PATENT DOCUMENT

Publication Number: US-11276518-B2
Application Number: US-201916565392-A
Country: US
Kind Code: B2

Title: Haptic engine module with array-riddled-of-dual (AROD) magnets

Abstract:
Embodiments are disclosed for a haptic engine module that includes AROD magnets. The AROD magnets comprise two adjacent magnets with opposite polarization and adjacent coils above and/or below the magnets. The magnets and coils are adjacent in along direction, which is the direction that is perpendicular to the vibration direction (the direction of the Lorentz force) and to the polarization direction (the direction of magnetic flux). When in operation, excitation current flows in the two coils in opposite directions. The haptic engine module can be embedded in an electronic device with an extreme aspect ratio (e.g., a touch bar of a notebook computer) to provide haptic force (e.g., vibration, click) that can be felt by a user holding or touching the electronic device.

Claims:
What is claimed is: 
     
       1. A haptic engine module, comprising:
 a housing; 
 a first coil disposed in the housing, the first coil extending in a first direction; 
 a second coil disposed in the housing adjacent the first coil in the first direction; 
 a proof-mass disposed in the housing proximate to the first and second coils, the proof-mass configured to move within the housing in a second direction perpendicular to the first direction in response to a Lorentz force generated by a magnetic field caused by excitation current flowing in opposite directions in the first and second coils; 
 a first magnet disposed on or in the proof-mass and having a first magnetic polarization, the first magnet arranged relative to the first and second coils such that a first magnetic flux of the first magnet is projected onto the first and second coils; and 
 a second magnet disposed on or in the proof-mass and having a second magnetic polarization opposite the first magnetic polarization, the second magnet adjacent the first magnet in the first direction, the second magnet arranged relative to the first and second coils such that a second magnetic flux of the second magnet is projected onto the first and second coils. 
 
     
     
       2. The haptic engine module of  claim 1 , wherein the first magnet and the second magnet each have a North and South pole, and the North pole of the first magnet is adjacent the South pole of the second magnet, and the South pole of the first magnet is adjacent to the North pole of the second magnet. 
     
     
       3. The haptic engine module of  claim 1 , wherein the first and second magnets are made from a same material. 
     
     
       4. The haptic engine module of  claim 1 , further comprising:
 a third coil disposed in the housing, the third coil extending in the first direction; and 
 a fourth coil disposed in the housing adjacent the third coil in the first direction, wherein the first coil is located above the first magnet, the second coil is located above the second magnet, the third coil is located below the first magnet and the fourth coil is located below the second magnet. 
 
     
     
       5. An electronic device, comprising:
 a touch bar having a touch bar area for providing haptic feedback to user; 
 one or more haptic engine modules located at least partially under the touch bar area, each haptic engine module comprising:
 a housing; 
 a first coil disposed in the housing, the first coil extending in a first direction; 
 
 a second coil disposed in the housing adjacent the first coil in the first direction;
 a proof-mass disposed in the housing proximate to the first and second coils, the proof-mass configured to move within the housing in a second direction perpendicular to the first direction in response to a Lorentz force generated by a magnetic field caused by excitation current flowing in opposite directions in the first and second coils; 
 a first magnet disposed on or in the proof-mass and having a first magnetic polarization, the first magnet arranged relative to the first and second coils such that a first magnetic flux of the first magnet is projected onto the first and second coils; and 
 a second magnet disposed on or in the proof-mass and having a second magnetic polarization opposite the first magnetic polarization, the second magnet adjacent the first magnet in the first direction, the second magnet arranged relative to the first and second coils such that a second magnetic flux of the second magnet is projected onto the first and second coils; 
 
 a driver coupled to the haptic engine module and configured to provide drive signals to the haptic engine module in response to a control signal or command, the drive signals for moving the proof-mass within the housing; and 
 a controller configured to generate the control signal or command. 
 
     
     
       6. The electronic device of  claim 5 , wherein the first magnet and the second magnet each have a North and South pole, and the North pole of the first magnet is adjacent the South pole of the second magnet, and the South pole of the first magnet is adjacent to the North pole of the second magnet. 
     
