PATENT DOCUMENT

Publication Number: US-10108265-B2
Application Number: US-201314399671-A
Country: US
Kind Code: B2

Title: Calibration of haptic feedback systems for input devices

Abstract:
An electronic device including a processor, a display screen in communication with the processor, a track pad in communication with the processor including a movable surface that is selectively movable in at least one direction to provide feedback to a user, and a feedback system in communication with the processor including a feedback sensor. The feedback sensor determines a movement characteristic of the movable surface and the processor selectively adjusts at least one setting of the track pad based on the movement characteristic.

Claims:
What is claimed is: 
     
       1. A method for operating a haptic output device for an electronic device comprising:
 sensing, by a force sensor, an input force applied to a movable surface of the haptic output device; 
 causing a horizontal translation of the movable surface in response to the input force; 
 sensing, by a feedback sensor, at least one of a movement velocity, acceleration, or distance of the horizontal translation of the movable surface; 
 providing, by an adjustable biasing support disposed beneath and supporting the movable surface, a biasing force to return the movable surface to an original position in response to the horizontal translation; 
 determining, by a processor, whether the at least one of the movement velocity, acceleration, or distance is accurate; 
 if the at least one of the movement velocity, acceleration, or distance is not accurate, adjusting at least one characteristic of the haptic output device. 
 
     
     
       2. The method of  claim 1 , wherein the haptic output device is a track pad. 
     
     
       3. The method of  claim 1 , wherein adjusting at least one characteristic of the haptic output device comprises varying an input waveform of an actuator operably connected to the movable surface and configured to selectively move the movable surface. 
     
     
       4. The method of  claim 3 , wherein varying the input waveform of the actuator comprises adjusting at least one of a magnitude, duration, or shape of the input waveform. 
     
     
       5. The method of  claim 1 , wherein the at least one feedback sensor comprises an accelerometer, and the accelerometer is operably connected to the movable surface and configured to detect an acceleration of the horizontal translation of the movable surface. 
     
     
       6. The method of  claim 1 , wherein the at least one feedback sensor comprises an optical distance sensor. 
     
     
       7. The method of  claim 1 , wherein the at least one feedback sensor comprises a first feedback sensor and a second feedback sensor. 
     
     
       8. The method of  claim 1 , wherein the at least one sensor is configured to detect a change in capacitance as the movable surface moves from a first position to a second position during the horizontal translation. 
     
     
       9. The method of  claim 1 , wherein the at least one sensor is configured to detect a change in a magnetic field as the movable surface moves from a first position to a second position during the horizontal translation. 
     
     
       10. An electronic device comprising:
 a processor; 
 a display screen in communication with the processor; 
 a track pad in communication with the processor including a selectively movable surface movable in at least one planar direction to provide output to a user; 
 a force sensor coupled to the track pad and configured to detect a force input to the selectively movable surface; 
 an actuator in communication with the processor and operably connected to the movable surface, the actuator being configured to cause a planar movement of the movable surface; 
 an adjustable biasing support disposed beneath the selectively movable surface and configured to:
 support the selectively movable surface; and 
 provide a biasing force to return the selectively movable surface to an original position in response to the planar movement; and 
 
 a feedback system in communication with the processor including a feedback sensor; wherein 
 the feedback sensor determines at least one of a movement velocity, acceleration, or distance of the planar movement of the movable surface; and 
 the processor selectively adjusts at least one setting of the track pad based on the at least one of the movement velocity, acceleration, or distance. 
 
     
     
       11. The electronic device of  claim 10 , wherein the actuator selectively moves the movable surface between a first position and a second position in response to the detected force input. 
     
     
       12. The electronic device of  claim 11 , wherein the actuator selectively moves the movable surface based on an input signal, and the at least one setting of the track pad is the input signal. 
     
     
       13. The electronic device of  claim 10 , wherein the feedback sensor comprises an optical sensor configured to detect a movement distance. 
     
     
       14. The electronic device of  claim 10 , wherein the feedback sensor comprises an accelerometer. 
     
     
       15. A computing device comprising:
 a horizontally movable surface; 
 a force sensor configured to detect a force input to the horizontally movable surface; 
 a feedback sensor configured to detect a horizontal movement characteristic of the movable surface; 
 an adjustable biasing support disposed beneath the horizontally movable surface and configured to:
 support the horizontally movable surface; and 
 provide a biasing force to return the horizontally movable surface to an original position in response to horizontal movement of the horizontally movable surface; 
 
 a processor in communication with the feedback sensor and configured to:
 compare the detected movement characteristic with a desired movement characteristic; and 
 when the detected movement characteristic does not substantially match the desired movement characteristic, adjust at least one input characteristic of the movable surface; wherein 
 
 the movement characteristic is at least one of a horizontal movement velocity, acceleration, or distance. 
 
     
     
       16. The computing device of  claim 15 , further comprising an actuator connected to the movable surface and in communication with the processor. 
     
     
       17. The computing device of  claim 15 , wherein the feedback sensor includes an accelerometer. 
     
     
       18. The computing device of  claim 15 , wherein the feedback sensor is configured to detect a change in capacitance as the movable surface moves from a first position to a second position. 
     
     
       19. The electronic device of  claim 10 , wherein the processor further adjusts the adjustable biasing support based on the at least one of the movement velocity, acceleration, or distance.

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application is a 35 U.S.C. 371 application of PCT/US2013/040446, filed May 9, 2013, and titled “Feedback Systems for Input Devices,” which claims priority to U.S. Provisional Application No. 61/645,017, filed May 9, 2012, entitled “Feedback Systems for Input Devices” and to U.S. Provisional Application No. 61/799,980, filed Mar. 15, 2013, entitled “Feedback Systems for Input Devices,” each of which is incorporated by reference herein in its entirety. 
    
