CN110968186A - Button providing force sensing and/or tactile output - Google Patents

Abstract

The present disclosure relates to buttons that provide force sensing and/or tactile output. The module that this disclosure provided includes: a permanent magnet biased electromagnetic haptics engine having a stator and a rotor; a restraint coupled to the stator and the rotor; and a force sensor at least partially attached to the permanent magnet biased electromagnetic haptic engine and configured to sense a force applied to the rotor. The restraint is configured to restrain a closing of a gap between the rotor and the stator, and to bias the rotor toward a rest position, wherein the rotor is separated from the stator by the gap.

Description

Button providing force sensing and/or tactile output

Technical Field

The embodiments relate generally to buttons that provide force sensing and/or tactile output. More particularly, the embodiments relate to a button having a force sensor (or tactile switch) that can trigger operation of a tactile engine of the button, and alternative embodiments of a tactile engine for the button. The haptic engine may be a permanent magnet biased electromagnetic haptic engine (or a permanent magnet biased normal flux electromagnetic haptic engine).

Background

A device such as a smartphone, tablet, or electronic watch may include buttons that may be used to provide input to the device. In some cases, the button may be a volume button. In some cases, the buttons may be context sensitive and may be configured to receive different types of input based on an activity context (e.g., an activity utility or application) running on the device. Such a button may be located along a sidewall of the device and may move toward the sidewall when the user presses the button. Pressing the button with an applied force that exceeds a threshold value may trigger actuation (e.g., a state change) of a mechanical switch disposed behind the button. In some cases, the button may pivot along the sidewall. For example, the top of the button may be pressed and pivoted toward the sidewall to increase the volume, or the bottom of the button may be pressed and pivoted toward the sidewall to decrease the volume.

Disclosure of Invention

Embodiments of systems, devices, methods, and apparatus described in this disclosure relate to a button that provides force sensing and/or tactile output. In some cases, the button may be associated with a force sensor (or tactile switch) that triggers operation of the haptic engine in response to detecting a force (or press) on the button. The haptic engine may be a permanent magnet biased electromagnetic haptic engine (or a permanent magnet biased normal flux electromagnetic haptic engine).

In a first aspect, the present disclosure describes a module having a permanent magnet biased electromagnetic haptic engine. The haptic engine may include a stator and a rotor. The restraint may be coupled to the stator and the rotor. The force sensor may be at least partially attached to the permanent magnet biased electromagnetic haptic engine and may be configured to sense a force applied to the rotor. The restraint may be configured to restrain closure of a gap between the rotor and the stator and bias the rotor toward a rest position in which the rotor is separated from the stator by the gap.

In another aspect, the present disclosure describes another module. The module may include a haptic engine, a force sensor, and a restraint. The haptic engine may have a fixed portion and a movable portion. The movable portion may be configured to move non-linearly when the haptic engine is energized by an electrical signal to provide a haptic output. The force sensor may be at least partially attached to the haptic engine and configured to sense a force applied to the module. The restraint can be configured to restrain movement of the movable portion relative to the fixed portion and bias the movable portion toward a rest position, wherein the movable portion is separated from the fixed portion by a gap.

In yet another aspect of the disclosure, a method of providing a haptic response to a user is described. The method can include constraining relative motion between a fixed portion and a movable portion of the haptic engine to bias the movable portion toward a rest position, wherein the movable portion is separated from the fixed portion by a gap, and constraining closure of the gap. The method may further include determining, using a force sensor, a force applied to a button, wherein the button is mechanically coupled to the movable portion; determining that the determined force matches a predetermined force; identifying a haptic actuation waveform associated with the predetermined force; and applying the haptic actuation waveform to a haptic engine. Relative movement between the fixed and movable portions may be constrained to pivoting of the movable portion relative to the fixed portion.

In another aspect, the present disclosure describes a module having a permanent magnet biased electromagnetic haptic engine. The haptic engine may include a stator and a shuttle. A restraint can be coupled to the stator and the shuttle. The force sensor may be at least partially attached to the permanent magnet biased electromagnetic haptic engine and may be configured to sense a force applied to the module. The restraint can be configured to restrain closure of a gap between the stator and the shuttle, and bias the shuttle toward a rest position in which the shuttle is separated from the stator by the gap.

In another aspect, the present disclosure describes another module. The module may include a haptic engine, a force sensor, and a restraint. The haptic engine may include a fixed portion and a movable portion. The movable portion may be configured to move linearly when the haptic engine is energized by an electrical signal to provide a haptic output. The force sensor may be at least partially attached to the haptic engine and configured to sense a force applied to the module. The restraint can be configured to restrain movement of the movable portion relative to the fixed portion and bias the movable portion toward a rest position, wherein the movable portion is separated from the fixed portion by a gap.

In yet another aspect of the disclosure, a method of providing a haptic response to a user is described. The method can include constraining relative motion between a fixed portion and a movable portion of the haptic engine to bias the movable portion toward a rest position, wherein the movable portion is separated from the fixed portion by a gap, and constraining closure of the gap. The method may further include determining, using a force sensor, a force applied to a button, wherein the button is mechanically coupled to the movable portion; determining that the determined force matches a predetermined force; identifying a haptic actuation waveform associated with the predetermined force; and applying the haptic actuation waveform to a haptic engine. Relative movement between the fixed and movable portions may be limited to translation of the movable portion along the axis.

In addition to the aspects and embodiments described above, further aspects and embodiments will become apparent by reference to the drawings and by study of the following descriptions.

Drawings

The present disclosure will be readily understood by the following detailed description in conjunction with the accompanying drawings, wherein like reference numerals designate like structural elements, and in which:

1A-1C illustrate examples of electronic devices;

FIGS. 2A and 2B illustrate partially exploded views of the button assembly relative to the housing;

figure 2C shows a cross-section of an alternative configuration of the button assembly;

FIG. 3 shows an exploded view of an exemplary haptic engine;

4A-4C illustrate assembled cross-sections of the haptic engine and buttons described with reference to FIG. 3;

5-8, 9A, and 9B illustrate an alternative to the haptic engine described with reference to FIGS. 4A-4C;

10A, 10B, 11A, 11B, and 12A-12E illustrate exemplary embodiments of a rotor;

FIG. 13A shows a cross-section of the component described with reference to FIG. 3 with an alternative force sensor;

figure 13B shows an alternative way of winding a flex circuit around the rotor core (or alternatively the first stator) described with reference to figure 13A;

FIG. 14A shows another cross section of the device described with reference to FIG. 3 with an alternative force sensor;

FIG. 14B illustrates an isometric view of a flex circuit for implementing the force sensor described with reference to FIG. 14A;

FIG. 15 illustrates an exemplary two-dimensional arrangement of force sensing elements;

16A-16C illustrate alternative configurations of rotor cores;

17A-17D illustrate another exemplary haptic engine;

FIG. 18 illustrates an example method of providing a haptic response to a user; and

fig. 19 shows an exemplary electrical block diagram of an electronic device.

The use of cross-hatching or shading in the drawings is generally provided to clarify the boundaries between adjacent elements and also to facilitate the legibility of the drawings. Thus, the presence or absence of cross-hatching or shading does not indicate or indicate any preference or requirement for particular materials, material properties, proportions of elements, sizes of elements, commonality of like illustrated elements, or any other characteristic, property or attribute of any element shown in the figures.

Further, it should be understood that the proportions and dimensions (relative or absolute) of the various features and elements (and collections and groupings thereof) and the limits, spacings, and positional relationships presented therebetween are provided in the drawings solely to facilitate an understanding of the various embodiments described herein, and thus may not necessarily be presented or illustrated as being scaled and are not intended to indicate any preference or requirement for the illustrated embodiments to preclude embodiments described in connection therewith.

Detailed Description

Reference will now be made in detail to the exemplary embodiments illustrated in the accompanying drawings. It should be understood that the following description is not intended to limit the embodiments to one preferred embodiment. On the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the embodiments as defined by the appended claims.

Techniques are described herein to enable buttons to provide force sensing and/or haptic output functionality. In some cases, the button may be associated with a force sensor that triggers operation of the haptic engine in response to detecting a force on the button. In other cases, the force sensing and haptic output functions may be decoupled. The haptic engine may be a permanent magnet biased electromagnetic haptic engine (or a permanent magnet biased normal flux electromagnetic haptic engine) -for example, a haptic engine having a rotor or shuttle biased by one or more permanent magnets and electromagnetically actuated.

In some embodiments, the haptic engine and force sensor associated with the button may be combined in a single module.

In some embodiments, the force sensor associated with the button may include a plurality of force sensing elements distributed in one, two, or three dimensions. Such force sensing elements may be used to determine the amount of force applied to the button as well as the location of the force. In this way and by way of example, a button that does not move when pressed may operate as a functional equivalent of a button that may be pressed in multiple positions, such as a volume button that may be pressed along the top or bottom to increase or decrease the volume.

In some embodiments, a force sensor associated with a button may sense a pattern of force applied to the button, such as a longer or shorter sequence of presses. The force sensor may also or alternatively be configured to distinguish button taps from button presses having a longer duration.

In some embodiments, the haptic engine associated with the button may be driven using different haptic actuation waveforms to provide different types of haptic output. Different haptic actuation waveforms may provide different haptic outputs at the buttons. In some embodiments, a processor, controller, or other circuitry associated with the button or circuitry in communication with the button may determine whether the force applied to the button matches a predetermined force and, if so, energize the haptic engine with a particular haptic actuation waveform that has been paired with the predetermined force. The haptic engine may also be energized with different haptic actuation waveforms based on the context of the device (e.g., based on an activity utility or application).

In some embodiments, the module providing force sensing and haptic output functions may be programmed to customize the manner in which force sensing is performed or haptic output is provided.

Various of the implementations may operate at low power or provide high engine force density (e.g., high force with low stroke). In embodiments incorporating the features described in connection with fig. 3, 4A-4C, 10A-10B, 13A, less than 150 cubic millimeters (mm) have been utilized³) And ± 0.10mm of button travel, generates a haptic output that provides a force of approximately 2 newtons (N) (e.g., a rotational force on one side of the rotor and a 1N rotational force on the other side of the rotor, providing a net rotational force of 2N) and a torque of 2.5 newton-millimeters (Nmm). Such performance is significantly superior to the tactile output of known button alternatives of similar and larger size.

