JP2019527879A - Haptic feedback actuator, electronic device using the actuator, and method of operating the actuator - Google Patents

Abstract

The haptic feedback actuator 100 generally includes a stopper 102, an attenuator 104, a hammer path 106 between the stopper 102 and the attenuator 104, a coil element 108 fixedly attached to the hammer path 106, and a hammer path. And a magnetic hammer 110 movably mounted along 106. The magnetic hammer 110 has two opposite ends. Each end of the magnetic hammer 110 has a corresponding permanent magnet. The two permanent magnets have opposite polarities. The magnetic hammer 110 is longitudinally along the hammer path 106 in one of two opposite directions depending on the polarity with which the coil element 108 is activated by a magnetic field generated when the coil element 108 is activated. So that it can be electromagnetically engaged. The stopper 102 has an impact surface 112 adapted to stop the magnetic hammer 110 and the attenuator 104 decelerates the magnetic hammer 110 when the magnetic hammer 110 slides longitudinally toward the attenuator 104. Has been adapted to.

Description

  The improvements generally relate to the field of electronic devices, and more specifically to haptic feedback actuators for use in electronic devices.

  This patent application includes US Provisional Patent Application No. 62 / 354,538 filed on June 24, 2016, US Non-Provisional Patent Application No. 15 / 251,332 filed on August 30, 2016, And claims priority to US Provisional Patent Application No. 62 / 400,480, filed Sep. 27, 2016, the contents of which are incorporated herein by reference.

  Mechanical actuators are used in electronic devices to provide tactile feedback (in the form of haptics). Such tactile feedback may be used, for example, to mimic the feeling of a mechanical button or to generate a vibration alert when a user interacts with an interface without a mechanical button, such as a touchpad or touch screen. . An example of a tactile feedback actuator is disclosed in Patent Document 1.

  Although existing haptic feedback actuators are satisfactory to some extent, there remains room for improvement. For example, in providing a haptic feedback actuator that controls a magnetic hammer to generate vibration, and a haptic feedback actuator that can selectively control the magnetic hammer to provide either a vibration / silent mode or an audible mode. There is still room for improvement.

US Patent Application Publication No. 2015/0349619 PCT / CA2015 / 051110 specification

  According to one aspect, a haptic feedback actuator is provided that provides a stationary position for a magnetic hammer. The rest position can be realized by applying a force independent of the force generated by the electric coil. This independent force can push the hammer to the damping side at least to some extent when the hammer moves away from the damping side and rest position.

  According to one aspect, the stopper, the attenuator, the hammer path between the stopper and the attenuator, the coil element fixedly attached to the hammer path, and the guide element are mounted to be movable along the hammer path. Tactile feedback actuator with a magnetic hammer, the magnetic hammer having two opposite ends, each end of the magnetic hammer having a corresponding permanent magnet, The permanent magnet has the opposite polarity, and the magnetic hammer is in one of two opposite directions depending on the polarity that actuated the coil element by the magnetic field emitted when the coil element is actuated. And the stopper has a collision surface adapted to stop the magnetic hammer, and the attenuator is magnetically slidable longitudinally along the hammer path. When the hammer is slid longitudinally toward the attenuator is adapted to decelerate the magnetic hammer, haptic feedback actuator is provided.

  According to another aspect, a method of operating a haptic feedback actuator, wherein the haptic feedback actuator is guideably mounted for movement along a hammer path, and a proximity of one end of the hammer path. And a coil element, the method comprising: a) a coil with a first polarity for a given duration to accelerate the magnetic hammer in a direction along the hammer path toward the attenuator Activating the element; b) decelerating the approaching magnetic hammer, at least in part by an attenuator, and then accelerating the magnetic hammer in a direction away from the attenuator along the hammer path; and c) the hammer path. Actuating the coil element with a first polarity for a given duration to accelerate the magnetic hammer in a direction towards the attenuator along A step, d) steps b) and c) repeating a and generating a tactile feedback, a method is provided.