    
     TECHNICAL FIELD 
     The present invention relates generally to electronic devices and more specifically, to feedback systems for input devices in electronic devices. 
     BACKGROUND 
     Electronic devices may employ haptics to provide the user with tactile output, for example in response to a user input, system state, or application instruction. As a specific example some electronic devices may include a track pad having one or more buttons that depress in response to a user&#39;s press. These type of mechanical buttons may include a mechanical dome switch underneath the actual button. The output provided to the user is generated by collapse of the dome switch. Similarly, other haptic devices may include actuators that produce a tactile response by mechanically vibrating or moving the surface of the button. As with a mechanical button, these haptic devices generally provide an output that cannot be varied. 
     SUMMARY 
     Examples of embodiments described herein may take the form of a method for calibrating a haptic feedback device for an electronic device. The method includes sensing by at least one feedback sensor a movement characteristic of a movable surface of the haptic output device; determining by a processor whether the at least one movement characteristic is accurate; and if the at least one movement characteristic is not accurate, adjusting at least one characteristic of the haptic output device. 
     Other embodiments may take the form of an electronic device including a processor, a display screen in communication with the processor, a track pad in communication with the processor including a movable surface that is selectively movable in at least one direction to provide feedback to a user, and a feedback system in communication with the processor including a feedback sensor. The feedback sensor determines a movement characteristic of the movable surface and the processor selectively adjusts at least one setting of the track pad based on the movement characteristic. 
     Yet other embodiments may take the form of a computing device. The computing device may include a movable surface, a feedback sensor configured to detect a movement characteristic of the movable surface, and a processor in communication with the feedback sensor. The processor is configured to compare the detected movement characteristic with a desired movement characteristic and when the detected movement characteristic does not substantially match the desired movement characteristic, adjust at least one characteristic of the movable surface. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a perspective view of an electronic device incorporating a haptic device and a feedback system for the haptic device. 
         FIG. 2  is a block diagram of the electronic device of  FIG. 1 . 
         FIG. 3  is an enlarged top plan view of the haptic device of  FIG. 1 . 
         FIG. 4  is a simplified block diagram of the haptic device and feedback system of  FIG. 1 . 
         FIG. 5  is a cross-sectional view of the electronic device of  FIG. 1  taken along line  5 - 5  in  FIG. 3  illustrating a first embodiment of the feedback system. 
         FIG. 6  is a cross-sectional view of the electronic device of  FIG. 1  taken along line  5 - 5  in  FIG. 3  illustrating a second embodiment of the feedback system. 
         FIG. 7  is a flow chart illustrating a method for selectively adjusting the haptic device of  FIG. 1  using the feedback system. 
     
    
    
