CN112585773A

CN112585773A - Vibrotactile devices, systems, and related methods

Info

Publication number: CN112585773A
Application number: CN201980054702.9A
Authority: CN
Inventors: 达妮埃莱·皮亚扎; 斯拉瓦·卡鲁林; 埃里克·罗比; 特里斯坦·托马斯·特鲁纳; 大卫·R·佩雷克; 查尔斯·斯图尔特; 亚当·阿赫内
Original assignee: Facebook Technologies LLC
Current assignee: Meta Platforms Technologies LLC
Priority date: 2018-10-23
Filing date: 2019-08-12
Publication date: 2021-03-30

Abstract

The disclosed flexible vibrotactile device (18) may include a dielectric support material, at least one flexible electroactive element coupled to the dielectric support material, a first conductive electrode material, and a second conductive electrode material. The dielectric support material may include at least one hole therethrough for securing the flexible vibrotactile device to the fabric by passing at least one fiber through the at least one hole. Various other related methods and systems are also disclosed.

Description

Vibrotactile devices, systems, and related methods

Background

Vibrotactile devices (vibrotactile devices) include devices that can vibrate to provide tactile feedback to a user of the device. For example, some modern mobile devices (e.g., cellular phones, tablet computers, mobile gaming devices, game controllers, etc.) include vibrotactile devices that inform a user, through vibration, that action has been taken. The vibration may indicate to the user that a selection has been made or that a touch event has been sensed. Vibrotactile devices may also be used to provide alerts or signals to a user.

There are various types of vibrotactile devices, such as piezoelectric devices, eccentric rotating mass devices (eccentric rotating mass devices), and linear resonant actuators. Such conventional vibrotactile devices may include one or more elements that vibrate when a voltage is applied. In the case of a piezoelectric device, an applied voltage may induce a bend or other displacement in the piezoelectric material. The eccentric rotating mass device induces vibrations by rotating an eccentric mass about the axis of an electromagnetic motor. The linear resonant actuator may include a mass on an end of the spring that is driven by the linear actuator to induce vibration. Many of these conventional vibrotactile devices are rigid and inflexible.

SUMMARY

As will be described in greater detail below, the present disclosure describes flexible vibrotactile devices, systems including such devices, and related methods. For example, the flexible vibrotactile device may include at least one hole therethrough for securing the device to a fabric (textile).

In some embodiments, the present disclosure describes a flexible vibrotactile device comprising a dielectric support material, at least one flexible electroactive element coupled to the dielectric support material, a first conductive electrode material, and a second conductive electrode material. The dielectric support material may include at least one hole therethrough for securing the flexible vibrotactile device to the fabric by passing at least one fiber through the at least one hole. The first conductive electrode material may be positioned adjacent to and in electrical contact with a first side of the at least one flexible electroactive element. The second conductive electrode material may be positioned adjacent to and in electrical contact with a second side of the at least one flexible electroactive element opposite the first side. The first and second conductive electrode materials may be configured to apply a voltage across the at least one flexible electroactive element and induce movement in the at least one flexible electroactive element.

In one example, the at least one flexible electro-active element may include a first flexible electro-active element and a second flexible electro-active element that together define a bimorph structure (bimorph structure). The first conductive material may be positioned adjacent a first side of the first flexible electroactive element and the second conductive electrode material may be a common electrode positioned adjacent an opposing second side of the first flexible electroactive element and between the first flexible electroactive element and the second flexible electroactive element. The flexible vibrotactile device may further include a third conductive electrode material positioned adjacent to a side of the second flexible electroactive element opposite the second conductive electrode material and opposite the first flexible electroactive element. In further examples, the first conductive electrode may be positioned adjacent a first side of the first flexible electro-active element and the second conductive electrode material may be positioned adjacent an opposite second side of the first flexible electro-active element and between the first flexible electro-active element and the second flexible electro-active element. The flexible vibrotactile device may further include a third conductive electrode material positioned adjacent to a first side of the second flexible electroactive element and between the first flexible electroactive element and the second flexible electroactive element, a fourth conductive electrode material positioned adjacent to an opposing second side of the second flexible electroactive element, and a central insulating material positioned between the second conductive electrode material and the third conductive electrode material. A first insulating material may be located on the first electrode material to provide a protective coating on the first electrode material, and a second insulating material may be located on the second electrode material to provide a protective coating on the second electrode material. Each of the first flexible electro-active element and the second flexible electro-active element may have a thickness of about 150 μm or less.

In some examples, the at least one flexible electro-active element may comprise at least one of: an electroactive polymer material; a dielectric elastomeric material; a relaxor ferroelectric material; a piezoceramic material; or a piezoelectric single crystal material. For example, the at least one flexible electro-active element may comprise lead zirconate titanate (PZT). In another example, the at least one flexible electroactive element may comprise lead magnesium niobate-lead titanate (PMN-PT). Each of the first and second conductive electrode materials may include copper. The at least one flexible electro-active element may comprise a plurality of strips (strip) of flexible electro-active material positioned adjacent and parallel to each other. The dielectric support material may have a rectangular shape with at least two rounded corners to facilitate positioning at least a portion of the flexible vibrotactile device within a pocket of fabric. The at least one hole through the dielectric support material may include at least one upper hole through an upper portion of the dielectric support material and at least one lower hole through a lower portion of the dielectric support material on a side of the at least one flexible electro-active element opposite the at least one upper hole.

In some examples, the flexible vibrotactile device may further include a first conductive terminal for providing an electrical path to the first conductive electrode material, and a second conductive terminal for providing an electrical path to the second conductive electrode material. The device may have a thickness of about 0.29mm or less.

