite to the fixed end and is free to move along an actuation direction  312  in response to an activation or actuation of the piezoelectric layer  302  by, for example, an actuation signal. At the free end is shown an actuator tab  108  or pin, such as described above, shown able to locally deflect an external surface of an enclosure  102  (e.g., a housing, cover sheet, cover glass) of the electronic device. 
     A magnetic element  306  is connected (e.g., attached) to the elongated substrate  304  proximate to the free end. The connection may be made by adhesive layers, by physical links such as screws or bolts, or by magnetic attraction between the magnetic element  306  and ferromagnetic material in the elongated substrate  304 . The magnetic element  306  may comprise one or more individual magnets. In some embodiments, the magnetic element  306  is a single permanent magnet and may include one or more elements formed from a ferromagnetic material. In other embodiments, the magnetic element  306  may comprise multiple individual magnets, such as in a Halbach array discussed below. In other embodiments, the magnetic element  306  may be an electromagnet, such as produced by a wire coil. In the illustrative embodiment shown, the magnetic element  306  is a single permanent magnet having a magnetic pole oriented perpendicular to the long axis of the elongated substrate  304 . In some embodiments, the magnetic element  306  may be positioned at or closer to the free end than the actuator tab  108 . 
     Positioned near the magnetic element  306  is a ferritic plate  308 . The ferritic plate  308  may include a ferromagnetic metal or alloy, such as steel alloys, ALNICO, nickel or cobalt alloys, or others. The ferritic plate  308  is positioned near the magnetic element  306  to define a gap or space between the ferritic plate  308  and the magnetic element  306 . The ferritic plate  308  is attached to a support component  310  (which may be formed within or attached to the enclosure) of the electronic device so that the ferritic plate  308  remains stationary during actuation of the piezoelectric layer  302  and movement of the elongated substrate  304 . 
     The magnetic element  306  experiences an attractive magnetic force toward the ferritic plate  308 , which is then felt by the elongated substrate  304  due to its connection to the magnetic element  306 . This magnetic force is in addition to any force applied by actuation of the piezoelectric layer  302 . The closer the magnetic element  306  and ferritic plate  308  are positioned towards the free end of the elongated substrate  304 , the greater the torque is about its fixed end, and hence the greater the potential motion in the actuation direction  312 . 
     In the configuration shown in  FIG. 3A , if the piezoelectric layer  302  is actuated to contract, the elongated substrate  304  then bends or moves upwards at the free end. In doing so, the gap between the magnetic element  306  and the ferritic plate  308  is reduced. By reducing the gap, the magnetic force between the magnetic element  306  and the ferritic plate  308  increases. This increase in force in the direction of motion is analogous physically to a spring with a negative spring constant, i.e., an increase in deflection in one direction increases a force in the direction of the deflection rather than opposite to the direction of deflection. Without the magnetic element  306  and the ferritic plate  308 , bending of the elongated substrate  304  caused by actuating the piezoelectric layer  302  would induce the material of the elongated substrate  304  to exert a restoring force to counteract the bending. In contrast, the increase in magnetic force between the magnetic element  306  and the ferritic plate  308  as they near each other induces a force in the direction of the bending. As a result, the restoring force produced by the elongated substrate  304  when deflected is counteracted, and the motive force caused by the piezoelectric layer  302  is augmented. This can cause the actuator tab  108  to apply a greater force on the enclosure  102 , for improved haptic or tactile output. 
     In a one-sided piezoelectric structure, as in  FIG. 3A , there may be some residual force between the magnetic element  306  and the ferritic plate  308  even when the haptic actuator  300   a  is not actuated and the elongated substrate  304  is not deflected by the piezoelectric layer  302 . This residual force may result in a slight deformation or bending of the elongated substrate  304  toward the ferritic plate  308 . Additionally and/or alternatively, a de-actuation signal can be applied to the piezoelectric layer  302 . Such a de-actuation signal may cause the piezoelectric layer  302  to expand slightly and cause the elongated substrate  304  to deflect (downward) so as to move the magnetic element  306  away from the ferritic plate  308 . The resulting counteracting force produced on the elongated substrate  304  may keep the elongated substrate  304  in an un-deflected position until there is a need to cause a haptic or tactile output. 
