PATENT DOCUMENT

Publication Number: US-11068059-B2
Application Number: US-201916383411-A
Country: US
Kind Code: B2

Title: Haptic interface for user input device

Abstract:
Disclosed herein is a dynamically shapeable haptic interface, which can include a drive mechanism, a tactile mechanism, and a display. The display can emit light towards the drive mechanism in the form of image(s). The emitted light can activate a plurality of switches located between coil(s) included in the drive mechanism and the display. The plurality of switches, when activated, can allow current(s), supplied by a source, to pass through the coil(s). The current passing through the coils can create magnetic fields. The magnetic fields can collectively form a magnetic profile. The magnetic profile can cause the tactile mechanism to render shape(s) on the surface of the haptic interface. The tactile mechanism can include magnetic component(s), such as ferrous particles, magnets, and/or magnetic pins. The magnetic component(s) can move based on the magnetic profile and, along with one or more layers of material, can render the shape(s).

Claims:
The invention claimed is: 
     
       1. A drive mechanism for a haptic interface, the drive mechanism comprising:
 a substrate including a plurality of layers, at least some of the plurality of layers including a plurality of electrodes and a plurality of vias, the plurality of vias configured to electrically connect two or more of the plurality of electrodes located on different layers to form one or more coils, wherein the one or more coils are configured to generate one or more magnetic fields when a current passes through a respective coil; 
 a source configured to generate the current; and 
 a plurality of switches configured to allow the current from the source to pass through the one or more coils, 
 wherein the drive mechanism is couplable to an electronic device having a display configured to emit visible light towards the plurality of switches to activate at least some of the plurality of switches to allow the current from the source to pass through the one or more coils. 
 
     
     
       2. The drive mechanism of  claim 1 , wherein the substrate further comprises a plurality of center regions electrically isolated from the plurality of electrodes, each center region located between conductive portions of a respective electrode. 
     
     
       3. The drive mechanism of  claim 2 , further comprising ferrous material located in the plurality of center regions. 
     
     
       4. The drive mechanism of  claim 1 , wherein the plurality of electrodes is ring-shaped. 
     
     
       5. The drive mechanism of  claim 1 , wherein the drive mechanism is capable of generating a magnetic profile, the magnetic profile based on the plurality of switches. 
     
     
       6. The drive mechanism of  claim 1 , wherein the drive mechanism is included in an accessory, the accessory configured to be attached to, resting on, or touching the electronic device, and the electronic device is separate and distinct from the accessory. 
     
     
       7. The drive mechanism of  claim 1 , wherein the drive mechanism is integrated in the electronic device. 
     
     
       8. The drive mechanism of  claim 7 , wherein the electronic device is included in a virtual reality system. 
     
     
       9. A tactile mechanism including:
 one or more layers of material; and 
 one or more magnetic components, the one or more magnetic components configured to move based on one or more magnetic fields generated by a drive mechanism external from the tactile mechanism, 
 wherein the one or more magnetic components are located proximate to at least one of the one or more layers of material such that the magnetic fields generated by the drive mechanism cause at least one of the one or more magnetic components to make contact with the at least one of the one or more layers, and in the absence of the magnetic fields, the at least one of the one or more magnetic components breaks contact with the at least one of the one or more layers, 
 wherein the tactile mechanism is included in an accessory or a device, the accessory or the device including the drive mechanism, 
 wherein the tactile mechanism is configured to render a haptic interface that mimics a magnetic profile from the one or more magnetic fields. 
 
     
     
       10. The tactile mechanism of  claim 9 , wherein the one or more magnetic components includes a plurality of magnetic particles located between two of the one or more layers of material, the tactile mechanism further comprising:
 one or more shakers configured to shake the tactile mechanism to cause the plurality of magnetic particles to move, 
 wherein the plurality of magnetic particles is configured to interlock when not moving. 
 
     
     
       11. The tactile mechanism of  claim 10 , wherein the one or more shakers are located along at least one side of the drive mechanism and along another side of the drive mechanism. 
     
     
       12. The tactile mechanism of  claim 9 , wherein the one or more magnetic components include a plurality of pins configured to move up or down in response to the one or more magnetic fields. 
     
     
       13. A method for rendering one or more shapes on a tactile display, the method comprising:
 creating a magnetic profile based on a plurality of magnetic fields by:
 applying a bias across a plurality of coils included in the tactile display, and 
 allowing current to pass through the plurality of coils using a plurality of switches; 
 
 emitting visible light towards the plurality of switches using a visible display; 
 activating the plurality of switches using the emitted visible light; 
 moving one or more magnetic components using the plurality of magnetic fields; and 
 rendering the one or more shapes based on a state of the one or more magnetic components. 
 
     
     
       14. The method of  claim 13 , further comprising:
 shaking the tactile display using one or more shakers, wherein the shaking causes the one or more magnetic components to separate from an interlocked state. 
 
     
     
       15. The method of  claim 14 , further comprising:
 terminating the shaking of the tactile display; and 
 locking the one or more magnetic components in place using at least one of a plurality of membranes. 
 
     
     
       16. The method of  claim 13 , wherein moving the one or more magnetic components includes causing one or more layers of material to buckle due to movement of a plurality of magnets included in the one or more layers of material. 
     
     
       17. The method of  claim 13 , wherein moving the one or more magnetic components includes moving a plurality of pins in and out of center regions, the center regions located between conductive electrodes of the plurality of coils, wherein the one or more shapes are based on locations of top ends of the plurality of pins. 
     