The haptic engine embodiments described herein may provide haptic output forces that increase linearly with current applied to the haptic engine and movement of the rotor or shuttle.

These and other embodiments are described below with reference to fig. 1A-19. However, those skilled in the art will readily appreciate that the detailed description given herein with respect to these figures is for explanatory purposes only and should not be construed as limiting.

Directional terms, such as "top," "bottom," "upper," "lower," "front," "rear," "above," "below," "left," "right," and the like, are used with reference to the orientation of some components in some figures described below. Because components in various embodiments can be positioned in a number of different orientations, the directional terminology is used for purposes of illustration and is in no way limiting. Directional terms are intended to be broadly construed and therefore should not be construed to exclude components that are oriented in a different manner. Use of alternative terms, such as "or," is intended to refer to different combinations of alternative elements. For example, a or B is intended to include a or B, or a and B.

FIGS. 1A-1C illustrate an example of an electronic device or simply "device" 100. The size and form factor of the device, including the ratio of the length of its long side to the length of its short side, indicates that the device 100 is a mobile phone (e.g., a smartphone). However, the size and form factor of the device are arbitrarily selected, and the device 100 may alternatively be any portable electronic device, including, for example, a mobile phone, a tablet, a portable computer, a portable music player, a health monitor device, a portable terminal, or other portable or mobile device. FIG. 1A shows a front isometric view of the apparatus 100; FIG. 1B shows a rear isometric view of the apparatus 100; fig. 1C shows a cross-section of the device 100. The device 100 may include a housing 102 that at least partially surrounds a display 104. The housing 102 may include or support a front cover 106 or a rear cover 108. The front cover 106 may be positioned over the display 104 and may provide a window through which the display 104 may be viewed. In some implementations, the display 104 can be attached to (or abut) the housing 102 and/or the front cover 106.

As shown in fig. 1A and 1B, device 100 may include various other components. For example, the front of the device 100 may include one or more forward-facing cameras 110, speakers 112, microphones, or other components 114 (e.g., audio components, imaging components, or sensing components) configured to send signals to or receive signals from the device 100. In some cases, forward-facing camera 120 may be configured to operate as a biometric authentication or facial recognition sensor, alone or in combination with other sensors. The device 100 may also include various input devices, including mechanical or virtual buttons 116, which may be positioned along the front surface of the device 100. The device 100 may also include buttons or other input devices positioned along the sidewalls of the housing 102 and/or on the rear surface of the device 100. For example, the volume button or multi-purpose button 118 may be located along a sidewall of the housing 102, and in some cases may extend through an aperture in the sidewall. By way of example, the rear surface of the device 100 is shown to include a rear facing camera 120 or other optical sensor (see fig. 1B). A flash or light source may also be positioned along the rear of the device 100 (e.g., near the camera 120). In some cases, the rear surface of the device may include a plurality of rear facing cameras.

As previously described, the device 100 may include a display 104 at least partially enclosed by the housing 102. The display 104 may include one or more display elements including, for example, Light Emitting Displays (LEDs), Organic Light Emitting Displays (OLEDs), Liquid Crystal Displays (LCDs), electroluminescent displays (ELs), or other types of display elements. The display 104 may also include one or more touch sensors and/or force sensors configured to detect a touch and/or force applied to the surface of the cover 106. The touch sensor may include a capacitive array of nodes or elements configured to detect the location of a touch along the surface of the cover 106. The force sensor may include a capacitive array and/or a strain sensor configured to detect an amount of force applied along a surface of the cover 106.

Fig. 1C shows a cross-section of the device 100 of fig. 1A and 1B. As shown in fig. 1C, the rear cover 108 may be a discrete or separate component that is attached to the sidewall 122. In other cases, the rear cover 108 may be integrally formed with a portion or all of the side walls 122.

As shown in fig. 1C, the sidewall 122 or housing 102 may define an interior volume 124 in which various electronic components of the device 100 (including the display 104) may be positioned. In this example, the display 104 is positioned at least partially within the interior volume 128 and attached to an inner surface of the cover 106. Touch sensors, force sensors, or other sensing elements may be integrated with the cover 106 and/or the display 104 and may be configured to detect touches and/or forces applied to an outer surface of the cover 106. In some cases, touch sensors, force sensors, and/or other sensing elements may be positioned between the cover 106 and the display 104.

The touch sensor and/or force sensor may include an array of electrodes configured to detect the location and/or force of a touch using a capacitance, resistance, strain, or other sensing configuration. The touch sensor may include, for example, a set of capacitive touch sensing elements, a set of resistive touch sensing elements, or a set of ultrasonic touch sensing elements. When a user of the device touches the cover 106, the touch sensor (or touch sensing system) can detect one or more touches on the cover 106 and determine the location of those touches on the cover 106. The touch may include, for example, a touch by a user's finger or a stylus. The force sensor or force sensing system may include, for example, a set of capacitive force sensing elements, a set of resistive force sensing elements, or one or more pressure transducers. When a user of the device 100 presses the cap 106 (e.g., applies a force to the cap 106), the force sensing system may determine the amount of force applied to the cap 106. In some implementations, a force sensor (or force sensing system) can be used alone or in combination with a touch sensor (or touch sensing system) to determine the location of an applied force or the magnitude of a force associated with each touch in a set of multiple simultaneous touches.

FIG. 1C further shows the button 118 along the sidewall 122. Which is accessible to a user of device 100 and extends outwardly from sidewall 122. In some cases, a portion of the button 118 may be positioned within a recess in the sidewall 122. Alternatively, the entire button 118 may be positioned within a recess in the sidewall 122, and the button 118 may be flush with or embedded in the housing.

The button may extend through the housing and attach to the haptic engine and the force sensor. In some embodiments, the haptic engine and force sensor may be combined in a single module 126. By way of example, the haptic engine may include a permanent magnet biased electromagnetic haptic engine or a permanent magnet normal flux electromagnetic haptic engine. Also by way of example, the haptic engine may cause the button to pivot back and forth relative to an axis, translate back and forth parallel to the side wall 122, or translate back and forth transverse to the side wall 122. The force sensor may comprise, for example, a capacitive force sensor, a resistive force sensor, an ultrasonic force sensor, or a pressure sensor.

Fig. 2A shows a partially exploded view of the button assembly 200 relative to a housing (e.g., a sidewall 202). The button assembly 200 may include a button 204 and a button base 206. The button base 206 may be mechanically coupled to the interior of the housing. For example, the button base 206 may be mounted to the interior of the sidewall 202, which may be an example of the sidewall 122 described with reference to FIGS. 1A-1C. The button base 206 may be mechanically coupled to the sidewall 202 by one or more screws 208 extending through one or more holes 210 in the button base 206. Each screw 208 may be threaded into a hole 212 along an inner surface of the sidewall 202, thereby causing the cap of the screw 208 to abut a surface of the button base 206 opposite the sidewall 202 and retain the button base 206 against the sidewall 202. The button base 206 may also or alternatively be mechanically coupled to the inner surface of the sidewall 202 by other means, such as by an adhesive or weld. In some embodiments, an O-ring, fly-over seal, diaphragm seal, or other type of seal may be positioned or formed between each leg 216 of the button 204 and the sidewall 202. Alternatively or additionally, a gasket or seal may be positioned or formed between the button base 206 and the sidewall 202. The gasket or seal may prevent moisture, dirt, or other contaminants from entering the device through the button base-to-sidewall interface. In some cases, the sidewall 202 may have a recess 214 in which a portion or all of the button 204 may reside or on which a portion or all of the button 204 may be positioned. In other cases, the sidewall 202 need not have such a recess 214.

The button base 206 may include a haptic engine and a force sensor (e.g., a capacitive force sensor or strain sensor). The haptic engine may include a fixed portion (e.g., a stator) and a movable portion (e.g., a rotor or a shuttle). In some cases, the haptic engine may include multiple fixed portions (e.g., first and second stators, a button base housing, etc.) or multiple movable portions. One or more components of the haptic engine (e.g., one or more of the fixed portion and/or the movable portion) may be actuated to provide a haptic output to the button 204. For example, an electrical signal (e.g., alternating current) may be applied to a coil (i.e., an electrically conductive coil) wrapped around a fixed or movable portion of the haptic engine, selectively increasing the flux of the magnetic field generated by one or more permanent magnets biasing the haptic engine, and periodically reversing the direction of the flux to cause the movable portion to move relative to the fixed portion and provide a haptic output as the movable portion moves back and forth. The flux is "selectively" increased because it increases on some face of the rotor or shuttle and decreases on the opposite face, resulting in an increased net rotational force that provides or increases a torque about the axis of the rotor, or an increased net translational force that provides or increases a force along the axis of the shuttle. Where the movable portion includes a rotor, the movable portion may be configured to move non-linearly (e.g., pivot) when the haptic engine is energized to provide the haptic output. Where the movable portion includes a shuttle, the movable portion may be configured to move linearly (e.g., translate) when the haptic engine is energized to provide the haptic output. In some cases, the button base 206 can include a restraint that can be configured to restrain movement of the movable portion relative to the fixed portion (e.g., to restrain closing of a gap between the movable portion and the fixed portion), bias the movable portion toward a rest position in which the movable portion is separated from the fixed portion by the gap, and/or guide or restrain movement along a desired path.

The button 204 may have a first major surface and a second major surface. The first major surface may be a user interaction surface facing away from the sidewall 202, and the second major surface may be a device facing surface facing toward the sidewall 202. One or more legs 216 may extend perpendicularly from the second major surface. By way of example, two legs 216 are shown in fig. 2A. The legs 216 may be aligned with and inserted into corresponding holes 218, 220 in the sidewall 202 and button base 206, and may be mechanically coupled to a movable portion of the haptic engine. In some cases, the leg 216 may be mechanically coupled to the movable portion by one or more screws 222 extending through one or more holes in the movable portion. Each screw 222 may be threaded into a hole in a respective leg 216 of the button 204, thereby causing the nut of the screw 222 to abut a surface of the movable portion opposite the leg 216 and mechanically couple the button 204 to the movable portion.