     SPECIFICATION 
     Some embodiments described herein may take the form of a feedback system for haptic actuators and a method for calibrating and adjusting a haptic actuator of an electronic device. The feedback system may calibrate a haptic output device used with computing or electronic devices. Typically, the haptic device may move in one or more directions in order to provide output to the user. For example, the haptic device may have a movable surface that may move horizontally and/or vertically, a predetermined distance at a predetermined speed to provide output to the user. In these instances, the feedback system, which may include one or more feedback sensors, may sense the movements of the haptic device and compare those movements to the predetermined distances and/or speeds desired for the movement of the track pad. Based on the comparison, the movable surface may selectively adjust the output of the haptic device to adjust the haptic device to provide a desired output. 
     The haptic device may include an actuator to move the movable surface or element in at least one direction to provide output to the user (e.g., in response to a user input or as desired by a program or application). For example, to provide a desired output to a user, a particular input may be provided to the actuator, which may then mechanically move the movable surface in a particular manner. The feedback system may include one or more feedback sensors, such as accelerometers, optical sensors, magnetic or inductive sensors, capacitive sensors, and so on, that may be positioned either on the movable surface of the haptic device or an enclosure for the electronic device or other element adjacent to or otherwise near the movable surface. As the movable surface moves, the one or more sensors (which may be configured to detect one or more characteristics of the surface movement, such as but not limited to, speed, changes in speed, and/or distance) may sense the actual movement of the movable surface and provide that data or information back to a processor. The processor may then calibrate the output of the haptic device based on the information from the sensors. 
     As one example, the feedback sensors may include one or more accelerometers operably connected to the movable surface of the haptic device to track the acceleration over time of the movable surface. The acceleration may then be used to determine the distance traveled by the movable surface and/or velocity (e.g., by integrating the accelerometer signal). As another example, the movable surface may include a conductive material that may interact with a capacitance sensor attached to a non-moving portion of the haptic device. The capacitance sensor may sense changes in capacitance as the movable surface moves towards and away from the capacitance sensor. The changes in capacitance may then be correlated to changes in position of the movable surface. In another example, the distance moved by the movable surface may be directly measured by a position sensor. Generally, feedback sensors of the movable surface may track or sense the movement of the movable surface, including one or more characteristics of the movement, such as velocity or acceleration. 
     The sensed movement of the movable surface or element, as detected by the feedback sensors, may be provided to a processor or other similar device, which may then compare the actual movement with a desired movement to determine if the movable surface is providing the desired output. If the actual movement of the movable surface is different from the desired movement, the processor may adjust one or more settings of the haptic device in order to more accurately align the actual movement with the desired movement. For example, in instances where the movable surface is moved by an actuator, the feedback system may adjust an input signal or waveform provided to the actuator or may filter signals provided to the haptic device or actuator to scale the movement up or down. In a specific example, the feedback system may vary the magnitude, duration, or shape of an input waveform provided to an actuator operably connected to the movable surface, thereby changing the haptic output of the haptic output device. The adjustment to the haptic device based on the feedback data may affect subsequent movements of the movable surface and/or current movements (e.g., real-time feedback). 
     In some instances the feedback system may be incorporated into the haptic device itself or may be separate therefrom. In instances where the feedback system is incorporated into the haptic device or electronic device including the haptic device, the feedback system may be configured to provide feedback on every output of the haptic device or a select group of outputs (e.g., every 10th movement, every other week, or the like). As another example, the feedback system may be activated during a “test mode” or “calibration mode.” In this example, the electronic device may selectively actuate the haptic device for purposes of testing, and those actuations may be analyzed by the feedback system to determine if they are accurate. This may allow the feedback system to run on the electronic device and haptic device without substantially reducing processing speed of other applications or programs, because the timing of the test mode or calibration mode may be selected at low-use times (e.g., sleep mode). In many instances the calibration of the haptic device provided by the feedback system may be customized depending on the desired accuracy and/or use patterns of the haptic device. 
     In instances where the feedback system is outside of the haptic device, the feedback system may test the haptic device prior to installation or assembly of the haptic device itself or assembly of the electronic device. In this manner the haptic device may be calibrated prior to being installed within the electronic device or prior to being sold to a customer. In another example, the feedback system may be separate from the electronic device or haptic device, but may be used to test the haptic device during maintenance or the like during the lifespan of the haptic device. 
     Electronic Device Incorporating the Haptic Device and Feedback System 
     The methods and devices described herein may be used with substantially any type of apparatus or device where haptic output is provided through a selectively movable surface or movable element.  FIG. 1  is an isometric view of an exemplary electronic device  100  incorporating a haptic output device  102 . As shown in  FIG. 1 , the electronic device  100  may be a laptop computer; however, other electronic devices may implement embodiments described herein. It should be noted that the electronic device  100  illustrated in  FIG. 1  is illustrative only and substantially any other type of electronic device, such as, but not limited to, a computer, mobile phone, smart phone, digital music player, digital camera, calculator, personal digital assistant, television, tablet computing device, media player, and so on may be used. 
     The electronic device  100  may include the haptic output device  102 , an input member  108 , a display  104 , an input port  110 , a keyboard  114  or other input device, one or more sensors  140 , and an enclosure  106  at least partially surrounding select or all of the components of the electronic device  100 . Additionally, the electronic device  100  may also include a feedback system (an example of which is shown in  FIG. 2 ) to adjust an output of the haptic output device  102 . 