     
       18. The method of  claim 13 , further comprising creating a feeling or movement at a surface of the tactile display by adjusting a control of one or more of shape, stiffness, viscosity, and inertial forces in a lateral direction and a normal direction relative to the surface of the tactile display. 
     
     
       19. The method of  claim 18 , wherein the created feeling or movement is in response to a force by a user.

Description:
CROSS REFERENCE TO RELATED APPLICATION 
     This application claims the benefit under 35 U.S.C. § 119(e) of U.S. Provisional Patent Application No. 62/657,290, filed Apr. 13, 2018; the content of which is incorporated by reference herein in its entirety for all intended purposes. 
    
    
     FIELD 
     This relates generally to a device that generates a haptic interface, and more specifically, to a full-page refreshable and dynamically shapeable display. 
     Virtual reality (VR) technology can be used for many applications such as military training, educational learning, and video games. VR technology can use one or more electronic devices to simulate a virtual environment and the user&#39;s physical presence in that virtual environment. One type of VR technology is augmented reality (AR) technology, where the user&#39;s real environment can be supplemented with computer-generated objects or content. Another type of VR technology is mixed reality (MR) technology, where the user&#39;s real environment and the virtual environment can be blended together. 
     VR/AR/MR technology can be simulated using one or more electronic devices. One electronic device can be a VR headset, where the user can use the VR headset to see the simulated virtual environment. As the user moves his or her head to look around, a display included in the headset can update the viewed environment to reflect the user&#39;s head movement. Another electronic device can include one or more cameras. The one or more cameras can be used to capture the user&#39;s real environment in AR technology and/or can be used for positional tracking. Yet another electronic device can include VR gloves. VR gloves can be worn over the user&#39;s hands and can allow the user to touch, feel, and hold virtual objects in real-time. The VR/AR/MR system can further include a host device, which can be used to convey one or more images to the user. 
     SUMMARY 
     Disclosed herein is a dynamically shapeable haptic interface. The device that generates a haptic interface can include a drive mechanism, a tactile mechanism, and a display. The display can be configured to emit light towards the drive mechanism in the form of one or more images. The emitted light can activate a plurality of switches located between one or more coils included in the drive mechanism and the display. The plurality of switches, when activated, can allow one or more currents to pass through the coils. The current can be supplied by a source. The current passing through the coils can create magnetic fields. The magnetic fields can collectively form a magnetic profile generated by the drive mechanism. The magnetic profile can cause the tactile mechanism to render one or more shapes on the surface of the haptic interface. The tactile mechanism can include one or more magnetic components, such as ferrous particles, magnets, and/or magnetic pins. The one or more magnetic components can move based on the magnetic profile and, along with one or more layers of material, can render the one or more shapes. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  illustrates an exemplary VR system according to examples of the disclosure. 
         FIGS. 2A-2C  illustrate systems in which examples of the disclosure can be implemented. 
         FIG. 2D  illustrates an exemplary device, which can be an accessory that attaches to another device having a display, in which examples of the disclosure can be implemented. 
         FIG. 3  illustrates a plan view of an exemplary device that generates a haptic interface according to examples of the disclosure. 
         FIG. 4A  illustrates a cross-sectional view of an exemplary drive mechanism according to examples of the disclosure. 
         FIGS. 4B-4C  illustrate top and plan views of exemplary ring-shaped electrodes included in a drive mechanism according to examples of the disclosure. 
         FIG. 4D  illustrates a top view of an exemplary spiral electrodes included in a drive mechanism according to examples of the disclosure. 
         FIG. 4E  illustrates a cross-sectional view of a portion of an exemplary drive mechanism and associated magnetic fields according to examples of the disclosure. 
         FIG. 5A  illustrates a plan view of an exemplary tactile mechanism including particles according to examples of the disclosure. 
         FIG. 5B  illustrates a plan view of an exemplary device including a tactile mechanism that uses particles according to examples of the disclosure. 
         FIG. 5C  illustrates an exemplary process for operating a device that generates a haptic interface including a tactile mechanism that uses particles according to examples of the disclosure. 
         FIG. 6A  illustrates a device including an exemplary tactile mechanism having a fabric according to examples of the disclosure. 
         FIG. 6B  illustrates an exemplary process for operating a device that generates a haptic interface including a tactile mechanism that uses a fabric having magnets according to examples of the disclosure. 
         FIG. 7A  illustrates a device including an exemplary tactile mechanism having a plurality of pins according to examples of the disclosure. 
         FIG. 7B  illustrates an exemplary process for operating a device that generates a haptic interface including a tactile mechanism that uses pins according to examples of the disclosure. 
         FIG. 8  illustrates an exemplary block diagram of a computing system comprising a device that generates a haptic interface according to examples of the disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     In the following description of examples, reference is made to the accompanying drawings in which it is shown by way of illustration specific examples that can be practiced. It is to be understood that other examples can be used and structural changes can be made without departing from the scope of the various examples. Numerous specific details are set forth in order to provide a thorough understanding of one or more aspects and/or features described or referenced herein. It will be apparent, however, to one skilled in the art, that one or more aspects and/or features described or referenced herein may be practiced without some or all of these specific details. In other instances, well-known process steps and/or structures have not been described in detail in order to not obscure some of the aspects and/or features described or referenced herein. 
     Representative applications of the apparatus and methods according to the present disclosure are described in this section. These examples are being provided solely to add context and aid in the understanding of the described examples. It will thus be apparent to one skilled in the art that the described examples may be practiced without some or all of the specific details. Other applications are possible, such that the following examples should not be taken as limiting. 
       FIG. 1  illustrates an exemplary VR system  100  according to examples of the disclosure. The VR system  100  can include a VR headset  110 , VR gloves  130 , and a host device  120 . The VR headset  110  and the VR gloves  130  can be attached to a user. The VR headset  110  can be positioned such that at least its display is positioned in front of the eyes of the user  140 . The VR headset  110  can be configured to display the simulated virtual environment to the user  140 . As the user  140  moves his or her head to look around, a display included in the VR headset  110  can update the viewed environment to reflect the user&#39;s movement. For example, if the user  140  moves his or her head down, the display can show the ground to the user  140 . 