     
       7. The electronic device of  claim 5 , wherein the first and second magnets are made from a same material. 
     
     
       8. The electronic device of  claim 5 , further comprising:
 a third coil disposed in the housing, the third coil extending in the first direction; and 
 a fourth coil disposed in the housing adjacent the third coil in the first direction, wherein the first coil is located above the first magnet, the second coil is located above the second magnet, the third coil is located below the first magnet and the fourth coil is located below the second magnet. 
 
     
     
       9. The electronic device of  claim 5 , further comprising:
 one or more processors; 
 a memory storing instructions that when executed by the one or more processors cause the one or more processors to perform operations comprising:
 commanding the controller to operate the haptic engine module. 
 
 
     
     
       10. The electronic device of  claim 9 , wherein the memory stores instructions to implement open loop control of haptic engine module. 
     
     
       11. The electronic device of  claim 9 , wherein the memory stores instructions to implement velocity sensing, closed-loop control of haptic engine module. 
     
     
       12. The electronic device of  claim 11 , wherein the controller receives back-electromotive force voltage measurements at terminals of the first and second coils to be used by a closed-loop control law to generate and send control signals or commands to the driver. 
     
     
       13. The electronic device of  claim 9 , wherein the memory stores instructions to implement position sensing, closed-loop control of haptic engine module. 
     
     
       14. The electronic device of  claim 13 , wherein the controller receives position data from one or more magnetic sensors, or a position indicating magnet located on the proof-mass. 
     
     
       15. The electronic device of  claim 9 , wherein the memory includes instructions to implement position and velocity sensing, closed-loop control of haptic engine module. 
     
     
       16. The electronic device of  claim 15 , wherein the controller receives back-electromotive force voltage measurements at terminals of the first and second coils and position data from one more magnetic sensors in the haptic engine module and uses the position data with a closed-loop control law to generate and send control commands to the driver. 
     