The force sensor may include one or more components attached to the haptic engine, or more generally to the button base 206. In some embodiments, different components of the force sensor may be attached to a movable portion or a fixed portion of the haptic engine, and may be separated by a capacitive gap. A force applied to the button (e.g., a user's press) can move the movable portion toward or away from the fixed portion, thereby changing the width of the capacitive gap and enabling detection of the applied force (or the amount or location of the applied force). In some embodiments, the force sensor may include one or more strain sensors disposed on the button base 206 or the button 204. In these latter embodiments, flexing of the button base 206 (e.g., the housing or base of the button base 206), one or more components within the button base 206 (e.g., a stator, a rotor, a shuttle, or other component capable of flexing), or the button 204 in response to a force applied to the button 204 may cause a change in the output of a strain sensor (e.g., a strain gauge) that enables detection of the applied force (or the amount or location of the applied force).

As shown in phantom in fig. 2A, the configuration of the button base 206 may enable it to be used with buttons of different sizes, shapes, or styles (e.g., button 204 or button 224). In an alternative embodiment, and as shown in fig. 2B, the button 226 may be permanently or semi-permanently attached to the button base 228 (e.g., by one or more welds). In these embodiments, the side wall 230 of the housing can include an opening 232 through which the button 226 can be inserted before the button base 228 is mechanically coupled to the side wall 230 (e.g., using one or more screws 222).

Fig. 2C shows a cross-section of an alternative configuration of the button assembly 234. The cross-section shows a portion of the device sidewall 236 with the button 238 extending through an opening in the sidewall 236. Button base 240 may be attached to the interior of sidewall 236 by an adhesive, weld, or other attachment mechanism 242, and button 238 may be movably or semi-permanently attached to button base 240, such as described in connection with fig. 2A or 2B. In the embodiment shown in fig. 2C, the button base 240 (and in some cases, a stator portion of the button base 240) may form a portion of the sidewall 236 facing the button 238 (e.g., a portion of the sidewall 236 located below the button 238). An O-ring or other type of seal 244 may surround each leg of the button 238 to prevent moisture and debris from entering the button base 240 or interfering with other components inside the sidewall 236.

FIG. 3 shows an exploded view of an exemplary haptic engine 300. The haptic engine 300 is an example of a haptic engine included in the button base 206 described with reference to fig. 2A and 2B, and in some cases, may be a permanent magnet biased electromagnetic haptic engine (or a permanent magnet biased normal flux electromagnetic haptic engine).

In addition to constraints 314, haptic engine 300 may also include one or more fixed portions and one or more movable portions, the constraints configured to constrain movement of the movable portions relative to the fixed portions and bias the movable portions to rest positions, wherein the movable portions are separated from the fixed portions by one or more gaps. By way of example, the fixed portion may include a pair of ferrous stators (e.g., a first stator 302 and a second stator 304), and the movable portion may include a rotor 306 positioned between the first stator 302 and the second stator 304. In some embodiments, the first and second stators 302, 304 may be held in a spaced apart position by one or more brackets 338, 340, which may be welded or clamped to the stators 302, 304. When the components of the haptic engine 300 are assembled, the rotor 306 may be separated from the first stator 302 by a first gap 308 (e.g., a first rotor-to-stator gap) and separated from the second stator 304 by a second gap 310 (e.g., a second rotor-to-stator gap). The rotor 306 may be configured to move non-linearly (e.g., pivot about a longitudinal axis 312 parallel to the first and second stators 302, 304, the rotor 306, and the button base-mounted sidewall that includes the haptic engine 300). The restraint 314 may restrict the closing of the first and second gaps 308, 310 and bias the rotor 306 toward a rest position in which the rotor 306 is separated from the first and second stators 302, 304 by the first and second gaps 308, 310. The rotor 306 may have a height that should allow it to pivot about the longitudinal axis 312 and contact (e.g., impact) the first stator 302 and/or the second stator 304 without the restraint 314.

The button 316 may be mechanically coupled to the haptic engine 300. For example, the button 316 may be mechanically coupled to the rotator 306 such that movement of the rotator 306 may provide a tactile output to the button 316. In some cases, the button 316 may be attached to the rotor 306 by screws 318 passing through holes 320, 322, 324 in the second stator 304, the rotor 306, and the first stator 302. The screw 318 may be received by a threaded insert in a leg 326 of the button 316, and the nut of the screw 318 may bear against a surface of the rotor 306.

In some embodiments, the restraint 314 may include a flexure 314a having rotor attachment portions 328a, 328b on either side of a stator attachment portion 330. The stator attachment portion 330 may be attached to the first stator 302, and the rotor attachment portions 328a, 328b (e.g., one or more arms or extensions extending from the stator attachment portion 330) may be attached to the rotor 306. In some embodiments, the stator attachment portion 330 may be attached to the first stator 302 along an axis 332 of the flexure 314 a. The flexure 314a may constrain the movement of the rotor 306 to movement about a pivot axis (e.g., the longitudinal axis 312) and may provide a stiffness that is linearly consistent with the relative pivotal movement. In some cases, flexure 314a may be a metal flexure welded or clamped to first stator 302 (e.g., clamped to first stator 302 by clamp 334 welded to first stator 302; in FIG. 3, clamp 334 is shown as including two straps aligned with axis 332 of flexure 314 a). In some cases, the rotor attachment portions 328a, 328b may be welded to the sides of the rotor core, or otherwise clamped or secured to the rotor core, such that movement of the rotor 306 applies a force to the arms 328a, 328b of the flexure 314a, and the flexure 314a in turn applies a force to the rotor core to constrain movement of the rotor 306. The force exerted by the flexure 314a may be stronger than the force exerted by the rotator 306 when the haptic engine 300 is not energized by an electrical signal to produce a haptic output at the button 316, but weaker than the force exerted by the rotator 306 when the haptic engine 300 is energized by an electrical signal to produce a haptic output. As such, the flexure 314a may bias the rotor 306 toward a rest position in which the rotor 306 is separated from the stators 302, 304 by rotor-to-stator clearance, but energizing the haptic engine 300 with an electrical signal may overcome, at least to some extent, the force applied to the rotor 306 by the flexure 314a and pivot the rotor 306 back and forth between the stators 302, 304.

As another example, alternatively or additionally, the restraint 314 can be provided by a set of one or more elastomers (e.g., one or more elastomeric pads, such as silicone pads) or other compliant materials 314 b. The compliant material 314b may be disposed (positioned) between the first stator 302 and the rotor 306 in the first gap 308 and/or between the second stator 304 and the rotor 306 in the second gap 310. The compliant material 314b can constrain the movement of the rotor 306 to movement about a pivot axis (e.g., the longitudinal axis 312). The compliant material 314b may also dampen movement of the rotor 306. In some cases, the compliant material 314b may be adhesively bonded to one or more of the rotor 306 and the stators 302, 304. Similar to the flexure 314a, the force applied by the compliant material 314b may be stronger than the force applied by the armature 306 when the haptic engine 300 is not energized by an electrical signal to produce a haptic output at the button 316, but weaker than the force applied by the armature 306 when the haptic engine 300 is energized by an electrical signal to produce a haptic output. In this way, the compliant material 314b can bias the rotor 306 toward a rest position in which the rotor 306 is separated from the stators 302, 304 by a rotor-to-stator gap, but stimulation of the haptic engine 300 by an electrical signal can overcome, at least to some extent, the force applied to the rotor 306 by the compliant material 314b and cause the rotor 306 to pivot back and forth between the stators 302, 304.

The compliant material 314b can be aligned with an axis of the button 316, as shown in fig. 3, or distributed along one or more planes (e.g., in a one-, two-, or three-dimensional array) along an axis transverse to the user-interactive surface of the button 316.

In some alternative embodiments, the haptic engine 300 shown in fig. 3 may include only one stator (e.g., the first stator 302), and the rotor 306 may move relative to the one stator.

As also shown in fig. 3, force sensor 336 may be at least partially attached to haptic engine 300. The force sensor 336 may be configured to sense a force applied to the haptic engine 300 or a module including the haptic engine 300. For example, the force sensor 336 may be configured to sense the force applied to the rotor 306 when the user presses the button 316. In some embodiments, the force sensors 336 may include one or more strain sensors 336a attached to the first stator 302 or the second stator 304. Strain sensor 336a may flex when a user applies a force to button 316 (e.g., presses button 316). The output of strain sensor 336a may vary in a manner related to the amount or position of force applied to button 316. In alternative embodiments, the strain sensor 336a may be located elsewhere on the haptic engine 300 or on the housing of the haptic engine 300 (e.g., on the button base described with reference to fig. 2A or 2B). In further alternative embodiments, the force sensors 336 may additionally or alternatively include capacitive force sensors or other types of force sensors.

Turning now to fig. 4A-4C, an assembled cross-section of the haptic engine 300 and button 316 described with reference to fig. 3 is shown. As shown, the arms 328a, 328b extending from the flexure 314a may extend around the upper and lower surfaces of the first stator 302 and may be attached to the upper and lower surfaces of the rotor 306 (e.g., to the upper or lower surfaces or sides of the rotor core).

FIG. 4A shows the haptic engine 300 at rest. Fig. 4B and 4C illustrate the haptic engine 300 after it has been actuated to provide a haptic output. More specifically, fig. 4B shows the haptic engine 300 after the rotor 306 has been pivoted clockwise to a maximum extent, and fig. 4C shows the haptic engine 300 after the rotor 306 has been pivoted counterclockwise to a maximum extent. When the haptic engine 300 is being energized, the rotator 306 may pivot back and forth between the states shown in fig. 4B and 4C to provide a haptic output to the button 316. Activation of the haptic engine 300 causes the rotor 306 to move non-linearly (e.g., pivotally) with sufficient force to overcome the spring force of the flexure 314a and the shear force of the compliant material 314 b. After the excitation of the haptic engine 300 ceases, the spring force of the flexure 314A and/or the shear force of the compliant material 314b may be sufficient to restore the rotor 306 to the rest position shown in fig. 4A.