In some embodiments, the present disclosure includes a vibrotactile system including a flexible wearable textile material, a flexible vibrotactile device, a power source, and a communication interface. The flexible wearable textile material may be shaped and configured to be positioned against a body part of a user of the vibrotactile system. The flexible wearable fabric may include at least one pocket. A flexible vibrotactile device may be coupled to the flexible wearable textile material and located at least partially within the at least one pocket to apply vibrations to a body part of the user when in use. The flexible vibrotactile device may include a dielectric support material including at least one aperture therethrough, at least one flexible electroactive element coupled to the dielectric support material, and first and second conductive electrode materials. The dielectric support material may be secured to the flexible wearable fabric via fibers passing through the at least one aperture. The first and second conductive electrode materials may be positioned and configured to apply a voltage across the at least one flexible electroactive element to induce movement in the at least one flexible electroactive element. A power source may be electrically coupled to at least one of the first conductive electrode or the second conductive electrode to apply a voltage. The communication interface may be in electrical communication with a power source to direct a voltage across the at least one flexible electro-active element upon receipt of an activation signal through the communication interface.

In some examples, the flexible wearable textile material may include at least one of: a glove; a headband; a wristband; an arm strap; sleeves; a head cover; a sock; a shirt; or pants. The at least one flexible electro-active element may comprise an array of flexible electro-active elements positioned to apply vibrations to different respective portions of a body part of a user of the vibrotactile system. The system may also include another flexible vibrotactile device coupled to the flexible wearable textile material in a location to apply vibrations to another body part of a user of the vibrotactile system that is different from the body part associated with the flexible vibrotactile device.

In some embodiments, the present disclosure includes a method of forming a flexible vibrotactile device. According to such a method, a dielectric support material may be formed to include at least one hole therethrough for securing the flexible vibrotactile device to the fabric by passing at least one fiber through the at least one hole. At least one flexible electro-active element may be coupled to the dielectric support material. The first conductive electrode material may be electrically coupled to the first surface of the at least one flexible electroactive element. The second conductive electrode material may be electrically coupled to an opposing second surface of the at least one flexible electroactive element to enable application of a voltage across the at least one flexible electroactive element via the first and second conductive electrode materials.

Features from any of the above-mentioned embodiments may be used in combination with each other, in accordance with the general principles described herein. These and other embodiments, features and advantages will be more fully understood when the following detailed description is read in conjunction with the accompanying drawings and claims.

Brief Description of Drawings

The accompanying drawings illustrate a number of example embodiments and are a part of the specification. Together with the following description, these drawings demonstrate and explain various principles of the present disclosure.

Fig. 1 is a side perspective view of a vibrotactile system according to an embodiment of the present disclosure.

Fig. 2 is a perspective view of an example head-mounted display with which example vibrotactile systems and devices of the present disclosure may be employed.

Fig. 3 is a perspective view of an example near-eye display with which example vibrotactile systems and devices of the present disclosure may be employed.

FIG. 4 is a top plan view (top plane view) of a vibrotactile device according to additional embodiments of the present disclosure.

Fig. 5 is a side view of the vibrotactile device of fig. 4.

FIG. 6 is a bottom plan view (bottom plan view) of the vibrotactile device of FIG. 4.

FIG. 7 is a detailed cross-sectional view of a portion of the vibrotactile device of FIG. 4 identified at circle A of FIG. 5.

Fig. 8 is a top plan view of a vibrotactile device according to an embodiment of the present disclosure.

Fig. 9 is a top plan view of a vibrotactile device according to another embodiment of the present disclosure.

Fig. 10 is a top plan view of a vibrotactile device according to additional embodiments of the present disclosure.

Fig. 11 is a cross-sectional view of a vibrotactile device according to another embodiment of the present disclosure.

Fig. 12 is a top plan view of a vibrotactile device according to another embodiment of the present disclosure.

Fig. 13 is a top plan view of a vibrotactile device according to another embodiment of the present disclosure.

Fig. 14 is a partial cross-sectional view of a portion of a vibrotactile device according to an embodiment of the present disclosure.

FIG. 15 is a flow chart illustrating a method of forming a flexible vibrotactile device according to an embodiment of the present disclosure.

Throughout the drawings, identical reference characters and descriptions indicate similar, but not necessarily identical, elements. While the example embodiments described herein are susceptible to various modifications and alternative forms, specific embodiments have been shown by way of example in the drawings and will be described in detail herein. However, the example embodiments described herein are not intended to be limited to the particular forms disclosed. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the scope of the appended claims.

Detailed description of example embodiments

The present disclosure relates generally to flexible vibrotactile devices, systems, and methods. As described in more detail below, the devices and systems may include two plates sandwiched together. The plate may comprise two electro-active elements, for example in the form of piezoelectric plates, which are driven with two respective waveforms that are phase shifted by 180 degrees from each other. In another example, only one of the plates is an electro-active driving material (drive material), while the other plate is an inactive material with a selected geometry and mechanical properties to achieve the desired bending displacement. Embodiments of the present disclosure may be configured to conform to a body part (e.g., a finger, a wrist, a head, a leg, a torso, etc.) while achieving a desired mechanical output. These capabilities may be achieved by using materials with sufficient piezoelectric coefficients (e.g., piezoelectric ceramics) to achieve the desired mechanical output.

A detailed description of an example vibrotactile system in the form of a wearable glove and wristband will be provided below with reference to fig. 1. Detailed descriptions of example head mounted displays and near-eye displays are provided with reference to fig. 2 and 3, respectively, and the systems and devices of the present disclosure may be implemented with example head mounted displays and near-eye displays. A detailed description of an example vibrotactile device is provided with reference to fig. 4-7. With reference to fig. 8-10, various alternative embodiments of vibrotactile devices will be described. Referring to fig. 11, a detailed description of an example method of forming a flexible vibrotactile device is provided.

Fig. 1 shows a vibrotactile system 10 in the form of a wearable glove 12 and a wrist band 14. The wearable glove 12 and the wrist band 14 are shown as examples of wearable devices that include a flexible wearable textile material 16, the wearable textile material 16 being shaped and configured to be positioned against a user's hand and wrist, respectively. The present disclosure also includes vibrotactile systems that may be shaped and configured to be positioned against other body parts, such as fingers, arms, head, torso, feet, or legs. By way of example and not limitation, vibrotactile systems according to various embodiments of the present disclosure may also be in the form of gloves, head bands, arm bands, sleeves, head covers, socks, shirts, or pants, among other possibilities. In some examples, the term "fabric" may include any flexible wearable material, including woven (woven fabric), non-woven (non-woven fabric), leather, cloth, flexible polymeric materials, composites, and the like.