     
       17. The electronic device of  claim 5 , wherein the electronic device is a notebook computer.

Description:
TECHNICAL FIELD 
     This disclosure relates generally to electromagnetic actuators. 
     BACKGROUND 
     Electromagnetic actuator technology is widely adopted in a variety of electronic devices (e.g., smartphones, smartwatches, notebook computers, track pads, touch bars). A haptic engine module using electromagnetic actuator technology generates a Lorentz force when magnetic flux is projected perpendicular to a coil. When the haptic engine module has an extreme aspect ratio, such as long and thin, the conventional design methodology is to extend the coil and its corresponding magnet in the long direction up to the ends of the housing. This approach, while straightforward, reduces the contribution of magnetic flux to the Lorentz force due to the impact of different magnetic circuits on the magnetic field distribution. 
     SUMMARY 
     Embodiments are disclosed for a haptic engine module that includes AROD magnets. The AROD magnets comprise two adjacent magnets with opposite polarization and adjacent coils above and/or below the magnets. The magnets and coils are adjacent in a long direction, which is the direction that is perpendicular to the vibration direction (the direction of the Lorentz force) and to the polarization direction (the direction of magnetic flux). When in operation, excitation current flows in the two coils in opposite directions. The haptic engine module can be embedded in an electronic device with an extreme aspect ratio (e.g., a touch bar of a notebook computer) to provide haptic force (e.g., vibration, click) that can be felt by a user holding or touching the electronic device. 
     In an embodiment, a haptic engine module comprises: a housing; a first coil disposed in the housing, the first coil extending in a first direction; a second coil disposed in the housing adjacent the first coil in the first direction; a proof-mass disposed in the housing proximate to the first and second coils, the proof-mass configured to move within the housing in a second direction perpendicular to the first direction in response to a Lorentz force generated by a magnetic field caused by excitation current flowing in opposite directions in the first and second coils; a first magnet disposed on or in the proof-mass and having a first magnetic polarization, the first magnet arranged relative to the first and second coils such that a first magnetic flux of the first magnet is projected onto the first and second coils; and a second magnet disposed on or in the proof-mass and having a second magnetic polarization opposite the first magnetic polarization, the second magnet adjacent the first magnet in the first direction, the second magnet arranged relative to the first and second coils such that a second magnetic flux of the second magnet is projected onto the first and second coils. 
     In an embodiment, an electronic device comprises: a touch bar having a touch bar area for providing haptic feedback to user; one or more haptic engine modules located at least partially under the touch bar area, each haptic engine module comprising: a housing; a first coil disposed in the housing, the first coil extending in a first direction; a second coil disposed in the housing adjacent the first coil in the first direction; a proof-mass disposed in the housing proximate to the first and second coils, the proof-mass configured to move within the housing in a second direction perpendicular to the first direction in response to a Lorentz force generated by a magnetic field caused by excitation current flowing in opposite directions in the first and second coils; a first magnet disposed on or in the proof-mass and having a first magnetic polarization, the first magnet arranged relative to the first and second coils such that a first magnetic flux of the first magnet is projected onto the first and second coils; and a second magnet disposed on or in the proof-mass and having a second magnetic polarization opposite the first magnetic polarization, the second magnet adjacent the first magnet in the first direction, the second magnet arranged relative to the first and second coils such that a second magnetic flux of the second magnet is projected onto the first and second coils; a driver coupled to the haptic engine module and configured to provide drive signals to the haptic engine module in response to a control signal or command, the drive signals for moving the proof-mass within the housing; and a controller configured to generate the control signal or command. 
     One or more of the disclosed embodiments provide one or more of the following advantages. The disclosed haptic engine module with AROD magnets can be included in a housing with an extreme aspect ratio (e.g., long and thin dimensions) and provide an increased Lorentz force, increased demagnetization temperature for the magnets and improved magnet manufacturability when compared with other haptic engine module designs. 
     The details of one or more implementations of the subject matter are set forth in the accompanying drawings and the description below. Other features, aspects and advantages of the subject matter will become apparent from the description, the drawings and the claims. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  shows a keyboard for a notebook computer that includes a touch bar with haptic engine modules having extreme aspect ratios, according to an embodiment. 
         FIG. 2A  is a perspective view of a prior art haptic engine module with a long y-direction. 
         FIG. 2B  is a side view of the haptic engine module of  FIG. 1  looking perpendicular to the y-direction and showing the magnetic flux direction. 
         FIG. 2C  is a schematic diagram of an equivalent circuit for the haptic engine module shown in  FIGS. 2A and 2B . 
         FIG. 3A  is a perspective view of a haptic engine module with AROD magnets, according to an embodiment. 
         FIG. 3B  is a side view of the AROD haptic engine module of  FIG. 1  looking perpendicular to the y-direction and showing the magnetic flux direction, according to an embodiment. 
         FIG. 3C  is a schematic diagram of an equivalent circuit for the haptic engine module shown in  FIGS. 3A and 3B , according to an embodiment. 
         FIG. 4  is a block diagram of a control system for the haptic engine module shown in  FIGS. 3A-3C , according to an embodiment. 
     
    
    