     The host device  120  can include an electronic device, such as a personal computer, a mobile telephone, and/or a wearable device. The host device  120  can communicate with one or more components included in the VR system  100 . For example, the host device  120  can store one or more environments (e.g., the room of the simulated environment that the user is located in) and can transmit the information about the environment to the VR headset  110 . In some examples, the host device  120  can include one or more components that convey information to the user  140  via means additional or alternative to a visual display. For example, the host device  120  can convey information to the user  140  through a haptic interface where the user  140  can physically sense the information. 
     Examples of the disclosure are directed to a device that generates a haptic interface (e.g., a three-dimensional profile that can be sensed across the surface of the device) that conveys information to a user through physical senses. The device can be a full-page refreshable shape display capable of being dynamically refreshed when automatically or when input is received by a user. The device can be a tactile display. Alternatively, the device can be an accessory that attaches to another device having a display. The received input can be transmitted by way of a slider, knob, click, touch input, button, or etc. The term “device,” as used throughout the disclosure can refer to a stand-alone device that generates a haptic interface or one that includes an accessory for generating a haptic interface. 
       FIGS. 2A-2C  illustrate devices having a display in which examples of the disclosure can be implemented.  FIG. 2A  illustrates an exemplary mobile telephone  236  that can include a touch screen  224 , which can include a display.  FIG. 2B  illustrates an exemplary media player  240  that can include a touch screen  226 , which can include a display.  FIG. 2C  illustrates an exemplary wearable device  244  that can include a touch screen  228 , which can include a display, and can be attached to a user using a strap  246 . 
       FIG. 2D  illustrates an exemplary device, which can be an accessory that attaches to another device having a display, in which examples of the disclosure can be implemented. Accessory  230  can be configured to attach to, rest on, and/or touch another device  200 . Device  200  can be a mobile telephone  236 , media player  240 , wearable device  244 , and the like, as shown in  FIGS. 2A-2C . 
     The device that generates a haptic interface can include a drive mechanism that creates a magnetic profile, and a tactile mechanism that uses the magnetic profile to render a tactile surface (e.g., shapes). In some examples, the magnetic profile can have a two-dimensional variation (i.e., across the surface of the drive mechanism) in the properties (e.g., magnetic strength) of the magnetic fields.  FIG. 3  illustrates a plan view of an exemplary device that generates a haptic interface according to examples of the disclosure. For example, a device  300  can include a display  302 , a drive mechanism  310 , and a tactile mechanism  330 . The display  302  can be any type of emissive device such as a liquid crystal display (LCD), organic light emitting diode (OLED) display, light emitting diode (LED) display, electroluminescence (EL) display, and the like. The display  302  can include a plurality of display pixels, where individual display pixels may be controlled and used to collectively display an image. 
     Additionally, examples of the disclosure can include a device (e.g., an accessory  230  illustrated in  FIG. 2D ) that does not include a display, but can be configured to attach, rest on, or touch a display  302 . The accessory can be separate from the device, where the accessory can include the drive mechanism  310  and tactile mechanism  310  and the device can include the display  302  (not shown). In some examples, the accessory can include the tactile mechanism  330  and the device  300  can include the drive mechanism  310  and display  302  (not shown). In some examples, a plurality of accessories can be configured to attach to, rest on, or touch a display  302 . For example, tactile mechanism  330  can be included in one accessory, drive mechanism  310  can be included in another accessory, and display  302  can be included in a device  300 , where the two accessories and the device are separate devices (i.e., the accessories can be removed from the device  300  without inhibiting the operability of device  300 .) Tactile and/or drive mechanisms separate from the display  302  can provide flexibility in use of the device  300 , interchangeability of the tactile and drive mechanisms, or both. 
     Drive Mechanism 
     The drive mechanism included in the device can be configured to generate a two-dimensional magnetic profile.  FIG. 4A  illustrates a cross-sectional view of an exemplary drive mechanism according to examples of the disclosure. In some examples, the drive mechanism  410  can be a component external from the tactile mechanism and/or display (discussed below). The drive mechanism  410  can include a substrate such as a printed circuit board (PCB)  412 , which can be a flexible or rigid PCB. The PCB  412  can include a plurality of layers  413 , which can include electrodes  414 . 
     The drive mechanism  410  can include vias  416  to electrically connect the electrodes  414  located on one or more of the plurality layers  413  to form coils. The vias  416  can create one or more electrical connections that begin at the top (i.e., side located furthest away from the display  402 ) of the drive mechanism  410  and spirals down through multiple layers  413  of the PCB  412  to the bottom (i.e., side located closest to the display  402 ) of the drive mechanism  410 . In some examples, the electrodes  414  can be connected only through the vias  416 . The vias  416  can be located on any side(s) of the electrodes  414 , such as on one side, two opposite sides, etc. The top of the drive mechanism  410  can include one or more traces (not shown) to connect the electrodes  414  included in the coils to a source  415 , used to create the magnetic field(s), as discussed below. 
     The electrodes  414  can have any shape, size, number of turns, etc. For example, as shown in the top and plan views of  FIG. 4B  and  FIG. 4C , respectively, the electrodes  414  can be ring-shaped. The drive mechanism can further include a plurality of center regions  425  electrically isolated from the plurality of electrodes  414 , where each center region  425  can be located between conductive portions of a respective electrode  414 . 
     The vias  416  can be located on one side (e.g., the right side of the ring as shown in  FIG. 4B ) of the electrodes  414  for connecting electrodes together. In some examples, two or more layers  413  can include vias  416  located along different region(s) of the electrodes  414 . For example, a via  416  on one layer  413  can be located on the right side of the electrode(s)  414 , while a via  416  on another layer  413  can be located on the left side of the electrode(s)  414 . Additionally or alternatively, the vias  416  may be located along different region(s) of the electrodes  414  within a given layer  413 . For example, on a given layer  413 , one or more vias  416  can be located on the left side of the electrode(s)  414 , and on the same layer  413 , one or more vias  416  can be located on the right side of the electrode(s)  414 . 