Each of the flexures 314a and/or compliant materials 314b can be configured to provide a first stiffness opposite the non-linear movement of the rotor 306 and a second stiffness opposite the force applied to the button 316 (i.e., asymmetric first and second stiffnesses). This may allow the stiffness to be adjusted individually (e.g., to adjust the force input and haptic output user experience of button 316, respectively).

Fig. 5 shows an alternative haptic engine 500 that is similar to the haptic engine 300 described with reference to fig. 4A-4C. An alternative haptic engine 500 lacks a compliant material 314b and instead relies on a flexure 314a to constrain the motion of the rotor 306.

FIG. 6 illustrates another alternative haptic engine 600 similar to the haptic engine 300 described with reference to FIGS. 4A-4C. An alternative haptic engine 600 shown in FIG. 6 lacks the flexure 314a and instead relies on the compliant material 314b to constrain the motion of the rotor 306.

FIG. 7 illustrates another alternative haptic engine 700 similar to the haptic engine 300 described with reference to FIGS. 4A-4C. An alternative haptic engine 700 shown in FIG. 7 dispenses the compliant material 314b in a different manner than that shown in FIGS. 4A-4C. Specifically, the compliant material 314b can be positioned in a two-dimensional or three-dimensional array within the gaps 308, 310 between the stators 302, 304 and the rotor 306.

Fig. 8 shows a haptic engine 800 similar to that described in connection with fig. 4A-4C, but with the flexure 314A attached to the second stator 304 instead of the first stator 302. By attaching the flexure 314A to the haptic engine (e.g., to the second stator 304) along an axis disposed on a side of the rotor 306 opposite the button 316 rather than along an axis disposed on the same side of the rotor 306 as the button 316 (as shown in fig. 4A-4C), the moment arm of the rotor 306 relative to the button 316 can be varied, and the haptic output provided to the button 316 can be varied.

Fig. 9A and 9B show a haptic engine 900 similar to that shown in fig. 4A-4C, but with the stator and armature components exchanged such that the stator 902 is positioned between the portions 904A, 904B of the rotor 904. FIG. 9A shows the haptic engine 900 at rest, and FIG. 9B shows the haptic engine 900 with the rotor 904 in a leftmost (or counterclockwise) state. The embodiment shown in fig. 9A and 9B allows button 906 to be attached to an external component of haptic engine 900 (e.g., to rotor portion 904B). Flexures 314A or other restraints may be attached to rotor 904 and stator 902 in a manner similar to how flexures 314 are attached to stators 302, 304 and rotor 306 described with reference to fig. 4A-4C.

Referring now to fig. 10A and 10B, there is shown an exemplary embodiment of the rotor described with reference to fig. 3, 4A-4C, 5-8, and 9A-9B.

FIGS. 10A-12E illustrate various examples of permanent magnet biased electromagnetic haptic engines (or permanent magnet biased normal flux electromagnetic haptic engines). In some embodiments, one of the haptic engines described with reference to FIGS. 10A-12E may be used as the haptic engine described with reference to FIGS. 1A-9B.

Fig. 10A and 10B show a haptic engine 1000 having a rotor 1002 positioned between a first stator 1004 and a second stator 1006. The stators 1004, 1006 may take the form of ferritic plates. The rotor 1002 may have an H-shaped core 1008 having two side plates connected by an intermediate plate joining the two side plates. The different plates of the core 1008 may be attached (e.g., welded) to one another or integrally formed as a unitary component.

The first coil 1010 may be wound around the core 1008 near one side plate of the core 1008 (e.g., around the middle plate), and the second coil 1012 may be wound around the core 1008 near the other side plate of the core 1008 (e.g., around the middle plate). The first coil 1010 and the second coil 1012 may be electrically connected in series or in parallel. The series connection of the coils 1010, 1012 provides a reduction in the overall resistance of the coils 1010, 1012 and/or may allow the use of thinner wires to achieve the same resistance as the series connection of the coils 1010, 1012. The first permanent magnet 1014 can be attached to a first surface of the core 1008 (e.g., to a first surface of an intermediate plate), and the second permanent magnet 1016 can be attached to a second surface of the core 1008 (e.g., to a second surface of the intermediate plate, opposite the first surface of the intermediate plate). The first permanent magnet 1014 and the second permanent magnet 1016 may be oriented such that their north poles face in the same direction (e.g., to the right in fig. 10B).

As shown in fig. 10B, the permanent magnets 1014, 1016 may form a magnetic bias field indicated by flux 1018. When the haptic engine 1000 is energized by applying an electrical signal (e.g., a current) to the coils 1010, 1012, the magnetic bias field may be differentially altered by the flux 1020. For example, the flux 1018 and 1020 may be added at a first pair of opposing corners of the haptic engine 1000 and subtracted at a second pair of opposing corners of the haptic engine 1000, causing the rotor 1002 to pivot. The rotor 1002 may be pivoted in the opposite direction by reversing the current in the coils, or by removing the current and pivoting the rotor 306 in the opposite direction by momentum of the restorative force provided by a restraint (e.g., restraint 314a or 314b, not shown). Note that in the absence of a constraint (e.g., constraint 314a or 314b), the rotor 306 should pivot and collide against the first and second stators 1004, 1006 in the absence of an electrical signal applied to the coils 1010, 1012.

11A and 11B illustrate a haptic engine 1100 similar to the haptic engine 1000 described with reference to FIGS. 10A and 10B, but without the second stator 1006.

FIG. 12A shows a haptic engine 1200 similar to the haptic engine 1100, but with coils 1010, 1012 wound around vertical extensions 1202, 1204 from the core 1206, thereby making the coils 1010, 1012 planar to each other. A single permanent magnet 1208 may be attached to the surface of the core 1206 between the coils 1010, 1012.

FIG. 12B shows a haptic engine 1210 that is similar to the haptic engine 1200 described with reference to FIG. 12A, but with an individual coil 1212 wound around an extension of the core 1214 and permanent magnets 1216, 1218 attached to the core 1214 on opposite sides of the coil 1212. The haptic engine 1210 includes a single stator 1220.

Fig. 12C shows a haptic engine 1230 with a rotor 1232 positioned between a first stator 1234 and a second stator 1236. The rotor 1232 includes an H-shaped core 1238, wherein the H-profile of the core 1238 extends in the same plane as the first stator 1234 and the second stator 1236. The coil 1240 is wound around the middle portion of the H-profile, and the permanent magnets 1242 and 1244 are attached to the H-shaped core 1238 within the upper and lower voids of the H-profile.

Fig. 12D illustrates a haptic engine 1250 having a rotor 1252 positioned adjacent to a pair of planar stators 1254, 1256. The rotor 1252 may be configured similar to the rotor shown in fig. 12B, but in some cases may have larger coils 1258 extending between the stators 1254, 1256.

FIG. 12E shows a haptic engine 1260 similar to the haptic engine 1250 described with reference to FIG. 12D, but having a second pair of planar stators 1262, 1264 positioned on a side of the rotor 1252 opposite the first pair of planar stators 1254, 1256. Coils 1258 may also extend between stators 1262 and 1264.

In an alternative embodiment of the haptic engine described with reference to fig. 10A-12E, the core of the rotor may be less H-shaped or non-H-shaped, and the one or more stators may be C-shaped and extend at least partially around the rotor. In some embodiments, only a single coil and a single permanent magnet may be included on the rotor. Alternatively, one or more coils or permanent magnets may be positioned on the stator instead of or in addition to one or more coils or permanent magnets positioned on the rotor.

FIG. 13A shows a cross-section of a component described with reference to FIG. 3 that does not include a restraint (which may be included in a module that includes the component shown in FIG. 13A, but is not shown in FIG. 13A). The component includes a haptic engine 300 (e.g., a rotor 306 positioned between a first stator 302 and a second stator 304). In some embodiments, the haptic engine 300 may be further configured as described in connection with any of fig. 3-12E. In contrast to the force sensor 336 shown in FIG. 3, the components shown in FIG. 13A include a capacitive force sensor 1302 that is at least partially attached to the haptic engine 300. Fig. 13A also shows the button 316 described with reference to fig. 3, with its leg 326 inserted through a housing 1320 (e.g., a side wall of the device) and attached to the rotor 306 by a screw 318. The capacitive force sensor 1302 may be configured to sense a force applied to the button 316, and thus the rotor 306, in response to a user or other interaction with the button 316 (e.g., the capacitive force sensor 1302 may sense a force applied to the button 316 parallel to the rotor-to-stator gap, or a force applied to the button 316 having a force component parallel to the rotor-to-stator gap).

By way of example, the capacitive force sensor 1302 is shown to include two force sensing elements 1302a, each of which may be similarly configured. The two force sensing elements 1302a may be positioned at different locations relative to the user interaction surface of the button 316. As shown, two force sensing elements 1302a may be spaced along the housing 1320 at opposite ends of the haptic engine 300. In alternative embodiments, the capacitive force sensor 1302 may include more force sensing elements (e.g., 3-4 force sensing elements, or 3-8 force sensing elements) or fewer force sensing elements (e.g., one force sensing element). In the case of three or more force sensing elements, the force sensing elements may be positioned in a one-dimensional array or a two-dimensional array relative to the user interaction surface of the button 316.

Each force sensing element 1302a may include a set of electrodes 1304, 1306, and each set of electrodes may include a first electrode 1304 attached to the rotor 306, and a second electrode 1306 attached to one of the stators (e.g., the first stator 302) and separated from the first electrode 1304 by a capacitive gap 1308. In some embodiments, the first electrode 1304 may be attached to an extension 1310 of the core of the rotor on the side facing the core of the first stator 302; and second electrode 1306 may be attached to extension 1312 of first stator 302 on a side of first stator 302 facing rotor 306.