     DETAILED DESCRIPTION 
       FIG. 1  shows keyboard  100  for a notebook computer or other electronic device that includes touch bar area  101  and haptic engine modules  102   a  . . .  102   c  embedded under touch bar area  101 . Due to the dimensions of touch bar area  101 , each haptic engine module  102   a  . . .  102   c  has an extreme aspect ratio to fit within the touch bar area  101 . Each haptic engine module  102   a - 102   c  comprises a long coil and magnet extending in the long direction. In this configuration, the magnet will experience self-demagnetization when projecting magnetic flux onto the coil. The self-demagnetization will result in reduced magnetic flux and therefore reduced Lorentz force, as described in reference to  FIGS. 2A-2C . 
     Single Magnet and Coil Design 
       FIG. 2A  is a perspective view of a prior art haptic engine module  200  with a long y-direction. The x-direction is perpendicular to the y-direction and is the direction in which the proof-mass moves (e.g., the vibration direction). The z-direction is the polarization direction and is perpendicular to the x and y directions using the right-hand rule. Haptic engine module  200  includes upper housing surface  201   a  and lower housing surface  201   b . The sides of the housing are removed to expose the internal structures of haptic engine module  200 . In practice, haptic engine module  200  has a completely enclosed housing. A proof-mass  202  is fixed to the housing by springs or other mechanically compliant structures to allow proof-mass  202  to move in the vibration direction (x-direction) when coil  204   a ,  204   b  are excited with current. Proof-mass  202  comprises a signal magnet  203  with North and South poles, as shown in  FIG. 2A . When coils  204   a ,  204   b  are excited with current, coils  204   a ,  204   b  generate a magnetic field which generates magnetic flux that is projected by magnet  203  on coils  204   a ,  204   b . The magnetic flux creates a Lorentz force in the vibration direction. Changing the direction of the current in coils  204   a ,  204   b  causes proof-mass  202  to vibrate. 
       FIG. 2B  is a side view of haptic engine module  200  of  FIG. 1 , looking perpendicular along the y-direction and showing the magnetic flux flow. When the surface aspect ratio of magnet  204  increases two magnetic effects work against each other: magnet self-demagnetization and increased magnetic flux. As the aspect ratio of haptic engine module  200  becomes extreme (the y-direction is much longer than the x-direction), the magnetic flux projected onto coil  204  by magnet  203  decreases, resulting in a decrease in Lorentz force. Note that in the embodiment shown there are coils  204   a ,  204   b  above and below magnet  203 , respectively. 
       FIG. 2C  is a schematic diagram of equivalent circuit  205  for haptic engine module  200  shown in  FIGS. 2A and 2B . Equivalent circuit  205  has a single magnetic field source provided by single magnet  203  (“Entire_Y_magnet”) with the magnetic flux being split into two directions. This inefficient design is the result of the dimensional ratio of the magnet and the desire to maximize the coil plus magnet footprint in the y-direction. Using a FEA ANSYS Maxwell simulation of the haptic engine module  200 , the average magnetic flux (“B-flux”) projected onto coils  204   a ,  204   b  by magnet  203  is approximately 0.55 Tesla. 
     AROD Magnets 
       FIG. 3A  is a perspective view of haptic engine module  300  with AROD magnets, according to an embodiment. The vibration direction (x-direction) is perpendicular to the y-direction. The z-direction is the polarization direction and is perpendicular to the x and y directions applying the right-hand rule. Haptic engine module  300  includes upper housing surface  301   a  and lower housing surface  301   b . The sides of the housing are removed to expose the internal structures of haptic engine module  300 . In practice, haptic engine module  300  is completely enclosed within the housing, such that a proof-mass  302  can move in the x-dimension when coils  304   a ,  304   b  are excited with current. 
     Haptic engine module  300  includes dual magnets  303   a ,  303   b  having opposite magnetic polarization. Each of magnets  303   a ,  303   b  has a North pole and a South pole. The North pole of magnet  303   a  is adjacent to the South pole of magnet  303   b  and the South pole of magnetic  303   a  is adjacent to the North pole of magnet  303   b . Coils  304   a ,  304   b  are disposed above and below the magnets  303   a    303   b . When coils  304   a ,  304   b  are excited with current in opposite directions, coils  304   a ,  304   b  generate magnetic fields which cause magnets  303   a ,  303   b , to generate magnetic fluxes that are projected on to coils  304   a ,  304   b , respectively. The magnetic fluxes create a Lorentz force in the vibration direction (x-direction). Changing the direction of the current in coils  304   a ,  304   b  causes the proof-mass  302  to vibrate. In an embodiment magnets  303   a ,  303   b  are made of the same material (e.g., N48SH). 