One or more vibrotactile devices 18 may be located at least partially within one or more respective pockets formed in the textile material 16 of the vibrotactile system 10. The vibrotactile device 18 may be located at a location that provides a vibrotactile sensation (e.g., haptic feedback) to a user of the vibrotactile system 10. For example, as shown in fig. 1, the vibrotactile device 18 may be positioned against a user's finger, thumb, or wrist. In some examples, the vibrotactile device 18 may be sufficiently flexible to conform to or bend with a respective body part of the user.

A power source 20 (e.g., a battery) for applying a voltage to the vibrotactile device 18 for activation thereof may be electrically coupled to the vibrotactile device 18, for example, via a conductive wire 22. In some examples, each vibrotactile device 18 may be independently electrically coupled to a power source 20 for individual activation. In some embodiments, the processor 24 may be operatively coupled to the power source 20 and configured (e.g., programmed) to control activation of the vibrotactile device 18.

Vibrotactile system 10 may be a stand-alone system with integrated subsystems and components for operating independently of other devices and systems, or vibrotactile system 10 may be configured to interact with another device or system 28. For example, in some examples, vibrotactile system 10 may include a communication interface 26 for receiving signals and/or transmitting signals to other devices or systems 28. Other devices or systems 28 can be mobile devices, game consoles, artificial reality (e.g., virtual reality, augmented reality, mixed reality) devices, personal computers, tablet computers, network devices (e.g., modems, routers, etc.), handheld controllers, and the like. The communication interface 26 may enable communication between the vibrotactile system 10 and other devices or systems 28 via a wireless (e.g., Wi-Fi, bluetooth, cellular, radio, etc.) link or a wired link. If present, the communication interface 26 may communicate with the processor 24 to provide a signal to the processor 24 to activate or deactivate one or more vibrotactile devices 18.

The vibrotactile system 10 may optionally include other subsystems and components, such as a touch sensitive pad 30, pressure sensors, motion sensors, position sensors, lighting elements, and/or user interface elements (e.g., on/off buttons, vibration control elements, etc.). During use, the vibrotactile device 18 may be configured to be activated for a variety of different reasons (e.g., in response to user interaction with a user interface element, signals from motion or position sensors, signals from the touch-sensitive pad 30, signals from pressure sensors, signals from other devices or systems 28, etc.).

Although the power source 20, processor 24, and communication interface 26 are shown in fig. 1 as being located in the wristband 14, the disclosure is not so limited. For example, one or more of power source 20, processor 24, or communication interface 26 may be located within glove 12 or within another wearable fabric.

Fig. 2 is a perspective view of an example Head Mounted Display (HMD)50 that may present images to a user's eyes as part of an artificial reality (e.g., virtual reality, augmented reality, or mixed reality) system. To present these images, in some embodiments, HMD 50 may include at least one example display system 60, which may include an optical subsystem (e.g., a lens, a focus adjustment subsystem, etc.) and a display subsystem (e.g., a projector, a reflector, an image combining lens, a waveguide, a display screen, etc.). In some embodiments, two separate display systems 60 (one for each eye of the user) may be incorporated in HMD 50. HMD 50 may include, for example, a flexible vibrotactile device 68 integrated into its headband 62. Alternatively or additionally, HMD 50 may communicate, for example, with another vibrotactile system (e.g., system 10 described above and shown in fig. 1). In one example, the HMD 50 may present images to the user via the display system 60, and the user may use the vibrotactile system 10 to manipulate (e.g., hold, make selections, move, touch, etc.) virtual objects displayed in the images. The vibrotactile system 10 may provide haptic feedback to the user in the form of vibrations induced by one or more vibrotactile devices 18 (fig. 1), for example, to indicate to the user a haptic confirmation that the virtual object has been manipulated.

Fig. 3 is a perspective view of an example near-eye display (NED)70 that may present images to a user's eye as part of an artificial reality system. To present these images, NED70 may, in some embodiments, include at least one example display system 80, which may include an optical subsystem (e.g., lens, focus adjustment subsystem, etc.) and a display subsystem (e.g., projector, reflector, image combining lens, waveguide, display screen, etc.). In some embodiments, two separate display systems 80 (one for each eye of the user) may be incorporated in NED 70. NED70 may include, for example, a flexible vibrotactile device 88 integrated into its eyeglass frame leg (eyeglass frame temperature) 82. Alternatively or additionally, NED70 may communicate, for example, with another vibrotactile system (e.g., system 10 described above and shown in fig. 1). In one example, NED70 may present images to a user via display system 80, and the user may use vibrotactile system 10 to manipulate (e.g., hold, make selections, move, touch, etc.) virtual objects displayed in the images. The vibrotactile system 10 may provide haptic feedback to the user in the form of vibrations induced by one or more vibrotactile devices 18 (fig. 1), for example, to indicate to the user a haptic confirmation that the virtual object has been manipulated.

Fig. 4-7 illustrate various views of an embodiment of a flexible piezoelectric vibrotactile device 100. For example, vibrotactile device 100 may be implemented as one or more vibrotactile devices 18 in vibrotactile system 10 of FIG. 1, as flexible vibrotactile device 68 in HMD 50 of FIG. 2, or as flexible vibrotactile device 88 in NED70 of FIG. 3.

Fig. 4 is a top plan view of vibrotactile device 100 (also referred to simply as "device 100"). Fig. 5 is a side view of vibrotactile device 100. Fig. 6 is a bottom view of the vibrotactile device.

Referring to fig. 4-6, the apparatus 100 may include a top plate 102 and a bottom plate 110 on opposite sides of the apparatus 100. At least one of the top plate 102 or the bottom plate 110 may include an electro-active (e.g., piezoelectric) material configured to provide tactile feedback (e.g., vibration) when activated. For example, device 100 may be configured to be activated in response to a touch or abutment of device 100 by a user against a surface or interaction with another device or system incorporating vibrotactile device 100, e.g., by applying a voltage across top electro-active element 102.