     The amount of the magnet force produced between the magnetic element  306  and the ferritic plate  308  can be selected based on the application of the electronic device  100 . In some embodiments, the magnetic force may not overcome the restoring force, so the elongated substrate  304  will have a single stable equilibrium position or state, having only some deflection and the gap only somewhat reduced. As described above, the position of the elongated substrate  304  can be adjusted by having the piezoelectric layer  302  apply a force so that one elongated substrate  304  has no deflection. 
     Alternatively, for a sufficiently strong magnetic force between the magnetic element  306  and the ferritic plate  308 , the natural restoring force caused by bending the elongated substrate  304  may be overpowered, leading to an alternate equilibrium position or state in which the magnetic element  306  and the ferritic plate  308  are in contact, or a physical stop component prevents the magnetic element  306  from contacting the ferritic plate  308 , or enough deflection of the elongated substrate  304  occurs to counterbalance the magnetic force. The haptic actuator  300   a  may be displaced from the equilibrium position or state by applying a counteracting force by actuating the piezoelectric layer  302 . Such a situation could be used when it is desired to produce a sustained protrusion or bump along the surface of the enclosure  102  that does not require an actuation signal or other input in order to produce the tactile output. A biased equilibrium position may also be used in combination with the switch configuration of  FIG. 1F  to provide a sustained contact when the haptic actuator  300   a  is in a passive or resting state. 
       FIG. 3B  is a cross section illustration of a second embodiment of certain components of a haptic actuator  300   b . The embodiment illustrated in  FIG. 3B  is a variant of that of  FIG. 3A : it has the one-sided piezoelectric configuration for the elongated substrate  304  and the piezoelectric layer  302 ; and the actuator tab  108  creates a haptic or tactile output on the exterior surface of an enclosure  102 , as described above. As in  FIG. 3A , the elongated substrate  304  can be deflected or moved in the actuation direction  312  by activation or actuation of the piezoelectric layer  302 . 
     The embodiment of  FIG. 3B  differs from that of  FIG. 3A  in that a ferritic plate  316  is attached to the elongated substrate  304 , and a magnetic structure  314  is attached to the support component  310 . The configuration and operations described above for the haptic actuator  300   a  also apply to the haptic actuator  300   b.    
     The embodiments of  FIGS. 3A-B  may have various advantages. The haptic actuator  300 A, for example, may need less adhesive to affix the magnetic element  306  to the elongated substrate  304  when the latter includes a ferromagnetic material. The configuration of haptic actuator  300   b , for example, may allow for easier use of an electromagnetic coil as the magnetic structure  314 . Other advantages will be apparent to one of skill in the art. 
       FIG. 4A  is a cross section view of another example haptic actuator  400   a . The haptic actuator  400   a  is configured with a two-sided piezoelectric structure having a flexible or bendable elongated substrate  404 , a first piezoelectric layer  402  attached and/or coupled to the elongated substrate  404  along one side, and a second piezoelectric layer  406  attached and/or coupled to the elongated substrate  404  along a second side. In this embodiment, the second side is opposite to the first side. This two-sided piezoelectric structure may operate similar to as described above with respect to  FIG. 2C . For clarity, the support structure of the haptic actuator  400   a  that anchors one end of the elongated substrate  404  is not shown, but is assumed to be at the left side of the two-sided piezoelectric structure. The haptic actuator  400   a  also has an extension or actuator tab (e.g., actuator tab  108 ), such as described above, connected to the free end of the cantilever beam formed by the elongated substrate  404 , but it is not shown for clarity of exposition. 