  According to another aspect, an electronic device comprising a housing and a haptic feedback actuator mounted inside the housing, wherein the haptic feedback actuator includes a stopper, an attenuator, and a hammer path between the stopper and the attenuator. And a coil element fixedly attached to the housing, and a magnetic hammer that is guideably attached to move along the hammer path, the magnetic hammer having two opposite ends. Each end of the magnetic hammer has a corresponding permanent magnet, the two permanent magnets have opposite polarities, and the magnetic hammer is emitted when the coil element is actuated The magnetic field causes the coil element to slide in the longitudinal direction along the hammer path in one of two opposite directions depending on the polarity of the coil element. And the stopper has an impact surface adapted to stop the magnetic hammer and the attenuator is slid longitudinally toward the attenuator An electronic device is provided that is adapted to decelerate the magnetic hammer.

  According to another aspect, a magnetic hammer that is guideably mounted for movement along a hammer path, the hammer having two opposite ends, each end of the hammer correspondingly A hammer with two hammer magnets having opposite polarities, and a coil element, in a given of two opposite directions depending on the polarity with which the coil element was actuated A coil element operable to generate a magnetic field that electromagnetically engages the magnetic hammer to be moved by the magnetic hammer along the hammer path in a direction, and an attenuation proximal to one end of the hammer path The attenuator has a ferromagnetic element and an attenuator magnet having a pole to break the hammer, the ferromagnetic element and the attenuator magnet being ferromagnetic when the coil element is not actuated. By element and attenuator magnet The overall force applied to the magnetic hammer is canceled when a portion of the magnetic hammer is at a rest position along the hammer path, and when the portion of the magnetic hammer is between the rest position and the stopper, the magnetic hammer is pulled A haptic feedback actuator is provided having an attenuator disposed in such a manner that the magnetic hammer is opened when a portion of the magnetic hammer is between the rest position and the attenuator.

  According to another aspect, a stopper, an attenuator, a hammer path between the stopper and the attenuator, a coil element fixedly attached to the hammer path, and a guideably mounted to move along the hammer path. A tactile feedback actuator having a magnetic hammer, wherein the magnetic hammer is in one of two opposite directions depending on the polarity that actuates the coil element by means of a magnetic field generated when the coil element is actuated. Is electromagnetically engageable so that it is slid longitudinally along the hammer path, the stopper has an impact surface adapted to stop the magnetic hammer, and the attenuator A haptic feedback actuator is provided that is adapted to decelerate the magnetic hammer when it slides longitudinally toward the attenuatorIn some embodiments, the magnetic hammer has two opposite ends, each end of the magnetic hammer has a corresponding permanent magnet, and the two permanent magnets have opposite polarities. have. In some other embodiments, the magnetic hammer has at least one permanent magnet aligned along the hammer path, the magnetic hammer being along the hammer path when the magnetic hammer is in a stationary position. The center is shifted from the center of the coil element.

  According to another aspect, an electronic device comprising a housing and a haptic feedback actuator mounted inside the housing, wherein the haptic feedback actuator includes a stopper, an attenuator, and a hammer path between the stopper and the attenuator. And a coil element fixedly attached to the housing, and a magnetic hammer that is guideably attached so as to move along the hammer path. The magnetic hammer generates a magnetic field generated when the coil element is operated. Is electromagnetically engageable to slide longitudinally along the hammer path in one of two opposite directions depending on the polarity of the actuated coil element. It has a collision surface adapted to stop the magnetic hammer, and the attenuator is longitudinally moved toward the attenuator. When id, is adapted to decelerate the magnetic hammer, an electronic device is provided. In some embodiments, the magnetic hammer has two opposite ends, each end of the magnetic hammer has a corresponding permanent magnet, and the two permanent magnets have opposite polarities. have. In some other embodiments, the magnetic hammer has at least one permanent magnet aligned along the hammer path, the magnetic hammer being along the hammer path when the magnetic hammer is in a stationary position. The center is shifted from the center of the coil element.