As used herein, any relative terms (e.g., "first," second, "" upper, "" lower, "" top, "" bottom, "" above …, etc.) are used for clarity and convenience in understanding the present disclosure and the drawings and are not meant to or dependent on any particular preference, orientation, or order unless the context clearly dictates otherwise.

In some embodiments, both the top plate 102 and the bottom plate 110 may include respective electroactive materials. In this case, the assembly of the top plate 102 and the bottom plate 110 may define a so-called "bimorph" structure, because there are two adjacent electroactive drive materials. The top plate 102 may be configured to be driven by a first voltage and the bottom plate 110 may be configured to be driven by a second voltage having a waveform phase shifted 180 degrees from the first voltage.

In further embodiments, only one of the top plate 102 or the bottom plate 110 may include an electroactive material and may be configured to induce vibrations. The other (inactive plate 102 or 110) may be a structural material (e.g., a dielectric material) that may provide structural support and bending resistance for the other

electroactive plate

102 or 110. In such embodiments, the assembly of the top plate 102 and the bottom plate 110 may define a so-called "unimorph" structure, since there is only one electroactive drive plate. The unimorph structure may be configured and selected to achieve a desired bending displacement and/or response to activation of device 100. In view of constraints (e.g., desired mechanical output, size, desired mechanical flexibility, cost, etc.), device 100 may be selected to have a bimorph or unimorph structure for a given system.

The apparatus 100 may also include at least one dielectric (e.g., electrically insulating) support material 104, the top plate 102 and the bottom plate 110 being mounted to the dielectric support material 104. Mounting holes 106 may extend through at least support material 104. In some examples, the mounting holes 106 may be configured to secure the device 100 to a fabric (e.g., the fabric material 16 of the vibrotactile system 10 of fig. 1), for example, by passing at least one fiber (e.g., a thread) through the mounting holes 106. The diameter of each hole may be selected to facilitate insertion of a fiber therethrough. By way of example and not limitation, the diameter may be about 1.0mm or less, such as about 0.9 mm.

The conductive terminals 108 may also be mounted to the support material 104. The conductive terminals 108 may provide an electrical path to respective

conductive electrode materials

109A, 109B, 109C, and 109D (collectively referred to as conductive electrode materials 109), e.g., for applying a voltage to components of the apparatus 100 (e.g., the top plate 102 and/or the bottom plate 110) for activation. Although fig. 4 and 6 show four conductive terminals 108, a device 100 having a unimorph structure may have only two conductive terminals 108 and corresponding conductive electrode material 109 for activating the device 100.

Fig. 4 and 6 show four upper mounting holes 106 and six lower mounting holes 106, the six lower mounting holes 106 being on the opposite side of the top plate 102 and the bottom plate 110 from the upper mounting holes 106, but the present disclosure is not limited thereto. In other embodiments, the device 100 may include any number (e.g., at least one, at least two, etc.) of mounting holes 106 depending on the shape, size, intended use, and/or configuration of the device 100 or a system incorporating the device 100. Furthermore, not all mounting holes 106 provided in the device 100 may be used for threading and securing the device 100 to the fabric. For example, wires extending from the conductive terminals 108 may pass through one or more mounting holes 106 to provide stress relief at the connection between the conductive terminals 108 and the respective wires. Optionally, one or more mounting holes 106 may be present in the device 100, but not used in the associated system.

As shown in fig. 6, the bottom side of the conductive material 109 may be electrically insulated by a terminal insulating material 112, which is shown as a dashed box in fig. 6. In some embodiments, the terminal insulating material 112 may be an integral part of the dielectric material 104.

Referring to fig. 4 and 6, the device 100 may have a generally rectangular initial (e.g., unbent) shape. By way of example and not limitation, the length of the device 100 may be about 20mm and the width of the device 100 may be about 11 mm. Of course, the size of the device 100 may be selected based on a given application and may be smaller or larger than the given example size. In some embodiments, the shape of the device 100 may be trapezoidal, oval, circular, triangular, irregular, etc. The shape of the device 100 may be selected to fit (fit against) against a particular body part and/or to provide a desired vibrotactile signal to the user. In some examples, the device 100 may have at least two rounded corners 114. Rounded corners 114 may facilitate insertion of device 100 into pockets formed in the textile material by preventing device 100 from catching on the (catching) textile material during insertion. In one example, rounded corners 114 may each have a radius of approximately 1.0mm

Fig. 7 is a detailed cross-sectional view of a portion of the vibrotactile device 100 identified at circle a of fig. 5, each of the top plate 102 and the bottom plate 110 comprising an electro-active material to define a bimorph structure. In the view shown in fig. 7, proceeding sequentially from the right side to the left side of the apparatus 100, the apparatus 100 may include a bottom insulating material 104A, a first conductive electrode material 109A, a bottom piezoelectric element 110, a second conductive electrode material 109B, a center insulating material 104B, a third conductive electrode material 109C, a top plate 102, a fourth conductive electrode material 109D, and a top insulating material 104C. The first conductive electrode material 109A and the second conductive electrode material 109B may be positioned and configured to apply a voltage across the backplane 110. The third conductive material 109C and the fourth conductive material 109D may be positioned and configured to apply a voltage across the top plate 102. The central insulating material 104B may be positioned to electrically insulate the second conductive material 109B and the third conductive material 109C from one another. The bottom insulating material 104A and the top insulating material 104C may be positioned to provide a protective coating over the first conductive material 109A and the fourth conductive material 109D, respectively.

As identified in fig. 7, the conductive electrode material 109 may include a conductive material, such as copper. Other conductive materials (e.g., other metals, etc.) may also be used for the conductive electrode material 109. The insulating material 104 may comprise an electrically insulating material, such as polyimide. Other electrically insulating materials (e.g., polymers, ceramics, oxides, etc.) may be used for insulating material 104.