     The input member  108  (which may be a switch, capacitive sensor, or other input mechanism) allows a user to interact with the electronic device  100 . For example, the input member  108  may be a button or switch to power on/off the device  100 , alter the volume of a speaker, return to a home screen, and the like. The electronic device  100  may include one or more input members  108 , and each input member  108  may have one or more input/output functions. Furthermore, as briefly mentioned above, in some embodiments, the input member  108  may be incorporated into the display  104 , e.g., a capacitive touch screen as the display  104 . 
     The enclosure  106  may form a portion of an exterior of the electronic device  100  and may at least partially surround select components, such as a processor, memory, and so on, of the electronic device  100 . The enclosure  106  may be removable from the device  100 , or may be substantially secured around the select components. As will be discussed in more detail below, in some instances, the enclosure  102  may surround a portion of the haptic device  102  and the feedback system may be operably connected to one or more portions of the enclosure  106  in order to sense movements of the movable surface of the haptic output device  102  (see, for example,  FIG. 6 ). 
     Referring to  FIG. 1 , the electronic device  100 , via the input port  110 , may also be in communication with one or more external devices  112 . For example, in some embodiments, the haptic output device  102  may be incorporated into an external device  112 , such as a mouse, joystick, or other input device. 
       FIG. 2  is a block diagram of the electronic device  100  including the haptic output device  102  and feedback system  121 . The electronic device  100  may include a processor  116 , a power source  118 , and a memory component  120 , all of which may be in communication by one or more system buses  126 . The processor  116  may further be in communication with the feedback system  121  and the haptic output device  102 . In some embodiments the processor  116  and feedback system  121  may control an actuator  124  for the haptic output device  102  and/or receive data from one or more input sensors  122  of the haptic output device  102 , discussed in more detail below. The feedback system  121  may be incorporated into the electronic device  100 , into the haptic output device  102 , into portions of each, or separate therefrom. 
     The processor  116  may be substantially any electronic device cable of processing, receiving, and/or transmitting instructions. For example, the processor  116  may be a microprocessor or a microcomputer. Additionally, it should be noted that the processor  116  may include more than one processing member. For example, select components of the electronic device  100  may be controlled by a first processor and other components of the electronic device  100  may be controlled by a second processor, where the first and second processors may or may not be in communication with each other. Continuing with this example, one processor may be included as part of the feedback system  121  and/or the haptic output device  102  to control those elements, whereas a second processor may control aspects of the electronic device  100 . 
     The memory  120  may store electronic data that may be utilized by the electronic device  100 . For example, the memory  120  may store electrical data or content e.g., audio files, video files, document files, and so on, corresponding to various applications. In some embodiments, the memory  120  may store user settings with respect to the haptic output device  102 , these type of settings is discussed in more detail below. The memory  120  may be, for example, non-volatile storage, a magnetic storage medium, optical storage medium, magneto-optical storage medium, read only memory, random access memory, erasable programmable memory, flash memory, or a combination of one or more types of memory components. 
     The electronic device  100  may also include one or more sensors  140 , in addition to the input sensors  122  of the haptic output device  102  and feedback sensors  123  of the feedback system  121 . The sensors  140  may provide substantially any type of input to the electronic device  100 . For example, the sensors  140  may be one or more accelerometers, gyroscopes, light sensors, image sensors (such as a camera), force sensors, and so on. 
     As will be discussed in more detail below, the haptic output device  102  may include one or more input sensors  122 , a movable surface, and an actuator  124 . The input sensors  122  may be used to sense inputs to the haptic output device  102 , such as a user force or position of one or more user&#39;s fingers. For example, the input sensors  122  may be force sensors, capacitive sensors, position sensors, and/or the like. The actuator  124  may be used to activate a movable surface in order to move the movable surface to provide output to a user. In some instances the actuator  124  may respond to one or more input waveforms to vary the movement of the movable surface. 
     Also as discussed in more detail below, the feedback system  121  may include one or more feedback sensors  123 . The feedback sensors  123  may configured to detect changes in position, acceleration, or velocity of the movable surface, which will be discussed in more detail below. The feedback system  121 , in particular the feedback sensors  123 , may be in communication with the processor  116  and the haptic output device  102  via the system bus  126  and/or other communication means. In this manner, the feedback system  121  may detect output of the haptic output device  102  and may calibrate or otherwise vary the haptic output device  102  depending on the desired output. 
     It should be noted that  FIGS. 1-2  are exemplary only. In other examples, the electronic device may include fewer or more components than those shown in  FIGS. 1-2 . Additionally, the illustrated electronic devices are only exemplary devices incorporating the haptic output device  102 . In other embodiments, the haptic output device  102  may be incorporated into substantially any type of device where haptic output to a user may be desired. In some instances, the haptic output device  102  and the feedback system  121  may be a separate component from the electronic device  100  but may be in communication therewith. For example, the haptic output device  102  and/or feedback system  121  may include a transmitting and/or receiving member to transmit data and/or power to the electronic device  100  wirelessly or through a wired connection. 
     The Haptic Device 
     The haptic output device  102  will now be discussed in more detail.  FIG. 3  is an enlarged top plan view of the electronic device  100  illustrating the haptic output device  102  and the feedback sensors  123  in dashed lines.  FIG. 4  is a block diagram of the haptic output device  102  including the feedback system  121  and sensors  123 .  FIG. 5  is a cross-sectional view of the haptic output device  102  and feedback system  121  of  FIG. 3  taken along line  5 - 5  in  FIG. 3 . The haptic output device  102  selectively provides output to a user by moving, vibrating, or otherwise alternating a movable surface  128 . The feedback system  121  may sense the actual output of the haptic output device  102  and may then adjust the haptic device  102  to adjust the output as desired. 
     The haptic output device  102  may include the actuator  124  which is operably connected to the movable surface  128 . Additionally, the haptic output device  102  includes the input sensors  132  which may include one more force sensors  130 A,  130 B,  130 C,  130 D, one or more position sensors  127 , and/or one or more acceleration sensors  133 . The haptic output device  102  may also include one or more biasing supports  134 A,  134 B,  134 C,  134 D to secure and support the haptic output device  102  to the electronic device  100 . 