     The first and second piezoelectric layers  402 ,  406 , may be connected to a control unit capable of applying various respective actuation signals to each. The actuation signals provided by the control unit may be voltages to cause the first and second piezoelectric layers  402 ,  406  to expand or contract so that the elongated substrate  404  bends or moves in a desired direction. Alternatively, the signals provided by the control unit may cause the first and second piezoelectric layers  402 ,  406  to expand or contract to hold the elongated substrate  404  in a level position. The two-sided piezoelectric structure of haptic actuator  400   a  may operate as described above in relation to the embodiment of  FIGS. 2C and 2D  or the two-sided piezoelectric structure of  FIGS. 2E and 2F  to move the elongated substrate  404  in the actuation direction  420 . 
     A first magnet structure  412  is affixed to the first side of the elongated substrate  404 . A second magnet structure  414  is affixed to the second side of the elongated substrate  404 , opposite to the first magnet structure  412 . In the embodiment shown, the magnet structures  412  and  414  are positioned at equal distances along the length of the elongated substrate  404 , but on opposite sides. However, in other embodiments, the magnet structures  412  and  414  may be positioned at different distances along the length of the elongated substrate  404 . 
     A ferritic plate  416  is positioned near the magnet structure  412  and separated by a gap. The ferritic plate  416  is attached to support component  408  that holds the ferritic plate  416  stationary with respect to the electronic device. Similarly, a ferritic plate  418  is positioned near the magnet structure  414  and separated by a gap. The ferritic plate  418  is attached to support component  410  that holds the ferritic plate  418  stationary with respect to the electronic device. 
     The two-sided piezoelectric structure shown in  FIG. 4A  allows the elongated substrate  404  and its attached first and second piezoelectric layers  402  and  406  to have an un-deflected equilibrium position or state when the magnetic force between the first magnet structure  412  and the ferritic plate  416  is matched by the magnetic force between the second magnet structure  414  and the ferritic plate  418 , and there is no force caused by an actuation of either piezoelectric layer. 
     When actuation signals are sent to the first and second piezoelectric layers  402  and  406  so that the elongated substrate  404  deflects, e.g., toward the ferritic plate  416 , the gap between the first magnet structure  412  and the ferritic plate  416  decreases, increasing the magnetic force on the elongated substrate  404 . At the same time, the gap between the second magnet structure  414  and the ferritic plate  418  increases, decreasing the oppositely directed magnetic force of attraction between them. This further increases the force deflecting the elongated substrate  404  upward. 
     In general, the elongated substrate  404  produces a restoring force to counteract a deflection. If this restoring force is sufficiently large, the haptic actuator  400   a  may have a single stable equilibrium position or state in which the elongated substrate  404  is substantially equidistant from the two ferritic plates  416 ,  418 . The haptic actuator  400   b  may have a similar single stable equilibrium position in which the elongated substrate  404  is substantially equidistant from the magnetic structures  422 ,  424 . The single stable equilibrium position may be due to a balance or equilibrium of a first magnetic force between the first magnet structure  412  and the ferritic plate  416  and a second magnetic force between the second magnet structure  414  and the ferritic plate  418 . A similar equilibrium may be achieved between a first magnetic force between the magnetic structure  422  and the ferritic plate  426  and a second magnetic force between the magnetic structure  424  and the ferritic plate  428 . 
     In some embodiments, the haptic actuators  400   a ,  400   b  may have two or more stable equilibrium positions or states. For example, if the elongated substrate  404  produces a weaker restoring force when deflected, the haptic actuator  400   a  may be maintained in one of two stable equilibrium positions. In a first equilibrium position the elongated substrate  404  may be deflected toward the ferritic plate  416  far enough that the restoring force is overcome by the magnetic force between the ferritic plate  416  and the first magnetic structure  412 . In some cases, the restoring force is substantially equal to the magnetic force between the ferritic plate  416  and the first magnetic structure  412  resulting in a maintained gap between the first magnet structure  412  and the ferritic plate  416 . In some implementations, a component or structural feature may limit the deflection of the elongated substrate  404  to prevent contact between the components. Similarly, a second stable equilibrium position may be achieved when the elongated substrate  404  is deflected toward the ferritic plate  418  far enough that the restoring force overcomes or balances with the magnetic forces. Similarly, the second stable equilibrium position may result in no contact between the second magnet structure  414  and the ferritic plate  418  due to a balance between the forces or due to a component or structural feature that limits the deflection of the elongated substrate  404 . Actuation of the first and second piezoelectric layers  402 ,  406  by actuation signals can be used to toggle the elongated substrate  404  between the two equilibrium states. In some implementations, the elongated substrate  404  may also be maintained in a third (balanced) equilibrium position in which the free end of the elongated substrate  404  is equidistant to the ferritic plates  416 ,  418 . The elongated substrate  404  may be maintained in this third equilibrium position until one or both of the first and second piezoelectric layers  402 ,  406  are actuated or activated or actuated by respective actuation signals. While this example is provided with respect to the haptic actuator  400   a  of  FIG. 4A , the sample principle can be allowed to the haptic actuator  400   b  of  FIG. 4B . 