In some examples, as discussed above, one or both of the

plates

102 and 110 may include an electroactive material. For example, the electroactive material can include an electroactive polymer ("EAP"), such as polyvinylidene fluoride ("PVDF"). In further examples, the electroactive material may include a piezoelectric ceramic material, such as lead zirconate titanate ("PZT"). Further example electroactive materials may include dielectric elastomeric materials, such as materials including silicone and/or acrylic materials. The

plates

102 and 110 may comprise ceramic fibers and/or homogeneous ceramic plates. In some examples, the electroactive material may include a relaxor ferroelectric material, which may be a piezoelectric single crystal material, such as lead magnesium niobate-lead titanate ("PMN-PT") solid solution. In some embodiments, each of the

plates

102 and 110 can have a thickness of about 150 μm or less (e.g., about 120 μm). As shown by way of example and not limitation in fig. 7, the overall thickness T of the device 100 may be about 0.29mm or less, thereby providing sufficient flexibility for the device 100 to conform to a body part of a user without damage or loss of functionality.

In some examples, the "blocking force" of device 100 may refer to the theoretical maximum force generated by device 100 when actuated. The retarding force may be achieved or estimated when the displacement of the actuator is considered to be completely retarded, e.g. by a theoretical load with infinitely high stiffness. The retarding force may be measured or estimated by: the apparatus 100 is mounted in a cantilevered fashion and the apparatus 100 is actuated without load (i.e., causing a displacement in the apparatus 100) and then a load is applied to force the apparatus 100 with an increased load to its initial position until a maximum load is observed. This maximum load may be considered the retarding force of the device 100. In some embodiments, the retarding force of the device 100 may be between about 0.1 grams and about 100 grams. As a non-limiting example, the blocking force of the device 100 including the EAP material in the

plates

102, 110 may be between about 0.1 grams and about 10 grams, such as about 1 gram. In additional non-limiting examples where device 100 includes a piezoceramic material or a relaxor ferroelectric material, the retarding force of device 100 may be between about 1 gram and about 100 grams or higher.

In some examples, the

plates

102 and 110 may be configured to be electrically activated and driven by a maximum alternating voltage of approximately 250V (e.g., by applying a voltage via the conductive electrode material 109). The maximum equivalent series resistance of each of the

plates

102 and 110 may be about 150 ohms or less. Each of the

plates

102 and 110 may have a maximum capacitance of about 200nF or less. The minimum dc impedance of each of the

plates

102 and 110 may be about 10 megaohms or less. The values given above for the electrical properties are example values, and the

plates

102 and 110 may be configured and/or selected to exhibit other electrical properties as desired to induce higher or lower mechanical vibrations when activated.

The device 100 may conform to one or more features of a human body such as, but not limited to, a human finger, hand, wrist, arm, head, torso, foot, or leg. The device 100 may also have a relatively high mechanical output, represented by the first bending mode maximum strain, due to the piezoelectric coefficient of the material used.

In a unimorph structure, one or more of the materials shown in fig. 7 and/or the features shown in fig. 4 and 6 may be omitted, as the electrically passive material (instead of the backplane 110) may not be activated and no voltage is applied to the electrically passive material. For example, if the backplane 110 is an electrically passive material, the first and second

conductive electrode materials

109A and 109B, along with their respective conductive terminals 108, may be omitted. In some examples, one or more of the bottom insulating material 104A, the first and second electrically conductive

electroactive materials

109A and 109B, and/or the center insulating material 104B may be replaced with an electrically passive material. In further examples, one or more of the bottom insulating material 104A, the first and second conductive

electroactive materials

109A and 109B, the center insulating material 104B, and/or the base plate 110 may be replaced with a flexible electrically passive material (e.g., replaced with a flexible polymeric material, a textile material, and/or a foam material). Alternatively or additionally, device 100 may be coupled to a flexible material, for example, for integration into a wearable article (e.g., a glove, shirt, bracelet, headband, etc.).

Fig. 8 is a top plan view of a vibrotactile device 200 (also referred to as "device 200" for simplicity) according to another embodiment of the present disclosure. The device 200 may be similar in some respects to the device 100 shown in fig. 4-7 and discussed above. For example, the device 200 may include a top plate 202 (e.g., top electroactive material 202), a dielectric support material 204, a hole 206 through at least the dielectric support material 204, a conductive terminal 208 providing a respective electrical path to

conductive electrode materials

209A, 209B, 209C, and 209D, a bottom plate (not shown in the view of fig. 8), and rounded corners 214. However, the apparatus 200 may differ from the apparatus 100 described above in that the top plate 202 and/or the bottom plate may include a plurality of

parallel strips

202A, 202B, … 202N of electroactive material arranged adjacent to one another. The strips of

electroactive material

202A, 202B, … 202N may be configured to bend along their length and thus vibrate. In some examples, providing the top plate 202 and/or the bottom plate in the form of

strips

202A, 202B, … 202N of electroactive material may increase the flexibility of the device 200 while maintaining a desired mechanical output.

Fig. 9 is a top plan view of a vibrotactile device 300 (also referred to as "device 300" for simplicity) according to another embodiment of the present disclosure. The device 300 may be similar in some respects to the device 100 shown in fig. 4-7 and discussed above. For example, the device 300 may include a top electroactive material 302, a dielectric support material 304, a hole 306 through at least the dielectric support material 304, a conductive terminal 308 providing a corresponding electrical path to a conductive electrode material 309, a bottom electroactive material (not shown in the view of fig. 9), and a fillet 314. However, the device 300 may differ from the device 100 described above in that the top electro-active material 302 and/or the bottom electro-active material may be in the form of an array of multiple individual and independently operated electro-

active materials

302A, 302B, … 302N. Additional conductive electrode material 309 and conductive terminals 308 may be provided to independently apply a voltage across the respective

electroactive materials

302A, 302B, … 302N for independent activation.