     The haptic output device  102 , when included within the electronic device  100 , may be substantially surrounded by the enclosure  106 . The haptic output device  102  may include a movable surface  128  supported by one or more biasing supports  134 A,  134 B,  134 C,  134 D above a substrate  136  or other support surface for the electronic device  100 . The input sensors  122  may be positioned beneath, adjacent, or on top of the movable surface  128 . In some embodiments, the input sensors  122  may be integrated into the movable surface  128 . 
     The haptic output device  102  may further be operably connected to the actuator  124 . The actuator  124  selectively moves the movable surface  128  to provide feedback to a user. The actuator  124  may be operably connected to the movable surface  128  by one or more connection members  138 . The actuator  124  may be a motor, such as a solenoid actuator, and the mechanical output of the actuator  124  may be varied by varying one or more waveform inputs or signals into the actuator  124 . As another example, the actuator  124  may be an electromagnet, or a series of magnets, that are selectively energized to attract and repel the movable surface  128 . 
     The actuator  124  may receive one or more electrical signals from the processor  116  or other controlling element and those signals may be converted into mechanical movement by the actuator  124 . For example the actuator  124  may be a solenoid actuator including a wire wound around a moveable iron core. As a current passes through the wire coil, the iron core may move correspondingly. Specifically, the electric current through the wire may create a magnetic field. The magnetic field may then apply a force to the core or plunger, to attract the core. In these embodiments, the actuator  124  may also include a spring or biasing member which may return the core to its original position after the magnetic field is removed. However, in other embodiments, the actuator  124  may be other types of motors that may translate electrical signals into a mechanical movement or movements. 
     In embodiments where the actuator  124  is a solenoid or magnet, the actuator  124  may be configured to respond to one or more waveforms, which may vary the output of the actuator  124 . For example, by varying the magnitude, duration, and/or shape of an input waveform, the current through the wire may be altered, thus varying the magnetic field. By changing the magnetic field different types of linear mechanical movements may be created. As a specific example, by changing the amplitude of the input signal, the actuator  124  may move the movable surface  128  an increased amount compared to a lower amplitude input signal. It should be noted that in other embodiments, the actuator  124  may be a motor, servo, or the like that may be used to move the movable surface  128 . 
     In some embodiments, the actuator  124  may selectively move the movable surface  128  linearly, e.g., along the X axis and/or the Y axis illustrated in  FIG. 3 . In these embodiments, the movable surface  128  may translate horizontally but may not move vertically with respect to the enclosure  106 . In other embodiments, the actuator  124  may move the movable surface  128  vertically or a combination of vertically and linearly. However, in embodiments where the actuator  124  may move the movable surface  128  linearly, a user in contact with the movable surface  128  may perceive the movement of the movable surface  128  as being vertical in nature. This is because the movable surface  128  may move linearly a small distance or may move very quickly. Sufficiently small lateral displacements can be experienced by the user as vertical movement. Such embodiments may have a thinner height than a haptic output device employing vertical displacement. 
     In some embodiments, the actuator  124  may move the movable surface  128  in more than one direction. For example, the actuator  124  may displace the movable surface  128  and then provide a second force to return the movable surface  128  to its original position in the opposite direction. In these instances, the feedback system  121  may alter both movements of the actuator  124  in order to calibrate the haptic output device  102 . However, in other embodiments, the biasing supports  134 A,  134 B,  134 C,  134 D may provide a biasing force to return the movable surface  128  to its original position. In these instances, depending on whether the biasing supports  134 A- 134 D are adjustable, the feedback system  121  may calibrate the actuator  124  only to adjust the output of the haptic output device  102 . However, if the biasing supports  134 A- 134 D are adjustable, they may also be adjusted by the feedback system  121 . 
     With reference to  FIGS. 3 and 5 , in some embodiments, the movable surface  128  may be a relatively rectangular shape or square shape and a force sensor  130 A,  130 B,  130 C,  130 D may be positioned beneath each corner or adjacent each corner of the feedback platform  128 . In these embodiments, the force sensors  130 A,  130 B,  130 C,  130 D may determine a force input applied to substantially any portion of the movable surface  128 . The force sensors  130 A,  130 B,  130 C,  130 D may be substantially any type of sensor capable of detecting an exerted force. In some embodiments, the force sensors  130 A,  130 B,  130 C,  130 D may be strain gauges. 
     In other embodiments, the movable surface  128  may be differently shaped and/or may include fewer or more force sensors  130 A,  130 B,  130 C,  130 D. For example, the haptic output device  102  may include a single force sensor positioned at a center of the movable surface  128  and/or may include multiple force sensors positioned around a perimeter of the movable surface  128 . The location and number of the force sensors  130 A,  130 B,  130 C,  130 D may be determined based on the desire sensitivity of force input desired to be captured by the haptic output device  102 , among other criteria. Thus, if a more force sensitive haptic output device  102  is desired, more force sensors  130 A,  130 B,  130 C,  130 D may be included. 
     The position or touch sensors  127  may be configured to detect an input location on the movable surface  128 . In some embodiments, the position sensors  127  may be one or more capacitive sensors configured to detect multiple touches on the movable surface  128 . For example, the haptic output device  102  may include a grid of electrodes operably connected to the movable surface  128  and configured to detect an input signal, such as a change in capacitance or other electrical change. Capacitive sensing grids for sensing changes in capacitance are generally known in the art. However, in other embodiments other position sensors may be used, such as a light sensors that detect disruption in light signals, piezoelectric sensors positioned on the movable surface  128 , or acoustic sensors which detect position based on sound waves, and so on. 
     The acceleration sensor  132  may detect an acceleration of a user input. For example, the acceleration sensor  132  may be an accelerometer that detects how quickly a user may press on the movable surface  128 . It should be noted that the feedback system  121  may also include acceleration sensors, which may be either separate from the acceleration sensors  132  of the haptic output device  102  or may be the same as those sensors. 
     With reference to  FIG. 5 , the biasing supports  134 A,  134 B,  134 C,  134 D may support and operably connect the haptic movable surface  128  to the substrate  136  or other support surface of the electronic device  100 . In some embodiments, the haptic output device  102  may include four biasing supports  134 A,  134 B,  134 C,  134 D which each may be operably connected to a respective corner of the movable surface  128 . In these embodiments, the biasing supports  134 A,  134 B,  134 C,  134 D may be operably connected to the movable surface  128  at a location substantially adjacent to the location of the force sensors  130 A,  130 B,  130 C,  130 D. 