     As another example, as shown in  FIG. 4D , the electrodes  414  can be spirals that have two or more (e.g., three) turns. One or more vias  416  can be used to connect the spirals on different layers  413 . The vias  416  can be located along any location along the spiral, such as at the ends, as shown in the figure. In some examples, a via  416  may be located between the ends of a given spiral (not shown). As applied to any shape, size, or other configuration of the electrodes, examples of the disclosure can include different configurations of the electrodes  414  and vias  416  within a given layer  413  or among multiple layers  413 . 
     As discussed above, the drive mechanism can be configured to create a magnetic profile.  FIG. 4E  illustrates a cross-sectional view of a portion of an exemplary drive mechanism and associated magnetic fields according to examples of the disclosure. The magnetic fields  417  can be created by applying a bias across the coils  419  to pass current through it. To create a two-dimensional magnetic profile, one option can be to individually address one or more of the coils  419 . One or more layers  413  of the drive mechanism  410  can include traces to individually drive the coils  419 . Although the figure illustrates one coil  419 , examples of the disclosure can include multiple coils  419  and multiple magnetic fields  417 . A single coil  419  is shown for simplicity purposes. 
     Another option can be to include a display (e.g., display  402  illustrated in  FIG. 4A ) located below the coils  419 . The display can be configured to emit light towards the switches  421 . The switches  421  can be any type of switch including, but not limited to, a phototransistor. In some examples, each coil  419  can include a unique switch  421 . That is, the number of coils  419  and number of switches  421  in the drive mechanism can be 1:1. The image projected by the display can individually control each switch  421 . That is, light from the display can be incident on the switch, which thereby can allow current from the source to flow through the coil. In some examples, the number of display pixels to the number of coils  419  can be 1:1. In other examples, a plurality of display pixels can be controlled such that the plurality operates collectively to control a single coil  419 . The plurality of display pixels can operate collectively by way of coupling or by having common emission properties (e.g., same color, same intensity, etc.). The shapes of the magnetic fields  417  on the top of some or all of the drive mechanism  410  can mimic (i.e., has properties that resemble) the image displayed by the display. For example, shapes can have a non-zero height from the top surface of the device in locations where the image has a non-zero brightness. In some examples, a mask (e.g., mask  403  illustrated in  FIG. 4A ) can be located between the display  402  and the switch  421  to prevent or reduce mixing of light from display pixels. 
     One of ordinary skill in the art would understand that the number of turns, whether on the same layer or among multiple layers, can affect the strength of the magnetic field of a given coil. For example, a linear relationship can exist between the magnetic field and the number of turns (e.g., layers) in a coil. An additional factor that can affect the strength of the magnetic field can be the power applied to the coil via, e.g., source  415  shown in  FIG. 4A . Examples of the disclosure are not limited to each coil in the drive mechanism having the same magnetic field strength. Different magnetic field strengths can be created by configuring the coils differently and/or by applying different biases to the coils. The drive mechanism can be configured such that a targeted magnetic field strength can be achieved. In some examples, the targeted magnetic field strength can be based on the material (e.g., a cover material) on top of the device. 
     In some examples, the drive mechanism  410  can include other components such as ferromagnetic material  423  to enhance field programmability, as discussed in detail below, and/or shielding layer(s)  422  to control the size and/or shape magnetic fields  417 , to prevent interference from external sources, or both. 
     Tactile Mechanism 
     The device can include a tactile mechanism configured to provide localized tactile or haptic feedback to the user as the user navigates the surface of the device. In some examples, the user may not be viewing or able to view the display (e.g., because the user is occupied with other tasks), so the user can only feel the surface of the device, regardless of the shape, size, and location of virtual buttons and/or other display elements. A display that conveys information visually may make it difficult for users to find icons, hyperlinks, textboxes, or other user-selectable input elements. A device having a surface that renders one or more shapes may be a suitable way to convey information. The device can provide haptic feedback that enables a user to non-visually navigate a visual display. 
     Touch-based user interface components can also present challenges to visually impaired users, especially when the touch-based user interface component is used in conjunction with a display screen. As used herein, the phrase “visually impaired” refers to users that are permanently visually impaired (e.g., blind) or temporarily visually impaired (e.g., able to see, but unable or unwilling to divert their attention to their electronic device&#39;s display screen because there is not enough light to see, they are distracted, etc.). Examples of the disclosure further include users who are engaged in a virtual reality environment, where the device can generate a haptic interface can be used to interact with the user via sensing one or more images (e.g., shapes) on the surface. 
     The device disclosed throughout can be capable of dynamically changing the size, shape, and location of the one or more shapes rendered. The term “dynamically” refers to the device being to change the properties of the shapes without being powered off. In some examples, the device has the capability of making dynamic changes automatically (i.e., without user input). Additionally, examples of the disclosure can include a full-page refreshable display. The tactile profile across the entire display can be refreshed and is not limited to any particular refresh rate. 
     The tactile mechanism included in the device can be configured to convert the magnetic profile generated by the drive mechanism into a tactile profile.  FIG. 5A  illustrates a plan view of an exemplary tactile mechanism including particles according to examples of the disclosure. The tactile mechanism  530  can include one or more layers of material, such as a top membrane  532  and a bottom membrane  534 . Particles  536  can be located between the top membrane  532  and the bottom membrane  534 . 
     The particles  536  can be ferrous grounds, where a jamming process can be used to render shapes. The particles  536  can interact with one or more magnetic fields and can interlock (e.g., hold together, not move, etc.) when pulled or pressed together. In some examples, the particles  536  can have one or more jagged surfaces to facilitate the interlocking. One or more properties of the particles can be based on the targeted type of image(s) and/or granularity of the device. These properties can include, but are not limited to, particle size, ratio of various different sized particles (e.g., larger particles to smaller particles), and density of the particles. 
     The top membrane  532  and the bottom membrane  534  can be any type of membrane that is thin, strong, ungrippable, and/or has a low friction. In some examples, the magnitude of the friction of the bottom membrane  534  can be lower than the magnitude of the friction of the top membrane  532 . The tactile mechanism  530  may not include the top membrane  532  in some instances, such as when the particles are magnetic and can hold themselves together. 