       FIG. 4B  is a cross-sectional illustration of another example haptic actuator  400   b . The embodiment illustrated in  FIG. 4B  is a variant of that of  FIG. 4A : it has a two-sided piezoelectric structure, including the elongated substrate  404  and the first and second piezoelectric layers  402 ,  406 . As in  FIG. 4A , the elongated substrate  404  is can be deflected or moved in the actuation direction  420  by actuation of the first and second piezoelectric layers  402 ,  406 . 
     The embodiment of  FIG. 4B  differs from that of  FIG. 4A  in that a ferritic plate  426  is attached on a first side of the elongated substrate, and a ferritic plate  428  is attached to the elongated substrate  404  on a second side that is opposite to the first side. Also, a magnetic structure  422  is attached to the support component  408 , and a magnetic structure  424  is attached to the support component  410 . The configuration and operations described above for the haptic actuator  400   a  also apply to the haptic actuator  400   b.    
       FIG. 5A  shows a cut-away view through an enclosure  514  of an electronic device  500  showing a haptic actuator having an array of multiple piezoelectric structures  502   a ,  502   b ,  502   c . Each of piezoelectric structures  502   a ,  502   b ,  502   c  comprises a flexible elongated substrate having at least one piezoelectric layer, configured according to any of the embodiments described above. Each of piezoelectric structures  502   a ,  502   b ,  502   c  may be independently deflected, as described above. Such a haptic actuator may be used to create patterns or codes of haptic or tactile outputs at or on the surface of the enclosure  514  of the electronic device  500 . 
     The haptic actuator includes a support structure  510  that serves to fix one end of each of the piezoelectric structures  502   a ,  502   b ,  502   c . Some embodiments may use more than one support structure for the piezoelectric structures  502   a ,  502   b ,  502   c . The piezoelectric structures  502   a ,  502   b ,  502   c  can have respective actuator tabs  508   a ,  508   b ,  508   c  positioned near their free ends, which may have different sizes or shapes. 
     The haptic actuator is configured to have the piezoelectric structures  502   a ,  502   b ,  502   c  arranged in parallel and offset to define multiple levels. In other embodiments, the piezoelectric structures may be arranged in a single level. The haptic actuator includes a first ferritic plate  504 , of materials as described above, positioned to extend above (as per the top view orientation) the piezoelectric structures  502   a ,  502   b . Each of piezoelectric structures  502   a ,  502   b  has a magnet structure, respectively  512   a ,  512   b , positioned on its side facing the ferritic plate  504 . The haptic actuator includes a second ferritic plate  506  positioned below the piezoelectric structures  502   a ,  502   b  but above piezoelectric structure  502   c . The piezoelectric structure  502   c  has a magnet structure  512   c  positioned on its side facing the ferritic plate  506 . 