     The biasing supports  134 A,  134 B,  134 C,  134 D provide a biasing force to the movable surface  128  to return the movable surface  128  to a normal or first position. The biasing supports  134 A,  134 B,  134 C,  134 D may be substantially any member capable of providing a biasing or return force to the movable surface  128 . In some embodiments, the biasing supports  134 A,  134 B,  134 C,  134 D may be relatively flexible and resilient members, such as a gel, including but not limited to, a silicone based gel that may be positioned around the sides of the movable surface  128 . In other embodiments, the biasing supports  134 A,  134 B,  134 C,  134 D may be one or more springs spanning between the substrate  136  and the movable surface  128 , or the haptic device may include a magnetic force which may return the movable surface  128  to its original position. 
     Generally, the biasing supports  134 A,  134 B,  134 C,  134 D may deform or flex when the actuator  124  applies a force to the movable surface  128  and then may return the movable surface  128  to its original position. For example, after the actuator  124  has stopped providing a return force to the movable surface  128 , the biasing support  134  may resiliently return to the normal position. In other words, the biasing supports  134 A,  134 B,  134 C,  134 D may provide a force to the movable surface  128  to move the movable surface  128  in a second direction D2. As the biasing supports  134 A,  134 B,  134 C,  134 D return to their original shape, the movable surface  128  may be positioned in the original or normal position. 
     It should be noted that although the biasing supports  134 A,  134 B,  134 C,  134 D are shown as four separate members, in some embodiments, the biasing supports  134 A,  134 B,  134 C,  134 D may be a single integral member. In other embodiments, one or more of the biasing supports  134 A,  134 B,  134 C,  134 D may be omitted and the haptic output device  102 . 
     The operation of the haptic output device  102  will now be discussed. The haptic output device  102  may vary the output sensed by the user based on one or more characteristics, settings, or the like. A force input provided by a user to the movable surface  128  may be detected by the one or more force sensors  130 A- 130 D, position sensors  127 , and/or acceleration sensors  133 . As the input is detected or if an output is otherwise desired, the haptic output device  102  or the processor  116  may determine the desired output. Based on the desired output, an input signal may be provided to the actuator  124 , which may then actuate the movable surface  128  to move in at least one direction at a predetermined velocity. As the movable surface  128  moves, the user (who&#39;s fingers may be positioned on the movable surface  128 ) may feel the movement, and receive output from the haptic output device  102 . The movement speed of the movable surface  128 , as well as the displacement may be varied by varying the input signals to the actuator  124 . 
     The Feedback System 
     The feedback system  121  for the haptic output device  102  will now be discussed in more detail. As discussed above, the haptic output device  102  may be configured to vary a movement of the movable surface  128  in order to vary the output provided to a user. In some instances, the actual movement of the movable surface  128 , either its displacement and/or speed, may be different from the desired movement of the movable surface  128 . The feedback system  121  may be configured to determine the actual movement of the movable surface  128  and compare that movement to the desired movement, and adjust the haptic output device  102  as necessary or desired. 
     With reference again to  FIGS. 3-5 , the feedback system  121  may be in communication with the haptic output device  102  and may include one or more feedback sensors  123 . The feedback sensors  123  may be substantially any type of sensor that may detect a displacement of the movable surface  125  or velocity, or changes thereof. For example, the feedback sensors  123  may be accelerometers, optical sensors, capacitive sensors, strain gauges, magnetic sensors, and so on. Different embodiments of the feedback system  121  utilizing different types of feedback sensors  123  will be discussed in more detail below. The feedback system  121 , and specifically, the feedback sensors  123 , may be in communication with the processor  116  and/or haptic output device  102  in order to provide a feedback loop between an output of the haptic output device  102  and an input to the haptic output device  102 . However, it should be noted that, in some embodiments, the feedback system  121  may be in communication with another component, such as an external electronic device, which may then be used to calibrate or otherwise vary the haptic output device  102 . For example, the feedback system  121  may be used during an assembly process of the electronic device  100  to provide an initial calibration of the haptic output device  102  prior to installation. In these instances, the feedback system  121  may be separate from the electronic device  100 , but may be used to manually or electrically adjust the haptic output device  102 . 
     In a first example feedback system  121 , one or more feedback sensors  123  may be operably connected to the movable surface  128 . With reference to  FIG. 5 , the feedback sensor  123  may be operably connected to a bottom surface of the movable surface  128  in order to detect one or more movements of the movable surface  128 . In this example, the feedback sensor  123  may be an accelerometer which may detect an acceleration of the movable surface  128  as it is activated by the actuator  124 . In other words, as the movable surface  128  is moved linearly (or otherwise) by the actuator  124 , the feedback sensor  123  may detect changes in acceleration of the movable surface  128 . As a specific example, the feedback sensor  123  may be a micro electro-mechanical (MEMS) accelerometer. For instance, one type of MEMS accelerometer may include a cantilever beam having a mass attached thereto, and during acceleration the mass deflects from its original position and the deflection is measured by the accelerometer. However, many other types of sensors may be used, including various types of accelerometers. 
     In embodiments where the feedback sensor  123  may be an accelerometer (as well as in other embodiments), the sensor  123  may be positioned substantially anywhere on the movable surface  128  since generally the acceleration of a movable surface  128  may be approximately the same across the area of the movable surface. Additionally, in many instances, accelerometers, such as MEMS accelerometers, may be relatively inexpensive as well as may have a relatively small size, which may allow for the electronic device  100  and/or haptic device  102  to be thinner and/or smaller, while also not requiring a significant increase in cost to include elements of the feedback system  121  therein. 
     The changes in acceleration detected by the feedback sensor  123  may be used to determine a movement distance of the movable surface  128  and/or the velocity of the movable surface  128  during the acceleration. For example, the feedback sensor  123 , or the haptic output device  102  itself, may detect the acceleration time as well as the acceleration force. Using the time of acceleration, as well as the known acceleration, the velocity and the distance moved by the movable surface  128  may be determined. Velocity of the movable surface  128  may be determined by integrating the signal from the accelerometer over the movement time, and the distance moved by the movable surface  128  may be determined by twice integrating the accelerometer signal over the movement time. 