       FIG. 5B  illustrates a plan view of an exemplary device including a tactile mechanism that uses particles according to examples of the disclosure. The device  500  can include a drive mechanism  510  and the tactile mechanism  530 . The drive mechanism  510  can include one or more components and/or functionalities similar to the drive mechanism  410  illustrated in  FIGS. 4A-4E  and can additionally include a shaker  511 . 
     The shaker  511  can configured to physically shake the device  500 . The device  500  may be capable of using power (e.g., to power the shaker  511 ) to form or change the shape(s), but not to hold the shape(s). Exemplary shakers include, but are not limited to, a piezoelectric element, eccentric motor, and the like. In some examples, the shape(s) of the haptic interface can be held indefinitely until the shaker  511  shakes the device  500  and/or the magnetic profile from the drive mechanism  510  changes. When the shaker  511  shakes the device  500 , the particles may separate (i.e., leave the interlocked state). 
     Examples of the disclosure can include multiple shakers  511  included in the device  500 . The shakers  511  can be located at predetermined distances to induce one or more Lamb waves across the drive mechanism  510 . For example, at least one shaker  511  can be located along one side (e.g., bottom side) of the drive mechanism, and at least another shaker  511  can be located along another side (e.g., perpendicular to the bottom side, such as the right side) of the device  500 . In other examples, the device  500  can include one shaker  511  and a piezo layer (not shown) coupled to the shaker  511  to induce uniform movement of the particles. 
       FIG. 5C  illustrates an exemplary process for operating a device that generates a haptic interface including a tactile mechanism that uses particles according to examples of the disclosure. Process  550  can include applying a bias across the coils (e.g., coils  419  illustrated  FIG. 4C ) using a source (e.g., source  415  illustrated in  FIG. 4A ) (step  552 ). The current that passes through the coils can create a plurality of magnetic fields (e.g., magnetic fields  417  illustrated in  FIG. 4E ) (step  554 ). A display can project an image through a mask (e.g., mask  403  illustrated in  FIG. 4A ) and towards one or more switches) (e.g., switch  421  illustrated in  FIG. 4E ) (step  556 ). Light from the display (e.g., display  402  illustrated in  FIG. 4A ) can individually control the switches (step  558 ). The drive mechanism can create a two-dimensional magnetic profile having one or more shapes that mimic the image displayed by the display (step  560 ). The magnetic profile can be located between the tactile and drive mechanisms. 
     The magnetic fields from the magnetic profile can attract particles (e.g., particles  536  in  FIG. 5A ) in the tactile mechanism (step  562 ). To change the state (e.g., including rendered shapes) of the haptic interface, one or more shakers (e.g., shaker  511  illustrated in  FIG. 5B ) can shake the device causing the particles to jump around (i.e., move) and rearrange based on their attraction to the magnetic field(s) (step  564 ). The pressure from the top and bottom membranes (e.g., top and bottom membranes  532  and  534 , respectively, illustrated in  FIG. 5B ) can lock the particles in place to create one or more shapes (step  566 ). The particles can lock into place (i.e., not move), and the shaker(s) can stop shaking, so the particles can hold their shape (step  568 ). 
     In some examples, the magnetic field from the drive mechanism can be a static magnetic field. One or more parameters of a component within the device can facilitate movement of the particles. For example, the display can increase or decrease the speed of the movement of the particles by way of changes (e.g., corresponding frequency) in the image displayed. As another example, the shaker can increase or decrease the frequency of refreshing the haptic interface by way of frequency of the shaking. In some examples, the user can help the particles interlock using the force of his or her fingers. The user&#39;s fingers can help provide an interface with a higher lateral force capacity since lateral force capacity can be based on the particles jamming. 
     In some examples, the tactile mechanism can include a fabric.  FIG. 6A  illustrates a device including an exemplary tactile mechanism having a fabric according to examples of the disclosure. The device  600  can include a drive mechanism  610 , a display  620 , and a tactile mechanism  630 . The drive mechanism  610  can include one or more components and/or functionalities as described above. The display  620  can include one or more components and/or functionalities as described above. 
     The tactile mechanism  630  can include a layer of material, such as fabric  631 , which can include embedded magnets  633 . The fabric  631  can include any type of material that is flexible between the magnets  633 . In some instances, the tactile mechanism  630  can include a polymer, instead of or in addition to a fabric-like material. The fabric  631  can buckle and form shapes based on the magnetic profile generated by the drive mechanism  610 . Lateral movement of the magnets  633  can pinch the fabric, which can cause it to pop up due to buckling. In some examples, the fabric  631  can include programmable holes. 
       FIG. 6B  illustrates an exemplary process for operating a device that generates a haptic interface including a tactile mechanism that uses a fabric having magnets according to examples of the disclosure. Process  650  can include applying a bias across the coils (e.g., coils  419  illustrated in  FIG. 4E ) using a source (e.g., source  415  illustrated in  FIG. 4A ) (step  652 ). The current that passes through the coils can create a plurality of magnetic fields (e.g., magnetic fields  417  illustrated in  FIG. 4E ) (step  654 ). A display included in the device can project an image through a mask (e.g., mask  403  illustrated in  FIG. 4A ) and towards the switches (e.g., switch  421  illustrated in  FIG. 4E ) (step  656 ). Light from the display (e.g., display  402  illustrated in  FIG. 4A ) can individually control the switches (step  658 ). The drive mechanism can create a two-dimensional magnetic profile having a shape that mimics the image displayed by the display (step  660 ). The magnetic profile can be located between the tactile and drive mechanisms. 
     The magnetic fields from the magnetic profile can orient the magnets (e.g., magnets  633  illustrated in  FIG. 6A ) in the fabric (e.g., fabric  631  illustrated in  FIG. 6A ) (step  662 ). The orientation of the magnets can pinch the fabric at certain location(s), which can cause the fabric to pop up due to buckling (step  664 ). The popped up fabric can render one or more shapes on the haptic interface. 
     In some examples, the drive mechanism  630  can cause one or more magnets  633  to rotate. The magnets  633  can be used to render shapes and/or movement on the surface of the haptic interface. For example, the magnets can be used to create the sensation of damping to the user. The user may be able to apply a force to the surface of the device, such as pushing a wave back and forth along the surface of the device. Additionally or alternatively, the device may simulate having an object hit the user&#39;s body part or the like. As another example, the haptic interface can be used to create a feeling of moving through a certain type of material (e.g., tar, water, etc.), where the level of viscosity felt in the fabric can be adjustable. Examples of the disclosure can include creating different levels of viscosity across the surface of the haptic interface at the same time. 
     In some instances, the device can be capable of sensing the location of where the user is touching the device. The device can include sense circuitry, where the movement of one or more magnets  633  can be detected based on a detected change in current at a given location along the device. 