       FIG. 5B  depicts a cross-sectional view of the haptic actuator of the electronic device  500  along section C-C of  FIG. 5A . The piezoelectric structures  502   a ,  502   b ,  502   c  may be implemented as one-sided or two-sided piezoelectric structures, consistent with embodiments described herein. Note that in the cross-sectional view of  FIG. 5B , the piezoelectric structure  502   a  is not seen as it is on the same level as, and hidden by, piezoelectric structure  502   b  in the foreground. Magnet structures  512   b ,  512   c  are on respective top sides of piezoelectric structures  502   b ,  502   c , and magnet structures  516   b ,  516   c  are on the corresponding bottom sides of piezoelectric structures  502   b ,  502   c . In the embodiment shown, actuator tabs  508   b ,  508   c  are shaped so that the tops of each have substantially the same distance from the surface when there is no actuation of any piezoelectric layers, though this is not necessary. 
     The ferritic plate  504  is positioned above magnet structure  512   b  to create an attraction force. (Support components for ferritic plates  504  and  506  are omitted for clarity.) The ferritic plate  506  is positioned on a level between the levels of piezoelectric structures  502   b ,  502   c . Thus, magnet structures  516   b  and  512   c  experience attractive forces toward ferritic plate  506 . Also, another ferritic plate  518  is positioned beneath magnet structure  516   c.    
     The piezoelectric structures  502   a ,  502   b ,  502   c  may be actuated separately through electrical connections from a control unit of the haptic actuator. Such a control unit may direct actuation signals to the piezoelectric structures  502   a ,  502   b ,  502   c  to cause the piezoelectric structures  502   a ,  502   b ,  502   c  to move independently to produce multiple different haptic or tactile outputs or patterns on a surface of the electronic device. The haptic actuator may operate the piezoelectric structures  502   a ,  502   b ,  502   c  as described above. 
       FIG. 6  is a cross section illustration of a configuration of a haptic actuator, such as those of either  FIG. 3B  or  FIG. 4B , in which a ferritic plate is attached along a flexible elongated substrate. In the embodiment of  FIG. 6 , the cantilever beam  602  includes the elongated substrate and at least one piezoelectric layer, as described above. A ferritic plate  604  is attached to the cantilever beam  602  and separated by a gap from a magnet structure  606 . The magnet structure  606  is supported near the ferritic plate  604  by a support component  608 . The configuration shown in  FIG. 6  may be only part of a two-sided piezoelectric structure. That is, there may be a respective analog of the ferritic plate  604 , the magnet structure  606 , and the support component  608  positioned on the opposite side of the cantilever beam  602  to form a two-sided piezoelectric structure as in  FIG. 4B . 
     In the embodiment shown in  FIG. 6 , the magnet structure  606  is implemented as a Halbach array. Note that while a one-sided piezoelectric structure is shown, it is clear that both magnets in a two-sided piezoelectric structure may also use a Halbach array. A Halbach array contains a sequence of individual magnets, shown as the sections of magnet structure  606 , with north poles that are successively rotated by 90 degrees (positioned orthogonally) along an axis, as shown by the arrows within each section. The sections are typically cubic in shape, though this is not required, with the north magnetic poles directed perpendicular to cube face. As a whole, a Halbach array is typically shaped as a parallelepiped with four side faces and two end faces. The long axis of the Halbach array of  FIG. 6  is parallel to the long axis of the cantilever beam  602 . An advantage to using a Halbach array for the magnet structure  606  is that the Halbach array produces a strongest magnetic field extending from one of the side faces of the array, and much reduced magnetic fields from the opposite face and remaining side faces. By orienting the face of the Halbach array producing the strongest magnetic field toward the ferritic plate  604 , a strong attraction force between the ferritic plate  604  and the magnet structure  606  is produced, while at the same time reducing magnetic fields that would enter the support component  608  and possibly exit into the enclosure of the electronic device. Further, the support component  608  may be a ferritic metal to provide a path or shunt for the magnetic fields that are not directed toward the ferritic plate  604 . 