In some cases, the first electrode 1304 may be attached to or included in the first flexible circuit 1314 (or printed circuit board) that is attached to the core, and the second electrode 1306 may be attached to or included in the second flexible circuit 1316 (or printed circuit board) that is attached to the first stator 302. By way of example, first flexible circuit 1314 may communicate power, ground, or other electrical signals to first electrode 1304 and rotor 306. For example, the first flexible circuit 1314 may transmit an electrical signal (e.g., power) to a coil (or coils) attached to the rotor 306 to energize the haptic engine 300 to provide a haptic output. Also by way of example, the second flexible circuit 1316 may convey power, ground, or other electrical signals to the second electrode 1306, as well as a controller, processor, or other circuitry 1318 coupled to the second flexible circuit 1316. Alternatively, the circuit 1318 may be coupled to the first flexible circuit 1314, or to both flexible circuits 1314, 1316. The second flexible circuit 1316 may also transmit electrical signals out of the second electrode 1306 or the electrical circuit 1318, or couple the second electrode 1306 to the electrical circuit 1318. The first and second flex circuits 1314, 1316 electrically isolate the first and second electrodes 1304, 1306 from the core and the first stator 302.

First flexible circuit 1314 may be adhesively bonded, clamped, or otherwise attached to the rotor core. The second flexible circuit 1316 may be adhesively bonded, clamped, or otherwise attached to the first stator 302.

In some embodiments, the circuit 1318 may be used to detect or measure the capacitance of the second electrode 1306 of each force sensing element 1302a and provide an indication of whether a force applied to the button 316 is detected. In some cases, when measuring the capacitance of the second electrode 1306, the first electrode 1304 may be driven with an electrical signal. The circuit 1318 may also or alternatively indicate a value of the capacitance of the second electrode 1306, which may be routed to an open module controller, processor, or other circuit via the second flexible circuit 1316. In some embodiments, the circuit 1318 or disconnect module circuit may use different outputs of different force sensing elements (e.g., the outputs of the two force sensing elements 1302a shown in fig. 13A) to determine the amount of force applied to the button 316 or the location of the force applied to the button 316 (i.e., the force location). For example, measurements provided by different force sensing elements may be averaged or otherwise combined to determine the amount of force; or a combination of measurements provided by different force sensing elements and the position of the force sensing element relative to the button surface may be used to determine the force position. In some implementations, the circuit 1318 can provide a pattern of capacitance to the open module circuit. The pattern of capacitance may indicate the type of force (e.g., a particular command or input) input to the button 316. The pattern of capacitance (or force pattern) provided by the circuit 1318 may be timing insensitive, or may include a pattern of capacitance sensed over a particular period of time, or may include an indication of the pattern of capacitance and the time between capacitances.

The signals transmitted by the first flexible circuit 1314 or the second flexible circuit 1316 may include analog signals and/or digital signals (e.g., an analog or digital indication of the presence, amount, or position of the force may be provided via the analog signals and/or digital signals).

In some embodiments, the first flexible circuit 1314 and the second flexible circuit 1316 may be electrically coupled, and the circuit 1318 may provide an electrical signal to the haptic engine 300 to stimulate the haptic engine 300 to provide a haptic output in response to detecting the presence of a force on the button 316 (or in response to determining that a particular amount of force, location of force, or pattern of force has been applied to the button 316). The circuit 1318 may provide a single type of electrical signal or haptic actuation waveform to the haptic engine 300 in response to determining that a force or a particular type of force has been applied to the button 316. Alternatively, the circuit 1318 may identify a haptic actuation waveform associated with a particular type of force applied to the button 316 and apply the identified haptic actuation waveform to the haptic engine 300 (e.g., to generate a different type of haptic output in response to determining that a different type of force has been applied to the button 316). In some embodiments, different haptic actuation waveforms may have different amplitudes, different frequencies, and/or different patterns.

Fig. 13A shows an example arrangement of flexible circuits 1314, 1316 where a first flexible circuit 1314 is wound around each of the opposing ends of the rotor core and a second flexible circuit 1316 is wound around each of the opposing ends of first stator 302. The portions of the first flexible circuit 1314 shown on the left and right of fig. 13A may be connected by another portion of the first flexible circuit 1314 that extends between the two end portions. In some cases, the portion of the first flexible circuit 1314 connecting the two end portions may be bent or folded to extend perpendicular to the two end portions (and in some cases, the folded portion may be connected to the disconnected module circuitry). The portion of the second flexible circuit 1316 shown in fig. 13A may be connected in a similar manner to the portion of the first flexible circuit 1314 and may also be connected to a disconnect module circuit.

Fig. 13B shows an alternative way of winding a flex circuit around rotor core 1358 (or alternatively first stator 302) described with reference to fig. 13A. As shown, the flex circuit 1350 may include a center portion 1352 connecting pairs of tab portions 1354, 1356 at opposite ends of the center portion 1352. A pair of tab portions 1354 extend perpendicularly from the central portion 1352 near a section of the rotor core 1358 on first and second opposite sides of the rotor core 1358. Another pair of tab portions 1356 extend perpendicularly from the central portion 1352 near opposite ends of the rotor core 1358 on first and second opposite sides of the rotor core 1358. Flex circuit 1350 may be adhesively bonded, clamped, or otherwise attached to rotor core 1358.

In an alternative flexible circuit arrangement, the flexible circuit may be attached to the rotor or stator without winding the flexible circuit around the rotor or stator. However, winding the flex circuit around the rotor core may provide a flex circuit surface for coil lead connections, if desired, or may add flexible service loop length and flexibility, if desired. In some embodiments, the rotor and stator flexible circuits may be coupled by a hot bar or other element.

FIG. 14A shows another cross-section of the component described with reference to FIG. 3 without the restraint (which may be included in a module including the component shown in FIG. 14A, but is not shown in FIG. 14A). The component includes a haptic engine (e.g., a rotor positioned between a first stator and a second stator). The component includes a haptic engine 300 (e.g., a rotor 306 positioned between a first stator 302 and a second stator 304). In some embodiments, the haptic engine 300 may be further configured as described in connection with any of fig. 3-12E. The components shown in FIG. 14A also include a capacitive force sensor 1402 at least partially attached to the haptic engine 300. Fig. 14A also shows the button 316 described with reference to fig. 3, with its leg 326 inserted through the housing 1418 (e.g., a sidewall of the device) and attached to the rotor 306 by screws 318. The capacitive force sensor 1402 may be configured to sense a force applied to the button 316, and thus the rotor 306, in response to a user or other interaction with the button 316 (e.g., the capacitive force sensor 1402 may sense a force applied to the button 316 parallel to the rotor-to-stator gap, or a force applied to the button 316 having a force component parallel to the rotor-to-stator gap).

By way of example, the capacitive force sensor 1402 is shown to include two force sensing elements 1402a, each of which may be similarly configured. The two force sensing elements 1402a may be positioned at different locations relative to the user interaction surface of the button 316. As shown, two force sensing elements 1402a may be spaced along housing 1418 at opposite ends of haptic engine 300. In alternative embodiments, the capacitive force sensor 1402 can include more force sensing elements (e.g., 3-4 force sensing elements, or 3-8 force sensing elements) or fewer force sensing elements (e.g., one force sensing element). In the case of three or more force sensing elements, the force sensing elements may be positioned in a one-dimensional array or a two-dimensional array relative to the user interaction surface of the button 316.

Each force sensing element 1402a can include a set of electrodes 1404, 1406, and each set of electrodes can include a first electrode 1404 attached to the rotor 306, and a second electrode 1406 attached to one of the stators (e.g., the first stator 302) and separated from the first electrode 1404 by a capacitive gap 1408. In some embodiments, the first electrode 1404 may be attached to a flex circuit 1410 or a clamp that is connected (e.g., adhesively bonded or clamped) to the core of the rotor, and the second electrode 1406 may be attached to the first stator 302 on the side of the first stator 302 that faces the rotor 306.

In some cases, the flexible circuit 1410 or clip to which the first electrode 1404 is attached can include a central portion 1412 that faces the button 316, and an arm 1414 that extends perpendicularly from the central portion 1412 and is attached to the rotor 306 (e.g., to its core), as shown in fig. 14A and 14B. The second electrode 1406 may be attached to or included in a second flexible circuit 1416 (or printed circuit board) that is attached to the first stator 302. By way of example, the flexible circuits 1410, 1416 may carry power, ground, or other electrical signals similar to the first and second flexible circuits 1314, 1316 described with reference to fig. 13A.

In some embodiments, an electrical circuit may be electrically coupled to one or both of the flex circuits 1410, 1416 and used to detect or measure the capacitance of the second electrode 1406 of each of the force sensing elements and provide an indication of whether a force applied to the button 316 is detected. The circuit may also or alternatively indicate a value of the capacitance of the second electrode 1406, which may be routed to a disconnection module controller, processor, or other circuit via the second flex circuit 1416. In some embodiments, the circuit or disconnect module circuit may use different outputs of different force sensing elements (e.g., the outputs of two force sensing elements 1402a shown in fig. 14A) to determine the amount of force applied to the button 316 or the location of the force applied to the button 316 (i.e., the force location). In some implementations, the circuit can provide a pattern of capacitance to the open module circuit. The pattern of capacitance may indicate the type of force (e.g., a particular command or input) input to the button 316. The pattern of capacitance (or force pattern) provided by the circuit may be timing insensitive, or include a pattern of capacitance sensed over a particular period of time, or include an indication of the time between the pattern of capacitance and the capacitance.

The signals transmitted by the flexible circuits 1410, 1416 may include analog signals and/or digital signals (e.g., an analog or digital indication of the presence, amount, or position of force may be provided via analog and/or digital signals).

In some embodiments, the flexible circuits 1410, 1416 may be electrically coupled, and the circuits coupled to the flexible circuits 1410, 1416 may provide electrical signals to the haptic engine 300 to stimulate the haptic engine to provide a haptic output in response to detecting the presence of a force on the button 316 (or in response to determining that a particular amount of force, location of force, or pattern of force has been applied to the button 316). The circuit may provide one or more haptic actuation waveforms, as described with reference to fig. 13A.

The capacitive force sensor may additionally or alternatively comprise other types of force sensing elements, wherein a first electrode of the force sensing element is attached to a movable part of the module and a second electrode of the force sensing element is attached to a fixed part of the module and separated from the first electrode by a capacitive gap. The force sensing element may be positioned within or outside of the stator-rotor gap.