     In some examples, the tactile mechanism can include components that can displace within the layer(s) of the drive mechanism.  FIG. 7A  illustrates a device including an exemplary tactile mechanism having a plurality of pins according to examples of the disclosure. The device  700  can include a drive mechanism  710 , a display  720 , and a tactile mechanism  730 . The drive mechanism  710  can include one or more components and/or functionalities as described above. The display  720  can include one or more components and/or functionalities as described above. 
     The tactile mechanism  730  can include a layer of material, such as membrane  732 . The pins  735  can be vertically-oriented (i.e., the length of the pins  735  along the direction perpendicular to the plane of the drive mechanism  710  can be greater than the width of the pins) and located, at least partially, between the membrane  732  and the drive mechanism  710 . The pins  735  can interact with one or more magnetic fields generated by the drive mechanism  710 , which can cause the pins  735  to move up or down (i.e., toward or away from the membrane  732 ). The pins  735  may move in or out of the center regions (e.g., center regions  425  illustrated in  FIG. 4B ) such that the shape(s) can be rendered based on the location of the top ends of the pins  735 . 
     The pins  735  can be ferrous pins that can change the magnetism of the core of the coils. In some instances, in the drive mechanism, a current can be passed through the core of the coils to change the magnetism of the coils. The current may, in some examples, include transient current pulses or can be a constant current. The membrane  732  can be any type of membrane that is thin, strong, ungrippable, and/or has a low friction. In some examples, each coil (e.g., coil  419  illustrated in  FIG. 4E ) can include one pin  735  located in its core. 
       FIG. 7B  illustrates an exemplary process for operating a device that generates a haptic interface including a tactile mechanism that uses pins according to examples of the disclosure. Process  750  can include applying a bias across the coils (e.g., coils  419  illustrated in  FIG. 4E ) using a source (e.g., source  415  illustrated in  FIG. 4A ) (step  752 ). The current that passes through the coils can create a plurality of magnetic fields (e.g., magnetic fields  417  illustrated in  FIG. 4E ) (step  754 ). A display can project an image through a mask (e.g., mask  403  illustrated in  FIG. 4A ) and towards the switches (e.g., switch  421  illustrated in  FIG. 4E ) (step  756 ). Light from the display (e.g., display  402  illustrated in  FIG. 4A ) can individually control the switches (step  758 ). The drive mechanism can create a two-dimensional magnetic profile having a shape that mimics the image displayed by the display (step  760 ). 
     The magnetic fields from the magnetic profile can cause the pins to move up or down (step  762 ). The orientation of the pins can then render one or more shapes on the haptic interface (step  764 ). 
     Examples of the disclosure can include a tactile mechanism including two or more of the components and/or functionalities described with above. The examples disclosed above can be interoperable. For example, a tactile mechanism can include particles located in one or more areas of the device and pins located in other areas. In some examples, the locations having particles can be interleaved with the locations having pins. 
       FIG. 8  illustrates an exemplary block diagram of a computing system comprising a device that generates a haptic interface according to examples of the disclosure. Computing system  800  can correspond to any of the computing devices illustrated in  FIGS. 2A-2C . Computing system  800  can include a processor  810  configured to execute instructions and to carry out operations associated with computing system  800 . For example, using instructions retrieved from memory, processor  810  can control the reception and manipulation of input and output data between components of computing system  800 . Processor  810  can be a single-chip processor or can be implemented with multiple components. 
     In some examples, processor  810  together with an operating system can operate to execute computer code and produce and use data. The computer code and data can reside within a program storage block  802  that can be operatively coupled to processor  810 . Program storage block  802  can generally provide a place to hold data that is being used by computing system  800 . Program storage block  802  can be any non-transitory computer-readable storage medium, and can store, for example, programs to execute the processes described throughout this disclosure. By way of example, program storage block  802  can include Read-Only Memory (ROM)  818 , Random-Access Memory (RAM)  822 , hard disk drive  808  and/or the like. The computer code and data could also reside on a removable storage medium and loaded or installed onto the computing system  800  when needed. Removable storage mediums include, for example, CD-ROM, DVD-ROM, Universal Serial Bus (USB), Secure Digital (SD), Compact Flash (CF), Memory Stick, Multi-Media Card (MMC) and a network component. 
     Computing system  800  can also include an input/output (I/O) controller  812  that can be operatively coupled to processor  810 , or it can be a separate component as shown. I/O controller  812  can be configured to control interactions with one or more I/O devices. I/O controller  812  can operate by exchanging data between processor  810  and the I/O devices that desire to communicate with processor  810 . The I/O devices and I/O controller  812  can communicate through a data link. The data link can be a one-way link or a two-way link. In some cases, I/O devices can be connected to I/O controller  812  through wireless connections. By way of example, a data link can correspond to PS/2, USB, Firewire, IR, RF, Bluetooth or the like. 
     Computing system  800  can include a display device  824  that can be operatively coupled to processor  810 . Display device  824  can be a separate component (peripheral device) or can be integrated with processor  810  and program storage block  802  to form a desktop computer (e.g., all-in-one machine), a laptop, handheld or tablet computing device of the like. Display device  824  can be configured to display a graphical user interface (GUI) including perhaps a pointer or cursor as well as other information to the user. By way of example, display device  824  can be any type of display (e.g., visible display) including a liquid crystal display (LCD), an electroluminescent display (ELD), a field emission display (FED), a light emitting diode display (LED), an organic light emitting diode display (OLED) or the like. 
     Display device  824  can be coupled to display controller  826  that can be coupled to processor  810 . Processor  810  can send raw data to display controller  826 , and the display controller  826  can send signals to display device  824 . Data can include voltage levels for a plurality of pixels in display device  824  to project an image. In some examples, processor  810  can be configured to process the raw data. 
     Computing system  800  can also include a touch screen  830  that can be operatively coupled to processor  810 . Touch screen  830  can be a combination of sensing device  832  and display device  824 , where the sensing device  832  can be a transparent panel that is positioned in front of display device  824  or integrated with display device  824 . In some cases, touch screen  830  can recognize touches and the position and magnitude of touches on its surface. Touch screen  830  can report the touches to processor  810 , and processor  810  can interpret the touches in accordance with its programming. For example, processor  810  can perform tap and event gesture parsing and can initiate a wake of the device or powering on one or more components in accordance with a particular touch. 