       FIG. 7  is a cross section illustration of a configuration of a haptic actuator, such as those of either  FIG. 3B  or  FIG. 4B , in which a ferritic plate is attached along an elongated substrate. Note that while a one-sided piezoelectric structure is shown, it is clear how the configuration can be adapted for a two-sided piezoelectric structure. In the embodiment of  FIG. 7 , the cantilever beam  702  includes the elongated substrate and at least one piezoelectric layer, as described above. A ferritic plate  704  is attached to the cantilever beam  702  and separated by a gap from a magnet structure  706 . The magnet structure  706  is supported near the ferritic plate  704  by a support structure  708 . The configuration shown in  FIG. 7  may be only part of a two-sided piezoelectric structure. That is, there may be a respective analog of the ferritic plate  704 , the magnet structure  706 , and the support structure  708  positioned on the opposite side of the cantilever beam  702  to form a two-sided piezoelectric structure as in  FIG. 4B . 
     In the embodiment shown in  FIG. 7 , the magnet structure  706  is implemented as an electromagnet formed as a coil of wires. The wires and their respective current flow directions are indicated with the standard convention for the circles in the sections of the magnet structure  706 . A space within the coils may be open, or may contain a ferromagnetic material. The electrical connections of the electromagnet to control circuitry providing the current may be within or on the support structure  708 . 
     Advantages of the configuration shown in  FIG. 7  include being able to vary the magnetic force between the ferritic plate  704  and the magnet structure  706  by varying the current applied. Further, applying no current to the electromagnet results in no magnetic attraction. When the cantilever beam  702  has a one-sided piezoelectric structure, the cantilever beam  702  can be un-deflected when no actuation of the piezoelectric layer is applied. 
       FIG. 8  is a cross section illustration of part of a haptic actuator  800  having a two-sided piezoelectric structure  802  positioned as a cantilever beam. Two magnet structures  804  and  806  are on opposite sides of the piezoelectric structure  802 . The piezoelectric structure  802  may contain two piezoelectric layers and an elongated substrate as described previously.  FIG. 8  illustrates that when two magnet structures  804  and  806  are placed at or nearly equidistant along the two-sided piezoelectric structure  802  and have their north magnetic poles oriented in the same direction and transverse to the long length of the piezoelectric structure  802 , then there can be a magnetic attraction across the piezoelectric structure  802  between the south pole of the magnet structure  804  and the north pole of the magnet structure  806 . This attraction can help affix the magnet structures  804  and  806  to the piezoelectric structure  802 . Another advantage, such as for a haptic actuator with the configuration shown in  FIG. 4A , is that connecting the ferritic plates  416  and  418  with a ferritic material can form a completed path for the magnetic flux from the magnet structures  804  and  806 . This can serve to reduce magnetic fields within the enclosure of the electronic device using such a haptic actuator. This may also function to reduce interference with other electrical components of the electronic device. 
       FIG. 9  is a cross-sectional illustration of part of a haptic actuator  900  using a two-sided piezoelectric structure  902 . In the embodiment shown, two magnet structures  908  and  910  are attached to the two-sided piezoelectric structure  902 , such as described in relation to  FIG. 8 . 
     Instead of ferritic plates being positioned near the magnet structures  908  and  910 , the embodiment shown in  FIG. 9  includes electromagnets  904  and  906 , respectively attached to support components  912  and  914  that are stationary with respect to the electronic device. The electromagnets  904  and  906  are shown implemented as wire coils, such as described in relation to  FIG. 7 , but other implementations of electromagnets may be used. 
     It will be clear to one of skill in the art that an alternative of the embodiment of  FIG. 9  would have a one-sided configuration, and having just the magnet structure  908  and the electromagnet  904  positioned on one side of the piezoelectric structure  902 . In still other alternative embodiments, the electromagnet  904  may be replaced with a fixed magnetic element, such as a Halbach array. 
     The haptic actuator  900  may include a control unit configured to apply actuation signals to piezoelectric layers of the two-sided piezoelectric structure  902 , and to control the currents in the electromagnets  904  and  906 . 