The device 300 may be configured to provide a pixelated vibration signal to a user. In some examples, the electro-

active materials

302A, 302B, … 302N may be individually activated to provide vibrations to a particular portion of the user's body part or to different adjacent body parts of the user. In some examples, one or more of the

electroactive materials

302A, 302B, … 302N may be activated to provide a relatively low level of vibration, and a greater amount of the

electroactive materials

302A, 302B, … 302N may be activated to provide a relatively high level of vibration. In further examples, the

electroactive materials

302A, 302B, … 302N can be activated in a particular sequence to provide certain sensations to the user, such as a wave sensation, an expansion sensation, a contraction sensation, a circulatory sensation, or a back-and-forth sensation.

Fig. 9 shows a device 300 having eight

electroactive materials

302A, 302B,. 302N, but embodiments of the present disclosure that include an array of

electroactive materials

302A, 302B,. 302N are not limited to eight independently operating

electroactive materials

302A, 302B,. 302N. Rather, the array may include any suitable number of independently operated

electroactive materials

302A, 302B,. 302N, such as an array of two, three, four, eight, twelve, sixteen, twenty-five, thirty-six, sixty-four, one hundred, or more

electroactive materials

302A, 302B,. 302N.

By way of example and not limitation, fig. 10 illustrates a vibrotactile device 400 (also referred to as "device 400" for simplicity) similar to device 300 of fig. 9 but having 16 electro-

active materials

402A, 402B. For example, the device 400 of fig. 10 may include a top electroactive material 402, a dielectric support material 404, holes 406 through at least the dielectric support material 404, conductive terminals 408 providing respective electrical paths to conductive electrode material 409, a bottom electroactive material (not shown in the view of fig. 10), and rounded corners 414. In some examples, the device 400 may include an increased amount of conductive electrode material 409 corresponding to the amount of

electroactive material

402A, 402B,. 402N for individually selecting and operating the

electroactive materials

402A, 402B,. 402N.

In further examples, a lower amount of conductive electrode material 409 (compared to the amount of

electroactive material

402A, 402B,. 402N) may be used to individually select and operate the

electroactive materials

402A, 402B,. 402N. For example, a first portion of the conductive electrode material 409 may be used to select a column location of a desired electroactive material in the

electroactive materials

402A, 402B,. 402N, and a second portion of the conductive electrode material 409 may be used to select a row location of the desired electroactive material in the

electroactive materials

402A, 402B,. 402N.

Although

devices

100, 200, 300, and 400 in fig. 4-10 are illustrated as being substantially planar, the present disclosure is not so limited and vibrotactile devices may be formed in various shapes and physical configurations. For example, as shown in fig. 11, vibrotactile device 500 (also referred to as "device 500" for simplicity) may be generally circular in cross-section. Device 500 may include a plurality of separately operated

electroactive materials

502A, 502B,. 502N located around the perimeter of device 500. By way of example and not limitation, the circular device 500 may be incorporated into a wearable article (e.g., a ring, a finger portion of a glove, a bracelet, a sleeve, a necklace, a trouser leg, a sock, or any other generally circular wearable article). The electro-

active materials

502A, 502B,. 502N may be sequentially operated to induce a spinning sensation (vibration sensing) around the device 500, while vibrating together, and/or to provide various haptic sensations to the user in any other suitable pattern. Further, although eight

electroactive materials

502A, 502B,. 502N are shown in fig. 11, further embodiments may include any desired number (e.g., one, two, three, four, ten, sixteen, twenty, etc.) of

electroactive materials

502A, 502B,. 502N.

Fig. 12 illustrates a top plan view of a vibrotactile device 600 (also referred to as "device 600" for simplicity) according to additional embodiments of the present disclosure. Device 600 may include a plurality of adjacent vibrotactile (vibrotactors) 601A, 601B, 601C coupled to each other in a side-by-side arrangement via respective flexible connectors 602. Each of

vibrotactile devices

601A, 601B, 601C may be or include one or more of

vibrotactile devices

100, 200, 300, 400, and/or 500 described above and shown in fig. 4-11. As shown in fig. 12, each flexible connector 602 may follow a tortuous path to increase its flexibility. However, in further embodiments, flexible connector 602 may have other suitable shapes and configurations, such as straight, zig-zag, angled (relative to one or more sides of vibrotactile 601A, 601B, 601C), and the like.

Device 600 may be a flexible array of

vibrotactile devices

601A, 601B, 601C for use in applications where multiple

vibrotactile devices

601A, 601B, 601C are desired and bending may be desired or desired. For example, device 600 may be implemented in a finger portion of a glove (e.g., glove 10 shown in FIG. 1), where vibrotactile 601A, 601B, and 601C are located at desired locations on a user's fingertip portion, middle portion, and heel portion, respectively. In this example, the flexible connectors 602 may be located at the expected locations of the user's finger joints, respectively. In further examples, device 600 may be implemented in another wearable article (e.g., a sleeve, a trouser leg, a ring, a bracelet, a necklace, a headband, a sock, etc.).

Moreover, device 600 may advantageously facilitate the fabrication and electrical characteristics of an array of vibrotactile devices. For example, the base plates of

vibrotactile devices

601A, 601B, 601C may be implemented as a common ground plate, which may be electrically connected to each other by flexible connector 602 to simplify the electrical routing and activation of

vibrotactile devices

601A, 601B, 601C (as compared to embodiments in which each of

vibrotactile devices

601A, 601B, 601C is implemented with its own respective ground plate).

Fig. 13 shows a vibrotactile device 700 (also referred to as "device 700" for simplicity) similar to device 600 described above and shown in fig. 12. For example, the device 700 may include a plurality of

vibrotactile devices

701A, 701B, 701C coupled to one another via respective flexible connectors 702. However, as shown in FIG. 13, the

vibrotactile devices

701A, 701B, 701C of device 700 may be coupled to one another in an end-to-end (end-to-end) arrangement rather than the side-by-side arrangement of device 600 of FIG. 12.