     Touch screen  830  can be coupled to a touch controller  840  that can acquire data from touch screen  830  and can supply the acquired data to processor  810 . In some cases, touch controller  840  can be configured to send raw data to processor  810 , and processor  810  can process the raw data. For example, processor  810  can receive data from touch controller  840  and can determine how to interpret the data. The data can include the coordinates of a touch as well as pressure exerted. In some examples, touch controller  840  can be configured to process raw data itself. That is, touch controller  840  can read signals from sensing points  834  located on sensing device  832  and can turn the signals into data that the processor  810  can understand. 
     Touch controller  840  can include one or more microcontrollers such as microcontroller  842 , each of which can monitor one or more sensing points  834 . Microcontroller  842  can, for example, correspond to an application specific integrated circuit (ASIC), which works with firmware to monitor the signals from sensing device  832 , process the monitored signals, and report this information to processor  810 . 
     One or both display controller  826  and touch controller  840  can perform filtering and/or conversion processes. Filtering processes can be implemented to reduce a busy data stream to prevent processor  810  from being overloaded with redundant or non-essential data. The conversion processes can be implemented to adjust the raw data before sending or reporting them to processor  810 . 
     A drive mechanism for a haptic interface is disclosed. The drive mechanism can comprise: a substrate including a plurality of layers, at least some of the plurality of layers including a plurality of electrodes and a plurality of vias, the plurality of vias configured to electrically connect two or more of the plurality of electrodes located on different layers to form one or more coils, wherein the one or more coils are configured to generate one or more magnetic fields when a current passes through a respective coil; a source configured to generate the current; and a plurality of switches configured to allow the current from the source to pass through the one or more coils. Additionally or alternatively, in some examples, the substrate further comprises a plurality of center regions electrically isolated from the plurality of electrodes, each center region located between conductive portions of a respective electrode. Additionally or alternatively, in some examples, the drive mechanism further comprises ferrous material located in the plurality of center regions. Additionally or alternatively, in some examples, the plurality of electrodes is ring-shaped. Additionally or alternatively, in some examples, the drive mechanism is capable of generating a magnetic profile, the magnetic profile based on the plurality of switches. Additionally or alternatively, in some examples, the drive mechanism is included in an accessory, the accessory capable of being attached to, resting on, or touching a device separate and distinct from the accessory. Additionally or alternatively, in some examples, the drive mechanism is included in a device, the device comprises a display, wherein the display is configured to emit light towards the plurality of switches, and the emitted light activates at least some of the plurality of switches to allow the current from the source to pass through the one or more coils. Additionally or alternatively, in some examples, the device is included in a virtual reality system. 
     A tactile mechanism is disclosed. The tactile mechanism can include: one or more layers of material; and one or more magnetic components, the one or more magnetic components configured to move based on one or more magnetic fields generated by a component external from the tactile mechanism, wherein the one or more magnetic components are located proximate to at least one of the one or more layers of material, wherein the tactile mechanism is included in an accessory or a device, the accessory or the device including the drive mechanism, wherein the tactile mechanism is configured to render a haptic interface that mimics a magnetic profile from the one or more magnetic fields. Additionally or alternatively, in some examples, the one or more magnetic components includes a plurality of magnetic particles located between two of the one or more layers of material, the tactile mechanism further comprising: one or more shakers configured to shake the tactile mechanism to cause the plurality of magnetic particles to move, wherein the plurality of magnetic particles are configured to interlock when not moving. Additionally or alternatively, in some examples, the one or more shakers are located along at least one side of the drive mechanism and along another side of the drive mechanism. Additionally or alternatively, in some examples, the one or more magnetic components includes a plurality of magnets embedded in the one or more layers of material, the one or more layers of material configured to buckle in response to the one or more magnetic fields. Additionally or alternatively, in some examples, the one or more magnetic components include a plurality of pins configured to move up or down in response to the one or more magnetic fields. 
     A method for rendering one or more shapes on a tactile display is disclosed. The method can comprise: creating a magnetic profile based on a plurality of magnetic fields by: applying a bias across a plurality of coils included in the tactile display, and allowing current to pass through the plurality of coils using a plurality of switches; emitting light towards the plurality of switches using a visible display; activating the plurality of switches using the emitted light; moving one or more magnetic components using the plurality of magnetic fields; and rendering the one or more shapes based on a state of the one or more magnetic components. Additionally or alternatively, in some examples, the method further comprises: shaking the tactile display using one or more shakers, wherein the shaking causes the one or more magnetic components to separate from an interlocked state. Additionally or alternatively, in some examples, the method further comprises: terminating the shaking of the tactile display; and locking the particles in place using at least one of a plurality of membranes. Additionally or alternatively, in some examples, moving the one or more magnetic components includes causing one or more layers of material to buckle due to the movement of a plurality of magnets included in the one or more layers of material. Additionally or alternatively, in some examples, moving the one or more magnetic components includes moving a plurality of pins in and out of center regions, the center regions located between conductive electrodes of the plurality of coils, wherein the one or more shapes are based on locations of top ends of the plurality of pins. Additionally or alternatively, in some examples, the current allowed to pass through the plurality of coils includes transient current pulses. Additionally or alternatively, in some examples, the method further comprises creating a feeling or movement at a surface of the tactile display by adjusting a control of one or more of shape, stiffness, viscosity, and inertial forces in a lateral direction and a normal direction relative to the surface of the tactile display. Additionally or alternatively, in some examples, the created feeling or movement is in response to a force by a user. 
     Although the disclosed examples have been fully described with reference to the accompanying drawings, it is to be noted that various changes and modifications will become apparent to those skilled in the art. Such changes and modifications are to be understood as being included within the scope of the disclosed examples as defined by the appended claims.