     Controlling the currents through the electromagnets  904  and  906  allows for reversing the directions of their magnetic poles. Since the poles of magnet structures  908  and  910  are fixed, changing the direction of the magnetic poles of electromagnet  904 , for example, allows for creating a repulsion force between magnet structure  908  and electromagnet  904 , in addition to an attraction force. Creating such a repulsion force is not possible with the previous embodiments that use ferritic plates. A control unit may apply a de-actuation signal to a piezoelectric layer so that it expands or contracts appropriately to cause an additional repulsion force. 
     While in the previous embodiments the electromagnets  904  and  906  are shown attached to the support components  912  and  914 , it is clear to one of skill in the art that in an alternate embodiment the electromagnets  904  and  906  could be attached to piezoelectric structure  902 , and the magnet structures attached to the support components  912  and  914 . 
       FIG. 10  is a block diagram of example components of an electronic device that may include a haptic actuator as described herein. The schematic representation depicted in  FIG. 10  may correspond to components of the devices depicted in  FIGS. 1-9 , described above. However,  FIG. 10  may also more generally represent other types of electronic devices with a haptic actuator that provides tactile or haptic responses at a surface. 
     As shown in  FIG. 10 , the electronic device  1000  includes a battery  1008  that is configured to provide electrical power to the components of the electronic device  1000 . The battery  1008  may include one or more power storage cells that are linked together to provide an internal supply of electrical power. The battery  1008  may be operatively coupled to power management circuitry that is configured to provide appropriate voltage and power levels for individual components or groups of components within the electronic device  1000 . The battery  1008 , via power management circuitry, may be configured to receive power from an external source, such as an alternating current power outlet. The battery  1008  may store received power so that the electronic device  1000  may operate without connection to an external power source for an extended period of time, which may range from several hours to several days. 
     The electronic device  1000  also includes a processor  1006  operably connected with a computer-readable memory  1002 . The processor  1006  may be operatively connected to the memory  1002  component via an electronic bus or bridge. The processor  1006  may be implemented as one or more computer processors or microcontrollers configured to perform operations in response to computer-readable instructions. The processor  1006  may include a central processing unit (CPU) of the device  1000 . Additionally and/or alternatively, the processor  1006  may include other electronic circuitry within the device  1000  including application specific integrated chips (ASIC) and other microcontroller devices. The processor  1006  may be configured to perform functionality described in the examples above. 
     The memory  1002  may include a variety of types of non-transitory computer-readable storage media, including, for example, read access memory (RAM), read-only memory (ROM), erasable programmable memory (e.g., EPROM and EEPROM), or flash memory. The memory  1002  is configured to store computer-readable instructions, sensor values, and other persistent software elements. 
     In some embodiments, the electronic device  1000  includes one or more input devices  1010 . The input device  1010  is a device that is configured to receive user input. The input device  1010  may include, for example, a push button, a touch-activated button, a touch-sensitive display (touch screen), or the like. In some embodiments, the input device  1010  may provide a dedicated or primary function, including, for example, a power button, volume buttons, home buttons, scroll wheels, and camera buttons. 
     In some embodiments, the electronic device  1000  also includes a display  1004  that renders visual information generated by the processor  1006 . The display  1004  may include a liquid-crystal display (LCD), light-emitting diode, organic light-emitting diode (OLED) display, organic electroluminescent (EL) display, electrophoretic ink display, or the like. If the display  1004  is a liquid-crystal display or an electrophoretic ink display, the display may also include a backlight component that can be controlled to provide variable levels of display brightness. If the display  1004  is an organic light-emitting diode or organic electroluminescent type display, the brightness of the display  1004  may be controlled by modifying the electrical signals that are provided to display elements. 
     The electronic device  1000  may also include a communication port  1012  that is configured to transmit and/or receive signals or electrical communication from an external or separate device. The communication port  1012  may be configured to couple to an external device via a cable, adaptor, or other type of electrical connector. In some embodiments, the communication port  1012  may be used to couple the electronic device  1000  to a host computer. 