Fig. 15 shows an example two-dimensional arrangement of force sensing elements 1500, which force sensing elements 1500 may be incorporated into the force sensors described with reference to fig. 13A or 14A or into other force sensors. The example arrangement shown in FIG. 15 includes four force sensing elements 1500 disposed near corners of the haptic engine (or near corners of the user interaction surface of the button). Alternatively, the force sensing elements 1500 may be evenly distributed across the surface or volume 1502. The two-dimensional array of force sensing elements 1500 may be used to determine which portion of the button is depressed, or to sense a component of force applied in a different direction (e.g., as may be provided for lateral movement of a ring on/off switch). The one-dimensional array of force sensing elements 1500 can also be used to determine which portion of the button to press, but only along one button axis. In some embodiments, only three of the force sensing elements 1500 may be provided, or the force sensing elements 1500 may be disposed at different locations.

Turning now to fig. 16A-16C, an alternative configuration of a rotor core is shown. As shown in fig. 16A, rotor core 1600 may include a first rigid plate 1602 and a second rigid plate 1604 having opposing surfaces joined by a third rigid plate 1606 to form H-shaped core 1600. In some embodiments, a first pair of plates 1608, 1610 can be stacked and welded to form a first rigid plate 1602, and a second pair of plates can be stacked and welded to form a second rigid plate 1604. In some embodiments, a third pair of plates may be stacked and welded to form a third rigid plate 1606 (not shown).

Fig. 16B shows an alternative rotor core 1620. As shown in fig. 16B, the first pair of plates 1622, 1624 may be positioned side-by-side and welded together such that a first slot is formed between the first pair of plates 1622, 1624. The second pair of plates 1626, 1628 may also be positioned side-by-side and welded together such that a second slot is formed between the second pair of plates 1626, 1628. Opposite sides of the fifth plate 1630 can be inserted into the respective first and second slots, and the first and second pairs of plates 1622/1624, 1626/1628 can be welded to opposite sides of the fifth plate 1630.

Fig. 16C shows another alternative rotor core 1640. As shown in fig. 16C, the first plate 1642 may have opposite sides that are perpendicularly bent from a central portion of the first plate 1642. Second plate 1644 may be formed similar to first plate 1642, stacked on first plate 1642, and welded to first plate 1642 such that corresponding sides of first plate 1642 and second plate 1644 extend in opposite directions. Third plate 1646 can be welded to a first set of corresponding sides of first plate 1642 and second plate 1644, and fourth plate 1648 can be welded to a second set of corresponding sides of first plate 1642 and second plate 1644.

Any of the plates described in connection with fig. 16A-16C may comprise one plate or a set of two or more stacked plates.

17A-17D illustrate another exemplary haptic engine 1700 (or button assembly). Fig. 17A shows an exploded isometric view of haptic engine 1700. Figure (a). 17B shows an isometric view of the inner surface of the first piece 1704 of the stator 1702 of the haptic engine 1700. Fig. 17C shows an assembled version of the haptic engine 1700. Fig. 17D shows an assembled cross section of the haptic engine 1700. The haptic engine 1700 is an example of a haptic engine included in the button base 206 described with reference to fig. 2A and 2B, and in some cases, may be a permanent magnet biased electromagnetic haptic engine (or a permanent magnet biased normal flux electromagnetic haptic engine).

In addition to constraints 1714, haptic engine 1700 can also include one or more fixed portions and one or more movable portions, the constraints configured to constrain movement of the movable portions relative to the fixed portions and bias the movable portions to rest positions in which the movable portions are separated from the fixed portions by one or more gaps. By way of example, the stationary portion can include a ferrite stator 1702 comprising a set of two or four components (e.g., walls) 1704, 1706, 1708, 1710 that define a channel, and the movable portion can include a ferrite shuttle 1712 positioned and movable within the channel. When the components of the haptic engine 1700 are assembled, the shuttle 1712 can be separated from the first component 1704 of the stator 1702 by a first gap 1716 (e.g., a first shuttle to stator gap) and separated from the second component 1706 of the stator 1702 by a second gap 1718 (e.g., a second shuttle to stator gap). The shuttle 1712 may be configured to move linearly (e.g., translate along an axis 1720 that perpendicularly intersects the first and second members 1704, 1706 of the stator 1702. the restraint 1714 may restrain the closing of the first and second gaps 1716, 1718 and bias the shuttle 1712 toward a rest position in which the shuttle 1712 is separated from the first and second members 1708, 1710 of the stator 1702 by the first and second gaps 1718. the shuttle 1712 may be magnetically attracted to one or the other of the first and second members 1708, 1710 of the stator 1702 and may contact (e.g., impact) the stator 1702 without the restraint 1714.

Button 1722 may be mechanically coupled to haptic engine 1700. For example, button 1722 can be mechanically coupled to shuttle 1712 such that movement of shuttle 1712 can provide a tactile output to button 1722. In some cases, the button 1722 can be attached to the shuttle 1712 by screws passing through the holes 1724, 1726, 1728 in the second part 1706 of the stator 1702, the shuttle 1712, and the first part 1704 of the stator 1702. The screw may be received by a threaded insert in the leg 1730 (or other button attachment member) of the button 1722, and the nut of the screw may bear against a surface of the shuttle 1712.

In some embodiments, the restraint 1714 can include one or more flexures 714 a. Although two flexures 714a are shown in fig. 17A, in some embodiments only one flexure 1714a may be included. Each flexure 1714a may have shuttle attachment portions 1732a, 1732b on either side of the stator attachment portion 1734. The stator attachment portion 1734 of each flexure may extend along one of a pair of opposing sides and may be spaced apart from the shuttle 1712 (e.g., a certain gap 1716 or a gap 1718). By positioning the third and fourth members 1708, 1710 of the stator 1702 within the gaps 1716, 1718, the assembly including the flexure 1714a and the shuttle 1712 can be combined with the stator 1702. The third component 1708 and the fourth component 1710 may only partially fill the gaps 1716, 1718, leaving room for the shuttle 1712 to translate. The stator attachment portion 1734 of one flexure 1714a may be attached to the third component 1708 of the stator 1702 and the stator attachment portion 1734 of the other flexure 1714a may be attached to the fourth component 1710 of the stator 1702. In some embodiments, the clamp 1736 (e.g., a reinforcement clamp) may be welded or otherwise attached to the stator attachment portion 1734 of the flexure 1714a and serve to limit the flexure of the flexure 1714a along the stator attachment portion 1734. More generally, the flexure 1714a can extend in a direction transverse to the direction of linear movement of the shuttle 1712 and can be spaced from a first side of the shuttle 1712 transverse to the direction of linear movement. The flexure 1714a can connect at least one side of the shuttle 1712, other than the first side, to the stator 1702.

The shuttle attachment portions 1732a, 1732b of the flexure 1714a (e.g., one or more arms or extensions extending from the stator attachment portion 1734) may be attached to opposite sides or ends of the shuttle 1712 along an axis transverse to the axis 1720 along which the shuttle 1712 translates. In some embodiments, the shuttle attachment portions 1732a or 1732b of the different flexures 1714a (the shuttle attachment portions 1732a or 1732b are attached to the same end of the shuttle 1712) can be mechanically coupled by a clamp 1738 (e.g., a reinforced clamp).

The flexure 1714a can constrain movement of the shuttle 1712 to translational movement along the axis 1720 and can provide a linearly consistent stiffness as opposed to translational movement. In some cases, the flexure 1714a may be a metal flexure. Each of the flexures 1714a may function similar to the flexure 314a described with reference to fig. 3.

As another example, the restraint 1714 can alternatively or additionally include a set of one or more elastomers (e.g., one or more elastomeric pads, such as silicone pads) or other compliant materials 1714 b. The compliant material 1714b can be disposed (positioned) between the first section 1704 of the stator 1702 and the shuttle 1712 and/or disposed (positioned) between the second section 1706 of the stator 1702 and the shuttle 1712. The compliant material 1714b can constrain the movement of the shuttle 1712 and bias the shuttle 1712 toward the rest position holding the gaps 1716 and 1718. The compliant material 1714b can also dampen movement of the shuttle 1712. In some cases, the compliant material 1714b may be adhesively bonded to the first piece 1704 or 1706 of the stator 1702 and the shuttle 1712.

In some cases, the compliant material 1714b can be distributed in a two-dimensional or three-dimensional array.

Each of the flexure 1714a and/or the compliant material 1714b can be configured to provide a first stiffness opposite the linear movement of the shuttle 1712 and a second stiffness opposite the force applied to the button 1722 (i.e., asymmetric first and second stiffnesses). This may enable the stiffness to be adjusted individually (e.g., to adjust the force input and haptic output user experience of button 1722, respectively).

By way of example and as shown in fig. 17A, 17B, and 17D, the haptic engine 1700 may include one or more permanent magnets 1740 (e.g., two permanent magnets 1740) mounted to one or more of the first and second housing portions 1704, 1706 of the stator 1702, and one or more coils 1742 wound around the inward extension of one or more of the third and fourth portions 1708, 1710 of the stator 1702. By way of example, the permanent magnets 1740 can be disposed on first opposing sides of the shuttle 1712, in a plane parallel to the axis 1720 along which the shuttle 1712 translates. Each of the permanent magnets 1740 can be magnetized toward the shuttle 1712, with the permanent magnet 1740 on one side of the shuttle 1712 opposing the permanent magnet 1740 on the other side of the shuttle 1712. Also by way of example, the coil 1742 can be disposed on a second, opposite side of the shuttle 1712 and wound in a plane that bisects the axis 1720 along which the shuttle 1712 translates. The coils 1742 may be electrically connected in series or in parallel. The parallel connection of the coils 1742 may provide a reduction in the overall resistance of the coils 1742 and/or may allow for the use of thinner wires to achieve the same resistance as the series connection of the coils 1742. In some alternative embodiments, the permanent magnets may be positioned on two or four sides of the shuttle 1712. In the case of four permanent magnets, the side including the permanent magnets should not be used for the coil. In some alternative embodiments, the coils can be combined on one side of the shuttle 1712. The permanent magnets may be attached to the stator or to the shuttle. When the coil 1742 is energized by an electrical signal (e.g., a current), the flux of the magnetic bias field generated by the permanent magnet may be selectively increased, and the shuttle 1712 may overcome the biasing force of the constraint 1714 and translate along the axis 1720. The flux is increased "selectively" as it increases on some faces of the shuttle 1712 and decreases on the opposite face, resulting in an increased net translational force that provides or increases a force along the axis 1720 of the sub-shuttle 1712. In alternative embodiments of the haptic engine 1700, one or more permanent magnets and coils can be otherwise positioned around (or on) the shuttle 1712.