     As another example, the feedback sensor  123  illustrated in  FIG. 5  may be a strain gauge having one end operably connected to one side of the enclosure  106  surrounding the movable surface  128  and a second end operably connected to the movable surface  128 . In this manner, as the movable surface  128  moves, the strain gauge may be pulled or compressed correspondingly, which may vary an output signal of the strain gauge in a manner correlated to the amount of movement of the movable surface  128 . 
     In some instances the feedback system  121  may include one or more components that are separate from the movable surface  128 , but may interact with one of the feedback sensors  123 , the movable surface  128 , or other portions of the haptic output device  102  in order to detect the actual movement characteristics of the movable surface  128 .  FIG. 6  is a cross-sectional view of the haptic output device  102  (including the feedback system  121 ) taken along line  5 - 5  in  FIG. 3 . In this example, the feedback system  121  may include a first sensor  125  connected to the movable surface  128  and a second sensor  129  operably connected to the enclosure  106  adjacent to at least one portion of the movable surface  128 . In this example, the second sensor  129  may track changes in position of the first sensor  125 , which because the first sensor  125  is operably connected to the movable surface  128 , may track the changes in position of the movable surface  128 . It should be noted that in some instances either the first sensor  125  or the second sensor  129  may be an element or component that the other sensor can track. In other words, the term sensor is meant to encompass sensing components as well as components the can be sensed by a sensing component. As an example, the first sensor  125  may be a conductive material and the second sensor  129  may be a circuit configured to register changes in capacitance and thus one of the two sensors  125 ,  129  may not act to actually sense any characteristics, but may be used by the other sensor to track changes in the movement characteristics. 
     As an example of the feedback system  121  of  FIG. 6 , the first sensor  125  may be a conductive material (or another type of material having a dielectric property different than air) and the second sensor  129  may be a capacitive sensing circuit that may sense changes in capacitance. The second sensor  129  may be operably connected to the enclosure  106  at a side toward which or away from where the movable surface  128  may move during typical movements by the actuator  124 . Thus, as the movable surface  128  moves, a gap between the two sensors  125 ,  129  may correspondingly increase or decrease, which will alter the capacitance detected by the second sensor  129 . These capacitance changes may be used by the processor  116  to determine to motion of the movable surface  128 . As a specific example, with reference to  FIG. 3 , if the movable surface  128  is configured to move along the Y direction, the second sensor  129  may be operably connected to the enclosure  106  along the X axis or horizontal edge of the haptic output device  102 . In this configuration, the movable surface  128  may move vertically along the Y axis and move vertically away from or towards the horizontal edge along the X axis. 
     As another example of the feedback system of  FIG. 6 , the first sensor  125  may be a conductive or metallic object and the second sensor  129  may be an electromagnet. In this example, the first sensor  125  may be incorporated into or operably connected to the movable surface  128  and may move towards or away from the second sensor  129  which may be operably connected to the enclosure  106 . As this occurs, the magnetic field produced by the second sensor  129  may be varied and may be sensed by the second sensor  129 . In other examples, the sensors  125 ,  129  may be configured to act as linear Hall Effect sensors, which may detect changes in magnetic field across known linear distances in order to detect movement of the movable surface  128 . 
     As yet another example of the feedback system of  FIG. 6 , either the first sensor  125  or the second sensor  129  may be an optical sensor which may detect changes in position of the movable surface  128 . In this example one of the sensors  125 ,  129  may be omitted or may be used as the detection element for the optical sensor. As a specific example, the second sensor  129  may emit a light beam, such as a laser beam or a light from a light emitting diode, and the light beam may be configured to reflect off of a portion of the movable surface  128  and/or first sensor  125  (if included). As the movable surface  128  moves, the reflected angle of the beam changes and the second sensor  128  may receive the light at different angles, which may then be correlated to changes in position of the movable surface  128 . 
     It should be noted that  FIGS. 3-6  are illustrative only and are not meant to be limiting. For example, although in  FIG. 6  the first sensor  125  is illustrated as being in a middle portion of the movable surface  128  towards an edge of the enclosure  106 , in other instances, the first sensor  125  may be positioned between the first force sensor  130 A and the third force sensor  130 C along another edge of the movable surface  128 . Additionally, the feedback sensors  123 ,  125 ,  129  may be substantially any other type of sensor that may detect one or more characteristics of the movement of the movable surface  128 , such as but not limited to, sensors that can detect the speed, rotation, linear movement, and/or vertical movement (if any) of the movable surface  128 . Accordingly, the discussion of any particular sensing technique and/or sensors is meant as illustrative only and not meant as limiting. 
     Operation of the Feedback System 
     The operation of the feedback system  121  to detect and correct changes in the haptic output device  102  will now be discussed in more detail.  FIG. 7  is a flow chart illustrating an exemplary method for using the feedback system  121  to calibrate the haptic output device  102 . The method  200  may begin with operation  202  and the haptic output device  102  may activate the movable surface  128 . As discussed above with respect to  FIGS. 3-5 , the movable surface  128  may be activated in response to a user input or to otherwise provide output to a user. To provide output the actuator  124  may move the movable surface  128  a predetermined distance at a predetermined speed. For example, the actuator may move the movable surface  128  linearly relative to the enclosure  102  along a first direction. 
     As the movable surface  128  is actuated, the method  200  may proceed to operation  204  and the feedback sensors  123 ,  125 ,  129  may sense the motion (or one or more characteristics of the motion) of movable surface  128 . For example, if the feedback sensor  123  is an accelerometer, the feedback sensor  123  may detect changes in acceleration as a function of time and use that information to determine one or more movement characteristics (e.g., velocity, position, or acceleration) of the movable surface  128  during the activation time. As another example, the feedback sensors  125 ,  129  may directly measure changes in position of the movable surface  128 , e.g., through an optical sensor. 