     The electronic device  1000  may include control circuitry  1014  configured to provide voltage, current, or other signals to the haptic actuator  1020 . The haptic actuator  1020  may be as described above. The control circuitry  1014  may be implemented in a single control unit, and not necessarily as distinct electrical circuit elements. As used herein, “control unit” will be used synonymously with “control circuitry.” The control circuitry  1014  may receive signals from the processor  1006 , or from other elements of the electronic device  1000 . Based on the received signals, the control circuitry  1014  can generate actuation signals to the haptic actuator  1020 , such as to control piezoelectric elements and/or an electromagnet. The actuation signals generated by the control circuitry  1014  can be voltage signals, current signals, fiber optic signals, or another signal. The actuation signal may include the drive signal or voltage that is used to activate or actuate the piezoelectric layer or material. As examples, a voltage signal may be generated to cause a piezoelectric layer to deflect, and a current signal can be generated to flow through coils of an electromagnet. Thus, the control circuitry  1014  may include the electrical drivers or components required to produce such a drive voltage or current. 
     In some embodiments, the control circuitry can be implemented as amplifiers or buffers that modify the received signals from the processor  1006  or other devices. Additionally and/or alternatively, the control circuitry  1014  may receive digital signals from the processor  1006  or another element and have circuitry capable of generating analog input signals for the haptic actuator  1020 . 
     The control circuitry  1014  may include two subcomponents: a piezoelectric signal generator  1016  and/or an electromagnet signal generator  1018 . These may be implemented together, such as in a single integrated circuit, or as separate circuits. The piezoelectric signal generator  1016  produces an actuation signal, such as a voltage signal, that causes one or more piezoelectric layers to deflect. The electromagnet signal generator  1018  produces an actuation or activation signal, such as a current signal, to produce a particular magnetic field from an electromagnet. 
     Other examples and implementations are within the scope and spirit of the disclosure and appended claims. For example, features implementing functions may also be physically located at various positions, including being distributed such that portions of functions are implemented at different physical locations. Also, as used herein, including in the claims, “or” as used in a list of items prefaced by “at least one of” indicates a disjunctive list such that, for example, a list of “at least one of A, B, or C” means A or B or C or AB or AC or BC or ABC (i.e., A and B and C). Further, the term “exemplary” does not mean that the described example is preferred or better than other examples. 
     The foregoing description, for purposes of explanation, used specific nomenclature to provide a thorough understanding of the described embodiments. However, it will be apparent to one skilled in the art that the specific details are not required in order to practice the described embodiments. Thus, the foregoing descriptions of the specific embodiments described herein are presented for purposes of illustration and description. They are not targeted to be exhaustive or to limit the embodiments to the precise forms disclosed. It will be apparent to one of ordinary skill in the art that many modifications and variations are possible in view of the above teachings.

Metadata:
Filing Date: 20170927
Publication Date: 20200908
Grant Date: 20200908
Priority Date: 20170927
Inventors: ZHANG, ZHIPENG
KOCH, RICHARD H.
Assignee: APPLE INC
CPC Classifications: [{"code": "G06F3/0412", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": true, "tree": "[]"}, {"code": "B06B1/0603", "inventive": true, "first": false, "tree": "[]"}, {"code": "B06B1/045", "inventive": true, "first": false, "tree": "[]"}, {"code": "B06B1/04", "inventive": true, "first": false, "tree": "[]"}, {"code": "B06B1/0603", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/0412", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/0414", "inventive": true, "first": true, "tree": "[]"}, {"code": "H01L41/094", "inventive": true, "first": false, "tree": "[]"}, {"code": "B06B1/0603", "inventive": true, "first": false, "tree": "[]"}, {"code": "H01L41/042", "inventive": true, "first": false, "tree": "[]"}, {"code": "B06B1/04", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/0412", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/0414", "inventive": true, "first": true, "tree": "[]"}, {"code": "H10N30/2042", "inventive": true, "first": false, "tree": "[]"}, {"code": "H10N30/802", "inventive": true, "first": false, "tree": "[]"}, {"code": "H10N30/802", "inventive": true, "first": false, "tree": "[]"}, {"code": "H10N30/2042", "inventive": true, "first": false, "tree": "[]"}]
Family ID: 72290047