As also shown in fig. 17A, a force sensor 1744 can be at least partially attached to the haptic engine 1700 and configured to sense a force applied to the module (e.g., a force applied to a user-interactive surface of the button 1722, which is received by the shuttle 1712, the stator 1702, or the housing of the haptic engine 1700). In some implementations, the force sensors 1744 may include one or more strain sensors 1744a attached to an outer surface of the second piece 1706 of the stator 1702 or to other surfaces of the stator 1702. In some implementations, the strain sensors 1744a may be formed on a flexible circuit 1746, and the flexible circuit 1746 may be adhesively bonded or otherwise attached to the surface of the stator 1702. Alternatively, one or more strain sensors can be attached to the flexure 1714a (e.g., at or near the shuttle attachment portions 1732a, 1732b or other locations), or to another component. Strain sensor 1744a may flex when a user applies a force to button 1722 (e.g., presses button 1722). The output of the strain sensor 1744a may vary in a manner related to the amount or position of force applied to the button 1722. In alternative embodiments, the strain sensor 1744a may be located elsewhere on the haptic engine 1700 or on the housing of the haptic engine 1700. In further alternative embodiments, the force sensors 1744 may additionally or alternatively include capacitive force sensors or other types of force sensors, such as capacitive force sensors having first and second spaced apart electrodes mounted in a gap between the first part 1704 of the stator 1702 and the shuttle 1712, or capacitive force sensors having first and second spaced apart electrodes mounted between the button 1722 and the first part 1704 of the stator 1702.

In some embodiments, the flexible circuit 1746 may include circuitry, such as the circuitry 1318 described with reference to fig. 13A. In some embodiments, flexible circuit 1746 may be electrically coupled to a disconnect module processor, controller, or other circuitry. In some embodiments, flexible circuit 1746 or another flexible circuit that may or may not be coupled to flexible circuit 1746 may be electrically coupled to coil 1742.

As shown in fig. 17A and 17C, button 1722 can have a user interaction surface that extends parallel (or substantially parallel) to axis 1720 along which shuttle 1712 translates. In an alternative embodiment, the button 1722 can have a user-interactive surface that extends transverse (e.g., crosses) the axis 1720 along which the shuttle 1712 translates, and the attachment member 1730 can extend through or around the flexure 1714a and the fourth housing portion 1710 of the stator 1702. In the latter embodiment, the button 1722 can move inwardly and outwardly relative to the outer surface of the housing rather than translating along the outer surface of the housing.

FIG. 18 shows an example method 1800 of providing a haptic response to a user. The method 1800 may be performed by or using any of the modules or button assemblies described herein. The method 1800 may also be performed by or using other modules or button components.

At block 1802, the method 1800 may include constraining relative motion between a fixed portion and a movable portion of a haptic engine to bias the movable portion toward a rest position, wherein the movable portion is separated from the fixed portion by a gap and constraining closure of the gap. The movable portion may be mechanically coupled to the button. In some embodiments, relative motion between the fixed portion and the movable portion may be constrained to pivoting of the movable portion relative to the fixed portion. In other embodiments, relative motion between the fixed and movable portions is constrained to translation of the movable portion along an axis. The operations at block 1802 may be performed by one or more of the constraints described herein.

At block 1804, the method 1800 may include determining a force applied to the button using a force sensor (e.g., a capacitive force sensor, a strain sensor, a tactile switch, etc.). The operations of block 1804 may be performed by one or more of the force sensors described herein.

At block 1806, the method 1800 may include determining whether the determined force matches a predetermined force. The operations at block 1806 may be performed by one or more of the module circuits described herein.

At block 1808, the method 1800 may include identifying a haptic actuation waveform associated with the predetermined force. In some embodiments, different haptic actuation waveforms may have different amplitudes, different frequencies, and/or different patterns. The operations at block 1808 may be performed by one or more of the module circuits described herein.

At block 1810, method 1800 may include applying a haptic actuation waveform to a haptic engine. The operations at block 1810 may be performed by one or more of the module circuits described herein.

In some embodiments of method 1800, the force sensor may include at least two force sensing elements positioned at different locations relative to the user interaction surface of the button, and the force may be determined using different outputs of the different force sensing elements, e.g., as described with reference to fig. 13A, 14A. In some of these embodiments, the determined force may comprise a determined amount of force, and the predetermined force may comprise a predetermined amount of force. Additionally or alternatively, the determined force may include a determined force location, and the predetermined force may include a predetermined force location.

In some embodiments of method 1800, the determined force may comprise a determined force pattern, and the predetermined force may comprise a predetermined force pattern.

In some embodiments of method 1800, relative motion between the fixed portion and the movable portion may be constrained to translation along an axis that is transverse to the direction of force applied to the button. Alternatively, the relative motion may be constrained to translation along an axis parallel to the direction of force applied to the button.

In some embodiments, method 1800 may include measuring a gap between a movable portion and a stationary portion of a haptic engine, and controlling a width of the gap in a closed-loop manner (e.g., to provide a haptic output, or to maintain the gap width when no haptic output is provided). The gap width may be measured capacitively, optically, or otherwise.

In some embodiments, method 1800 may not include the operations at blocks 1808 and 1810, and instead may include the operation of taking an action associated with the predetermined force without providing a haptic output. For example, the method 1800 may include providing input to an application or utility running on the device, changing output of a user interface (e.g., display) of the device, providing an audible notification, and so forth.

FIG. 19 shows an example electrical block diagram of an electronic device 1900, which may be the electronic device described with reference to FIGS. 1A-1C. The electronic device 1900 may include a display 1902 (e.g., a light emitting display), a processor 1904, a power supply 1906, a memory 1908 or storage, a sensor system 1910, or an input/output (I/O) mechanism 1912 (e.g., an input/output device, input/output port). The processor 1904 may control some or all of the operations of the electronic device 1900. The processor 1904 may communicate with substantially all of the components of the electronic device 1900, either directly or indirectly. For example, a system bus or other communication mechanism 1914 may provide communication between the processor 1904, the power supply 1906, the memory 1908, the sensor system 1910, and the input/output mechanism 1912.

The processor 1904 may be implemented as any electronic device capable of processing, receiving, or transmitting data or instructions. For example, the processor 1904 may include a microprocessor, a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a controller, or a combination of such devices. As described herein, the term "processor" is intended to encompass a single processor or processing unit, a plurality of processors, a plurality of processing units, or one or more other suitably configured computing elements. In some embodiments, the processor 1904 may include or be an example of the circuit 1318 described with reference to fig. 13A.

It is noted that the components of the electronic device 1900 may be controlled by multiple processors. For example, selected components of electronic device 1900 may be controlled by a first processor and other components of electronic device 1900 may be controlled by a second processor, where the first processor and the second processor may or may not be in communication with each other.

Power supply 1906 may be implemented using any device capable of providing power to electronic device 1900. For example, power source 1906 may be one or more batteries or rechargeable batteries. Additionally or alternatively, power source 1906 may be a power connector or cord that connects electronic device 1900 to another power source, such as a wall outlet.

The memory 1908 may store electronic data that may be used by the electronic device 1900. For example, the memory 1908 may store electrical data or content such as, for example, audio and video files, documents and applications, device settings and user preferences, timing signals, control signals, data structures or databases, image data, or focus settings. The memory 1908 may be configured as any type of memory. By way of example only, the memory 1908 may be implemented as random access memory, read only memory, flash memory, removable memory, other types of storage elements, or a combination of such devices.

The electronic device 1900 may also include one or more sensors that define the sensor system 1910. The sensors may be generally positioned anywhere on the electronic device 1900. The sensors may be configured to generally sense any type of characteristic, such as, but not limited to, image, pressure, light, touch, heat, movement, relative motion, biometric data, and the like. For example, sensor system 1910 may include touch sensors, force sensors, thermal sensors, position sensors, light or optical sensors, accelerometers, pressure sensors (e.g., pressure transducers), gyroscopes, magnetometers, health monitoring sensors, and the like. Further, the one or more sensors may utilize any suitable sensing technology, including but not limited to capacitive, ultrasonic, resistive, optical, ultrasonic, piezoelectric, and thermal sensing technologies. In some embodiments, the sensor may comprise a force sensor in any of the modules or button assemblies described herein.

The I/O mechanism 1912 may transmit and/or receive data from a user or another electronic device. The I/O devices may include a display, a touch-sensing input surface such as a tracking pad, one or more buttons (e.g., a graphical user interface "home" button or one of the buttons described herein), one or more cameras, one or more microphones or speakers, one or more ports such as a microphone port, and/or a keyboard. Additionally or alternatively, the I/O devices or ports may transmit electrical signals via a communication network, such as a wireless and/or wired network connection. Examples of wireless and wired network connections include, but are not limited to, cellular networks, Wi-Fi, Bluetooth, IR, and Ethernet connections. The I/O mechanism 1912 may also provide feedback (e.g., haptic output) to the user, and may include a haptic engine of any of the modules or button assemblies described herein.

The foregoing description, for purposes of explanation, used specific nomenclature to provide a thorough understanding of the embodiments described. However, it will be apparent to one skilled in the art, after reading this specification, that the embodiments may be practiced without the specific details. Thus, the foregoing descriptions of specific embodiments described herein are presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the embodiments to the precise forms disclosed. It will be apparent to those of ordinary skill in the art in view of the above teachings that many modifications and variations are possible.

1. A module, comprising:

a permanent magnet biased electromagnetic haptic engine, the permanent magnet biased electromagnetic haptic engine comprising:

a stator; and

a rotor;

a restraint coupled to the stator and the rotor; and

a force sensor at least partially attached to the permanent magnet biased electromagnetic haptic engine and configured to sense a force applied to the rotor; wherein:

the restraint is configured to restrain a closing of a gap between the rotor and the stator, and to bias the rotor toward a rest position, wherein the rotor is separated from the stator by the gap.