       FIG. 3B  is a side view of the haptic engine module  300  of  FIG. 1  looking perpendicular to the y-direction and showing magnetic flux flow, according to an embodiment. In haptic engine module  300 , magnets  303   a  (Low_Y magnet),  303   b  (High_Y magnet) are arranged relative to coils  304   a ,  304   b  to maximize the magnetic flux projected onto coils  304   a ,  304   b . Note that in the embodiment shown there are coils  304   a ,  304   b  above magnets  303   a ,  303   b , and coils  304   c ,  304   d  below magnets  303   a ,  303   b.    
       FIG. 3C  is a schematic diagram of equivalent circuit  305  for haptic engine module  300  shown in  FIGS. 3A and 3B , according to an embodiment. Equivalent circuit  305  has two magnetic field sources adding B-flux onto both coils  304   a ,  304   b . To enhance the Lorentz forces acting in the same direction, the 1x long coils  204   a ,  204   b  shown in  FIG. 2A  are each split into 2x smaller coils  304   a ,  304   b  and  304   c ,  304   d , respectively. Based on a FEA ANSYS Maxwell simulation of haptic engine module  300 , the average B-flux projected onto coils  304   a  . . .  304   d  by magnets  303   a ,  303   b , respectively is approximately 0.61 Tesla, which is 10% larger than the magnetic flux projected by magnet  203  onto coils  204   a ,  204   b  in haptic engine module  200 . With haptic engine module  300 , the magnetic flux on magnet  303   a  is increased by magnet  303   b , and the magnetic flux on magnet  303   b  is increased by magnet  303   a . Also, the less extreme aspect ratio of the magnets  303   a ,  303   b  (due to splitting a signal long magnet and coil into two shorter magnets and two coils), results in higher permeance coefficients for magnets  303   a ,  303   b , higher B-flux, higher Curie temperature and higher magnet de-magnetization temperature. 
     Example Control Systems 
       FIG. 4  is a block diagram of control system  400  for haptic engine module  300  shown in  FIGS. 3A-3C , according to an embodiment. Control system  400  includes controller  401 , driver  402 , haptic engine module  403 , processor  404 , memory  405  and software instructions  406 . Controller  401  can be configured to command driver  402  to provide a drive signal to control the motion of a proof-mass in haptic engine module  403 . Memory  405  includes software instructions  406  executed by controller  401  and/or processor  402  to control the vibration of the proof-mass in haptic engine module  403 . 
     In a first embodiment of control system  400 , memory  405  includes software instructions  406  to implement open loop control of haptic engine module  403 . In a second embodiment of control system  400 , memory  405  includes software instructions  406  to implement velocity sensing, closed-loop control of haptic engine module  403 . In the second embodiment, controller  401  receives back-electromotive force (back-EMF) voltage measurements at the coil terminals to be used by a closed-loop control law to generate and send control signals or commands to haptic engine module  403 . In a third embodiment of control system  400 , memory  405  includes software instructions  406  to implement position sensing, closed-loop control of haptic engine module  403 . In the third embodiment, controller  401  receives position data from one or more magnetic sensors (e.g., one or more Hall sensors), or a position indicating magnet located on the proof-mass. The magnetic sensors can be attached to the housing to measure the position of magnets  303   a ,  303   b . In a fourth embodiment of control system  400 , memory  405  includes software instructions  406  to implement position and velocity sensing, closed-loop control of haptic engine module  403 . In this fourth embodiment, controller  401  receives back-EMF voltage measurements at the coil terminals and position data from one more magnetic sensors (e.g., Hall sensors) and uses the voltage measurements and position data with a closed-loop control law to generate and send control commands to driver  402 . 
     In an embodiment, an example closed-loop control system  400  suitable for controlling haptic engine module  300  is described U.S. Pat. No. 10,277,154 for “Closed-Loop Control of Linear Resonant Actuator Using Back-EMF data and Hall Sensing,” issued, which patent is incorporated by reference herein in its entirety.

Metadata:
Filing Date: 20190909
Publication Date: 20220315
Grant Date: 20220315
Priority Date: 20190909
Inventors: SEN, YI-HENG
Assignee: APPLE INC
CPC Classifications: [{"code": "G06F1/1662", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F1/1662", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/0202", "inventive": true, "first": false, "tree": "[]"}, {"code": "G06F3/016", "inventive": true, "first": false, "tree": "[]"}, {"code": "H01F7/064", "inventive": true, "first": false, "tree": "[]"}, {"code": "H01F7/081", "inventive": true, "first": true, "tree": "[]"}, {"code": "H01F2007/1692", "inventive": false, "first": false, "tree": "[]"}, {"code": "H01F7/1646", "inventive": true, "first": true, "tree": "[]"}, {"code": "G06F1/1662", "inventive": true, "first": false, "tree": "[]"}, {"code": "H01F7/081", "inventive": true, "first": true, "tree": "[]"}, {"code": "H01F7/064", "inventive": true, "first": false, "tree": "[]"}]
Family ID: 74851121