     After the feedback sensors  123 ,  125 ,  129  have detected one or more characteristics of the movement of the movable surface  128 , the method  200  may proceed to operation  206 . In operation  206  the processor  116  may compare the detected characteristic(s) with the desired characteristic(s). The desired characteristics may be the expected movement distance, speed, or the like of the movable surface  128  and may be determined based on the input signals to the actuator  124  or otherwise provided to the haptic output device  102 . The detected characteristics correspond to the actual movement characteristics of the movable surface  128 . It should be noted that in some embodiments, the characteristics sensed by the feedback sensors  123 ,  125 ,  129  may have to be modified or analyzed prior to comparing them to the desired characteristics. For example, in some instances, in operation  206  the feedback sensor  123  may be an accelerometer sensing a change in acceleration. In this example, the processor  116  may (double) integrate a signal from the accelerometer (acceleration signal) as a function of the time to determine the distance actually moved by the movable surface  128  prior to comparing the actual distance with the desired distance. However, in other examples, signals from the feedback sensors  123 ,  125 ,  129  may be directly compared to the desired movement signals. 
     After the actual movement characteristics have been compared to the desired characteristics, the method  200  may proceed to operation  208  and the processor  116  may determine whether the motion by the movable surface  128  is accurate. That is, the processor  116  may determine whether the actual movement of the movable surface  128  was the same, or within a predetermined range, as the desired movement. The predetermined range may be a set error range defining differences between the actual movement of the surface  128  and the desired movement that may still be considered to be accurate, although they may not be exactly the same as the desired movement. However, it should be noted that in some instances, the error range may be very small or may be eliminated such that the actual movement of the movable surface  128  may only be considered accurate if it exactly matches the desired movement. 
     If the movement of the movable surface  128  is inaccurate, the method  200  may proceed to operation  210 . In operation  210  the electronic device  100  may adjust the actuator  124  or other adjustable elements of the haptic output device  102 . For example, input signals to the actuator  124  may be varied in magnitude, duration, shape or may otherwise be filtered or scaled to vary the output of the actuator  124 . In this example, the haptic output device  102  output may be changed by varying the input to the actuator  124  itself. However, in other examples, other mechanisms for varying the output of the haptic output device  102  may be used to calibrate the device  102  utilizing the feedback system  121 . 
     In some instances operation  210  may be performed to adjust the haptic device  102  to modify the next or subsequent output. In other words, subsequent movements of the movable surface  128  may be adjusted based on the accuracy of a prior movement or movements. In these instances, the adjustment may be based on system discrepancies in the movement of the surface  128  generally (e.g., reduce displacement by one-fourth), rather than discrete values (e.g., reduce displacement by 0.3 mm). However, in other instances, the feedback system  121  may be configured to provide substantially real-time feedback and make adjustments to the current movement of the movable surface  128  based on the feedback loop provided by the feedback system  121 . In embodiments where real-time feedback may be desired, it should be noted that the haptic device  102  may require a dedicated processor or other controlling element to make the substantially instantaneous changes in output that may be required. 
     As briefly described above, in some instances, the feedback system  121  may include components outside of the electronic device  100 . In these instances, a separate component or computing device may be used to adjust the haptic output device  102 , and specifically the actuator  124 , in order to adjust the output of the haptic output device  102 . This type of adjustment may be done prior to assembling the electronic device  100 , whereas the other types of adjustments may be done while the electronic device  100  is operating and/or after it is assembled. 
     If the movement of the movable surface  128  is determined to be accurate, the method  200  may proceed to operation  212 . In operation  212 , the haptic output device  102  and/or electronic device  100  may resume normal operation. For example, the feedback system  121  may selectively test the haptic output device  102  and during normal operation the haptic output device  102  may operate without the movement of the movable surface  128  being detected. During normal operation, the method  200  may proceed to operation  214  and the haptic output device  102  may wait for a predetermined period of time prior to activating the feedback system  121  a second time. The wait period may be a set number of inputs to the haptic output device  102 , a set number of hours or days, or may be random. In other instances, the wait period may be omitted. 
     After operation  214 , the method  200  may proceed to operation  216  and the processor  116  may determine whether the feedback system  121  should test the haptic output device  102  again. This may be determined based on one or more user settings, applications running, user input, randomized input, or so on. In one example, the processor  116  may determine if a “test mode” or “calibration mode” for the electronic device  100  is activated. During test mode or calibration mode, the electronic device  100  may selectively activate the haptic device  102  using predetermined inputs to then analyze the output produced by the haptic device  102 . Test mode may be activated in instances where the computing device may not be in use by a user, such as if a lid for the device is closed, or if the device is in sleep or standby mode, or the like. With reference again to  FIG. 7 , if the haptic output device  102  is to be retested, the method  200  may return to operation  202  and the method  200  may repeat. If, however, the haptic output device  102  is not to be retested the method  200  may proceed to an end state  218  and the method may terminate. 
     CONCLUSION 
     The foregoing description has broad application. For example, while examples disclosed herein may focus on the haptic device incorporated into an electronic device, it should be appreciated that the concepts disclosed herein may equally apply to feedback mechanisms and methods for other devices and apparatuses. Accordingly, the discussion of any embodiment is meant only to be exemplary and is not intended to suggest that the scope of the disclosure, including the claims, is limited to these examples.

Metadata:
Filing Date: 20130509
Publication Date: 20181023
Grant Date: 20181023
Priority Date: 20120509
Inventors: HARLEY, JONAH A.
AUGENBERGS, PETERIS K.
KESSLER, PATRICK
STATON, KENNETH L.
PATEL, DHAVAL CHANDRAKANT
WILSON, JR., THOMAS W.
Assignee: APPLE INC
CPC Classifications: [{"code": "G06F3/0418", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/0414", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": true, "tree": "[]"}, {"code": "G06F3/0414", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F3/0418", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": true, "tree": "[]"}, {"code": "G06F3/0418", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/0414", "inventive": false, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": true, "tree": "[]"}]
Family ID: 48538057