2. The module of item 1, wherein:

the stator is a first stator;

the permanent magnet biased electromagnetic haptic engine further comprises a second stator; and is

The rotor is disposed between the first stator and the second stator.

3. The module of item 1, wherein the rotor comprises:

a core;

at least one coil wound around the core; and

at least one permanent magnet on a surface of the core.

4. The module of item 1, further comprising a button mechanically coupled to the permanent magnet biased electromagnetic haptic engine.

5. The module of item 4, wherein the button is mechanically coupled to the rotor.

6. The module of item 5, wherein the stator is positioned between portions of the rotor.

7. The module of item 4, wherein the restraint is attached to the permanent magnet biased electromagnetic haptic engine along an axis disposed on the same side of the rotor as the button.

8. The module of item 4, wherein the restraint is attached to the permanent magnet biased electromagnetic haptic engine along an axis disposed on a side of the rotor opposite the button.

9. The module of item 1, wherein the restraint comprises a metal flexure having a rotor attachment portion on either side of a stator attachment portion.

10. The module of item 1, wherein the restraint comprises an elastomer disposed between the stator and the rotor.

11. The module of item 1, wherein the force sensor comprises a capacitive force sensor.

12. The module of item 1, wherein the force sensor comprises a strain sensor.

13. A module, comprising:

a haptic engine having a fixed portion and a movable portion configured to move non-linearly when the haptic engine is energized by an electrical signal to provide a haptic output;

a force sensor at least partially attached to the haptic engine and configured to sense a force applied to the module; and

a restraint configured to restrain movement of the movable portion relative to the fixed portion and bias the movable portion toward a rest position, wherein the movable portion is separated from the fixed portion by a gap.

14. The module of clause 13, wherein the restraint is configured to provide a first stiffness opposite to the non-linear movement of the movable portion.

15. The module of item 13, further comprising:

a button attached to the movable portion of the haptic engine; wherein:

the force applied to the module comprises a force applied to the button; and is

The restraint is configured to provide a second stiffness opposite to a force applied to the button.

16. The module of item 13, wherein the restraint restrains movement of the movable portion to movement about a pivot axis.

17. The module of item 13, wherein the restraint comprises an elastomer.

18. The module of item 13, wherein the restraint comprises a metal flexure.

19. A method of providing a haptic response to a user, comprising:

constraining relative motion between a fixed portion and a movable portion of a haptic engine to bias the movable portion toward a rest position, wherein the movable portion is separated from the fixed portion by a gap and constrains closure of the gap;

determining, using a force sensor, a force applied to a button, the button being mechanically coupled to the movable portion;

determining that the determined force matches a predetermined force; and

identifying a haptic actuation waveform associated with the predetermined force; and

applying the haptic actuation waveform to the haptic engine; wherein:

the relative movement between the fixed portion and the movable portion is constrained to pivoting of the movable portion relative to the fixed portion.

20. The method of item 19, wherein:

the force sensor comprises at least two force sensing elements positioned at different locations relative to a user interaction surface of the button;

determining the force using different outputs of the different force sensing elements;

the determined force comprises a determined amount of force; and is

The predetermined force comprises a predetermined amount of force.

21. The method of item 19, wherein:

the force sensor comprises at least two force sensing elements positioned at different locations relative to a user interaction surface of the button;

determining the force using different outputs of the different force sensing elements;

the determined force comprises a determined force location; and is

The predetermined force comprises a predetermined force location.

22. The method of item 19, wherein:

the determined force comprises a determined force pattern; and is

The predetermined force comprises a predetermined force pattern.

23. A module, comprising:

a permanent magnet biased electromagnetic haptic engine, the permanent magnet biased electromagnetic haptic engine comprising:

a stator; and

a shuttle;

a restraint coupled to the stator and the shuttle; and

a force sensor at least partially attached to the permanent magnet biased electromagnetic haptic engine and configured to sense a force applied to the module; wherein:

the restraint is configured to restrain closure of a gap between the stator and the shuttle, and bias the shuttle toward a rest position in which the shuttle is separated from the stator by the gap.

24. The module of item 23, wherein the stator comprises:

a permanent magnet positioned on a first opposing side of the shuttle; and

a coil positioned on at least one side of the shuttle.

25. The module of item 23, further comprising:

a button having a user-interactive surface connected to a button attachment member; wherein:

the user interaction surface extends parallel to the axis along which the shuttle translates; and is

The button attachment member extends transverse to the axis along which the shuttle translates.

26. The module of item 23, further comprising:

a button having a user-interactive surface connected to a button attachment member; wherein:

the button surface extends transverse to the axis along which the shuttle translates; and is

The attachment member extends parallel to the axis along which the shuttle translates.

27. A module, comprising:

a haptic engine having a fixed portion and a movable portion configured to move linearly when the haptic engine is energized by an electrical signal to provide a haptic output;

a force sensor at least partially attached to the haptic engine and configured to sense a force applied to the module; and

a restraint configured to restrain movement of the movable portion relative to the fixed portion and bias the movable portion toward a rest position, wherein the movable portion is separated from the fixed portion by a gap.

28. The module of item 27, wherein:

the restraint includes a flexure extending in a direction transverse to a direction of linear movement of the movable portion;

the restraint is spaced from a first side of the movable portion that is transverse to the direction of the linear movement of the movable portion; and is

The flexure connects at least one side other than the first side of the movable portion to the fixed portion.

29. The module of clause 27, wherein the restraint is configured to provide a first stiffness opposite to linear movement of the movable portion.

30. The module of item 29, further comprising:

a button attached to the movable portion of the haptic engine; wherein:

the force applied to the module comprises a button press; and is

The restraint is configured to provide a second stiffness opposite the force applied to the button.

31. The module of item 27, further comprising:

a button attached to the movable portion of the haptic engine; wherein:

the force applied to the module comprises a button press; and is

The movable portion is configured to move transverse to a direction of the button press when the haptic engine is energized by the electrical signal.

32. The module of item 27, further comprising:

a button attached to the movable portion of the haptic engine; wherein:

the force applied to the module comprises a button press; and is

The movable portion is configured to move parallel to a direction of the button press when the haptic engine is energized by the electrical signal.

33. The module of item 27, wherein:

the force sensor is configured to generate an output signal in response to sensing the force applied to the module; and is

The haptic engine receives the electrical signal in response to the output generated by the force sensor.

34. The module of item 27, wherein the restraint comprises a metal flexure.

35. The module of item 27, wherein:

the force sensor comprises a strain sensor; and is

The strain sensor is attached to and flexes with the fixed portion.

36. The module of item 27, wherein:

the force sensor comprises a capacitive force sensor; and is

The capacitive force sensor includes:

a first electrode attached to the fixed portion; and

a second electrode attached to the moving portion.

37. A method of providing a haptic response to a user, comprising:

constraining relative motion between a fixed portion and a movable portion of a haptic engine to bias the movable portion toward a rest position, wherein the movable portion is separated from the fixed portion by a gap and constrains closure of the gap;

determining, using a force sensor, a force applied to a button, the button being mechanically coupled to the movable portion;

determining that the determined force matches a predetermined force;

identifying a haptic actuation waveform associated with the predetermined force; and

applying the haptic actuation waveform to the haptic engine; wherein:

the relative motion between the fixed portion and the movable portion is constrained to translation of the movable portion along an axis.

38. The method of item 37, wherein:

the force sensor comprises at least two force sensing elements positioned at different locations relative to a user interaction surface of the button;

determining the force using different outputs of different force sensing elements;

the determined force comprises a determined amount of force; and is

The predetermined force comprises a predetermined amount of force.

39. The method of item 37, wherein:

the force sensor comprises at least two force sensing elements positioned at different locations relative to a user interaction surface of the button;

determining the force using different outputs of different force sensing elements;

the determined force comprises a determined force location; and is

The predetermined force comprises a predetermined force location.

40. The method of item 37, wherein:

the determined force comprises a determined force pattern; and is

The predetermined force comprises a predetermined force pattern.

41. The method of item 37, wherein the relative motion between the fixed portion and the movable portion is constrained to translation along an axis transverse to the direction of the force applied to the button.

42. The method of item 37, wherein the relative motion between the fixed portion and the movable portion is constrained to translation along an axis parallel to the direction of the force applied to the button.

Claims (10)

1. A module, comprising:

a permanent magnet biased electromagnetic haptic engine, the permanent magnet biased electromagnetic haptic engine comprising:

a stator; and

a rotor;

a restraint coupled to the stator and the rotor; and

a force sensor at least partially attached to the permanent magnet biased electromagnetic haptic engine and configured to sense a force applied to the rotor; wherein:

the restraint is configured to restrain a closing of a gap between the rotor and the stator, and to bias the rotor toward a rest position, wherein the rotor is separated from the stator by the gap.

2. The module of claim 1, wherein:

the stator is a first stator;

the permanent magnet biased electromagnetic haptic engine further comprises a second stator; and is

The rotor is disposed between the first stator and the second stator.

3. The module of claim 1, wherein the rotor comprises:

a core;

at least one coil wound around the core; and

at least one permanent magnet on a surface of the core.

4. The module of claim 1, further comprising a button mechanically coupled to the permanent magnet biased electromagnetic haptic engine.

5. The module of claim 4, wherein the button is mechanically coupled to the rotor.

6. The module of claim 5, wherein the stator is positioned between portions of the rotor.

7. The module of claim 4, wherein the restraint is attached to the permanent magnet biased electromagnetic haptic engine along an axis disposed on the same side of the rotor as the button.

8. The module of claim 4, wherein the restraint is attached to the permanent magnet biased electromagnetic haptic engine along an axis disposed on a side of the rotor opposite the button.

9. The module of claim 1, wherein the restraint comprises a metal flexure having a rotor attachment portion on either side of a stator attachment portion.

10. The module of claim 1, wherein the restraint comprises an elastomer disposed between the stator and the rotor.

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