Fig. 14 is a partial cross-sectional view of a portion of a vibrotactile device 800 (also referred to as "device 800" for simplicity) according to another embodiment of the present disclosure. The device 800 may be similar in some respects to the device 100 shown in fig. 7 and discussed above. For example, the device 800 may include a top plate 802 (e.g., top electroactive material 802) and a bottom plate 810 (e.g., bottom electroactive material 810). First conductive electrode material 809A and second conductive electrode material 809B may be located on opposite sides of backplane 810. The device 800 may also include a bottom insulating material 804A and a top insulating material 804B to provide a protective coating to the device 800. However, the device 800 may lack a central insulating material. More specifically, the second conductive electrode material 809B can act as a common (e.g., ground) electrode for applying a voltage across the bottom plate 810 and the top plate 802. Thus, to activate (e.g., vibrate) the backplane 810, a voltage may be applied between the first conductive electrode material 809A and the second conductive electrode material 809B. To activate (e.g., vibrate) the top plate 802, a voltage may be applied between the third conductive electrode material 809C and the second conductive electrode material 809B located on opposite sides of the top plate 802. In this case, device 800 may include three conductive terminals to provide electrical communication to three

conductive electrode materials

809A, 809B, and 809C, respectively.

FIG. 15 is a flow chart illustrating a method 900 of forming a flexible vibrotactile device according to an embodiment of the present disclosure. In operation 902, a dielectric support material may be formed to include a hole therethrough. Operation 902 may be performed in a variety of ways. The dielectric support material may be a flexible electrically insulating material such as a polymer, a ceramic material, an oxide material, a textile material, or the like. The dielectric support material may be selected to have desired properties, such as sufficient flexibility, mechanical rigidity, compatibility with other materials and components of the vibrotactile device, and the like. The holes in the dielectric support material may be formed by, for example, stamping, punching, molding, or drilling.

In operation 904, at least one flexible electro-active element may be coupled to the dielectric support material. Operation 904 may be performed in a variety of ways. For example, the material of the electroactive element may be or include an electroactive polymer, a piezoelectric ceramic material, or a piezoelectric single crystal material. Coupling the electroactive element to the dielectric support material can be accomplished by forming the material of the electroactive element directly on the dielectric support material or by forming the electroactive element separately and connecting the electroactive element to the dielectric support material.

In operation 906, a first conductive electrode material may be electrically coupled to the first surface of the at least one flexible electroactive element. Operation 906 may be performed in a variety of ways. The first conductive electrode material may be or include a conductive material, such as a metal (e.g., copper). Electrically coupling the first conductive electrode material to the first surface of the flexible electroactive element can be achieved by forming the first conductive electrode material on the first surface or by separately forming the first conductive electrode material and connecting the first conductive electrode material to the first surface.

In operation 908, a second conductive electrode material may be electrically coupled to an opposing second surface of the at least one flexible electroactive element. Operation 908 may be performed in a variety of ways. The second conductive electrode material may be or include a conductive material, such as a metal (e.g., copper). Electrically coupling the second conductive electrode material to the first surface of the flexible electroactive element can be achieved by forming the second conductive electrode material on the second surface or by separately forming the second conductive electrode material and connecting the second conductive electrode material to the second surface.

The materials and components of the vibrotactile device can be formed to have thicknesses and material properties such that the vibrotactile device, when fully assembled, can have sufficient flexibility for bending and placement against a body part of a user. For example, the vibrotactile device may be sufficiently flexible to bend and rest against a user's fingers, hands, wrists, arms, head, torso, feet, or legs without damaging or reduced functionality.

Accordingly, flexible vibrotactile devices, systems, and methods are disclosed that may improve the integration of vibrotactile devices in wearable devices and systems. For example, the flexible vibrotactile device may include features, such as holes and/or rounded corners, to facilitate integration in wearable systems and fabrics. In addition, the configurations and materials used for the vibrotactile devices of the present disclosure may increase the flexibility of the device while maintaining a desired mechanical response (e.g., vibration level).

Embodiments of the present disclosure may include or be implemented in conjunction with an artificial reality system. Artificial reality is a form of reality that has been adjusted in some way before being presented to the user, and may include, for example, Virtual Reality (VR), Augmented Reality (AR), Mixed Reality (MR), hybrid reality (hybrid reality), or some combination and/or derivative thereof. The artificial reality content may include fully generated content or generated content combined with captured (e.g., real world) content. The artificial reality content may include video, audio, haptic feedback, or some combination thereof, any of which may be presented in a single channel or multiple channels (e.g., stereoscopic video that produces a three-dimensional effect to a viewer). Further, in some embodiments, the artificial reality may also be associated with an application, product, accessory, service, or some combination thereof, that is used, for example, to create content in the artificial reality and/or otherwise used in the artificial reality (e.g., to perform an activity in the artificial reality). An artificial reality system that provides artificial reality content may be implemented on a variety of platforms, including a Head Mounted Display (HMD) connected to a host computer system, a standalone HMD, a mobile device or computing system, or any other hardware platform capable of providing artificial reality content to one or more users.

The process parameters and the order of steps described and/or illustrated herein are given by way of example only and may be varied as desired. For example, while the steps shown and/or described herein may be shown or discussed in a particular order, these steps need not necessarily be performed in the order shown or discussed. Various example methods described and/or illustrated herein may also omit one or more steps described or illustrated herein, or include additional steps in addition to those disclosed.

The previous description is provided to enable others skilled in the art to best utilize various aspects of the example embodiments disclosed herein. The example descriptions are not intended to be exhaustive or to be limited to any precise form disclosed. Many modifications and variations are possible without departing from the spirit and scope of the disclosure. The embodiments disclosed herein are to be considered in all respects as illustrative and not restrictive. In determining the scope of the present disclosure, reference should be made to the appended claims and their equivalents.

Unless otherwise indicated, the terms "connected to" and "coupled to" (and derivatives thereof) as used in the specification and claims are to be construed to allow both direct and indirect (i.e., through other elements or components) connection. Furthermore, the terms "a" or "an" as used in the specification and claims should be interpreted to mean at least one of. Finally, for convenience in use, the terms "comprising" and "having" (and derivatives thereof) as used in the specification and claims may be interchanged with the term "comprising" and have the same meaning.