Metadata:
Filing Date: 20190412
Publication Date: 20210720
Grant Date: 20210720
Priority Date: 20180413
Inventors: SALADA, MARK A.
BEYHS, Michael
Assignee: APPLE INC
CPC Classifications: [{"code": "H01F27/36", "inventive": true, "first": false, "tree": "[]"}, {"code": "H01F27/36", "inventive": true, "first": false, "tree": "[]"}, {"code": "H01F7/20", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": true, "tree": "[]"}, {"code": "H01F7/20", "inventive": true, "first": true, "tree": "[]"}, {"code": "G06F3/0393", "inventive": true, "first": false, "tree": "[]"}, {"code": "H01F27/2804", "inventive": true, "first": false, "tree": "[]"}, {"code": "H01F2027/2809", "inventive": false, "first": false, "tree": "[]"}, {"code": "H01F7/064", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/041", "inventive": false, "first": false, "tree": "[]"}, {"code": "H01F2007/068", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F3/041", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": true, "tree": "[]"}, {"code": "H01F27/2804", "inventive": true, "first": false, "tree": "[]"}, {"code": "H01F7/20", "inventive": true, "first": false, "tree": "[]"}, {"code": "H01F2027/2809", "inventive": false, "first": false, "tree": "[]"}, {"code": "H01F27/36", "inventive": true, "first": false, "tree": "[]"}, {"code": "H01F7/064", "inventive": true, "first": false, "tree": "[]"}]
Family ID: 69127560