Claims

1. A flexible vibrotactile device comprising:

a dielectric support material comprising at least one aperture therethrough for securing the flexible vibrotactile device to a fabric by passing at least one fiber through the at least one aperture;

at least one flexible electro-active element coupled to the dielectric support material;

a first electrically conductive electrode material positioned adjacent to and in electrical contact with a first side of the at least one flexible electroactive element; and

a second conductive electrode material positioned adjacent to and in electrical contact with a second side of the at least one flexible electroactive element opposite the first side, wherein the first and second conductive electrode materials are configured to apply a voltage across the at least one flexible electroactive element and induce movement in the at least one flexible electroactive element.

2. The flexible vibrotactile device according to claim 1, wherein the at least one flexible electro-active element comprises a first flexible electro-active element and a second flexible electro-active element that together define a bimorph structure.

3. The flexible vibrotactile device according to claim 2, wherein:

the first conductive electrode material is positioned adjacent to a first side of the first flexible electroactive element;

the second conductive electrode material comprises a common electrode positioned adjacent to an opposing second side of the first flexible electroactive element and between the first flexible electroactive element and the second flexible electroactive element; and

the flexible vibrotactile device further includes a third conductive electrode material positioned adjacent to a side of the second flexible electro-active element opposite the second conductive electrode material and opposite the first flexible electro-active element.

4. The flexible vibrotactile device according to claim 2, wherein:

the second conductive electrode material is positioned adjacent to an opposing second side of the first flexible electroactive element and between the first flexible electroactive element and the second flexible electroactive element; and

the flexible vibrotactile device further comprises:

a third conductive electrode material positioned adjacent to the first side of the second flexible electroactive element and between the first flexible electroactive element and the second flexible electroactive element;

a fourth conductive electrode material positioned adjacent to an opposing second side of the second flexible electroactive element; and

a central insulating material located between the second conductive electrode material and the third conductive electrode material.

5. The flexible vibrotactile device according to claim 2, further comprising:

a first insulating material on the first electrode material to provide a protective coating on the first electrode material, and

a second insulating material on the second electrode material to provide a protective coating on the second electrode material.

6. The flexible vibrotactile device according to claim 2, wherein each of the first and second flexible electro-active elements has a thickness of about 150 μ ι η or less.

7. The flexible vibrotactile device according to claim 1, wherein the at least one flexible electro-active element comprises at least one of:

an electroactive polymer material;

a dielectric elastomeric material;

a relaxor ferroelectric material;

a piezoceramic material; or

A piezoelectric single crystal material.

8. The flexible vibrotactile device according to claim 1, wherein the at least one flexible electro-active element comprises lead zirconate titanate (PZT).

9. The flexible vibrotactile device according to claim 1, wherein at least one flexible electro-active element comprises lead magnesium niobate-lead titanate (PMN-PT).

10. The flexible vibrotactile device according to claim 1, wherein each of the first and second conductive electrode materials comprises copper.

11. The flexible vibrotactile device according to claim 1, wherein the at least one flexible electro-active element comprises a plurality of strips of flexible electro-active material positioned adjacent and parallel to each other.

12. The flexible vibrotactile device according to claim 1, wherein the dielectric support material has a rectangular shape with at least two rounded corners to facilitate positioning at least a portion of the flexible vibrotactile device within a pocket of the fabric.

13. The flexible vibrotactile device of claim 1, wherein the at least one hole through the dielectric support material comprises:

at least one upper hole through an upper portion of the dielectric support material; and

at least one lower aperture through a lower portion of the dielectric support material on a side of the at least one flexible electro-active element opposite the at least one upper aperture.

14. The flexible vibrotactile device according to claim 1, further comprising:

a first conductive terminal for providing an electrical path to the first conductive electrode material; and

a second conductive terminal for providing an electrical path to the second conductive electrode material.

15. The flexible vibrotactile device of claim 1, wherein the device has a thickness of about 0.29mm or less.

16. A vibrotactile system comprising:

a flexible wearable textile material shaped and configured to be positioned against a body part of a user of the vibrotactile system, wherein the flexible wearable textile comprises at least one pocket;

a flexible vibrotactile device coupled to the flexible wearable textile material and located at least partially within the at least one pocket to apply vibrations to the body part of the user when in use, wherein the flexible vibrotactile device comprises:

a dielectric support material comprising at least one aperture therethrough, wherein the flexible vibrotactile device is secured to the flexible wearable fabric via fibers passing through the at least one aperture;

at least one flexible electro-active element coupled to the dielectric support material; and

a first conductive electrode material and a second conductive electrode material positioned and configured to apply a voltage across the at least one flexible electroactive element to induce movement in the at least one flexible electroactive element;

a power source electrically coupled to at least one of the first conductive electrode or the second conductive electrode to apply the voltage; and

a communication interface in electrical communication with the power source to direct the voltage to be applied across the at least one flexible electro-active element upon receipt of an activation signal through the communication interface.

17. The vibrotactile system according to claim 16, wherein the flexible wearable textile material comprises at least one of:

a glove;

a headband;

a wristband;

an arm strap;

sleeves;

a head cover;

a sock;

a shirt; or

Trousers.

18. The vibrotactile system according to claim 16, wherein the at least one flexible electro-active element comprises an array of flexible electro-active elements positioned to apply vibrations to different respective portions of the body part of the user of the vibrotactile system.

19. The vibrotactile system according to claim 16, further comprising another flexible vibrotactile device coupled to the flexible wearable textile material in a location to apply vibrations to another body part of the user of the vibrotactile system that is different from the body part associated with the flexible vibrotactile device.

20. A method of forming a flexible vibrotactile device, comprising:

forming a dielectric support material to include at least one aperture therethrough for securing the flexible vibrotactile device to a fabric by passing at least one fiber through the at least one aperture;

coupling at least one flexible electro-active element to the dielectric support material;

electrically coupling a first conductive electrode material to a first surface of the at least one flexible electroactive element; and

electrically coupling a second conductive electrode material to an opposing second surface of the at least one flexible electroactive element to enable application of a voltage across the at least one flexible electroactive element via the first and second conductive electrode materials.