  According to another aspect, a haptic feedback actuator having a first magnetic damping assembly, a second magnetic damping assembly, wherein the first and second magnetic damping assemblies include a ferromagnetic element and a hammer. An attenuator magnet having a sparkling pole, a hammer path between the first and second damping assemblies, a coil element fixedly attached to the hammer path, and guideable to move along the hammer path Attached to a magnetic hammer, wherein the magnetic hammer is in one of two opposite directions depending on the polarity that actuated the coil element by a magnetic field generated when the coil element is actuated. The first and second damping assemblies are electromagnetically engageable so as to slide longitudinally along the hammer path, and the first and second damping assemblies are coupled to the first and second damping assemblies. Corresponding pair When sliding longitudinally towards the body, it is adapted to decelerate the magnetic hammer, haptic feedback actuator is provided.

  According to another aspect, a hammer path extending between the first and second ends of the hammer path, a first attenuator at the first end of the hammer path, and the hammer path A tactile feedback actuator having a coil element fixedly mounted and a magnetic hammer mounted for guidance along a hammer path, wherein the magnetic hammer generates a magnetic field generated when the coil element is operated. The electromagnetically engageable to slide longitudinally along the hammer path in one of two opposite directions depending on the polarity with which the coil element is actuated, The attenuator is provided with a haptic feedback actuator that is adapted to decelerate the magnetic hammer when the magnetic hammer slides longitudinally toward the first attenuator. In some embodiments, the haptic feedback actuator includes a stopper at the second end of the hammer path, the stopper having a collision surface adapted to stop the magnetic hammer. In some other embodiments, the haptic feedback actuator includes a second attenuator at the second end of the hammer path, wherein the second attenuator has the magnetic hammer facing the second attenuator. And is adapted to decelerate the magnetic hammer when slid longitudinally. In these embodiments, the first attenuator can be a first magnetic attenuation assembly and the second attenuator can be a second magnetic attenuation assembly.

  According to another aspect, an electronic device comprising a housing and a haptic feedback actuator mounted inside the housing, wherein the haptic feedback actuator is between a first end and a second end of the hammer path. A hammer path extending to the first path, a first attenuator at a first end of the hammer path, a coil element fixedly attached to the housing, and movable along the hammer path The magnetic hammer is attached in one of two opposite directions depending on the polarity in which the coil element is activated by the magnetic field generated when the coil element is activated. The first attenuator is electromagnetically engageable so as to slide longitudinally along the hammer path, and the first attenuator is elongated toward the first attenuator. When slid in the direction, it is adapted to decelerate the magnetic hammer, an electronic device is provided. In some embodiments, the haptic feedback actuator includes a stopper at the second end of the hammer path, the stopper having a collision surface adapted to stop the magnetic hammer. In some other embodiments, the haptic feedback actuator includes a second attenuator at the second end of the hammer path, wherein the second attenuator has the magnetic hammer facing the second attenuator. And is adapted to decelerate the magnetic hammer when slid longitudinally. In these embodiments, the first attenuator can be a first magnetic attenuation assembly and the second attenuator can be a second magnetic attenuation assembly.

  Many additional features and combinations thereof regarding this improvement will become apparent to those skilled in the art after reading this disclosure.

2 is a top view of an example electronic device incorporating a haptic feedback actuator, according to one embodiment. FIG. 2 is a top view of a first example of the haptic feedback actuator of FIG. 1 according to one embodiment. FIG. FIG. 3 is a cross-sectional view of the haptic feedback actuator of FIG. 1 taken along line 2A-2A of FIG. 2B is a cross-sectional view of the haptic feedback actuator of FIG. 1 taken along line 2B-2B of FIG. 2A. FIG. 3 is a cross-sectional view of the haptic feedback actuator of FIG. 1 taken along line 2C-2C of FIG. FIG. 3 is a top view of the magnetic hammer of the haptic feedback actuator of FIG. 2 showing surrounding exemplary magnetic field lines. FIG. 3 is a cross-sectional view of the coil element of the haptic feedback actuator of FIG. 2 showing exemplary field lines around when the coil element is actuated with a first polarity. FIG. 3 is a cross-sectional view of the coil element of the haptic feedback actuator of FIG. 2 showing exemplary field lines around when the coil element is actuated with a second polarity. FIG. 3 is a cross-sectional view of the haptic feedback actuator of FIG. 2 at different moments while the magnetic hammer is swinging to the right. FIG. 3 is a cross-sectional view of the haptic feedback actuator of FIG. 2 at different moments while the magnetic hammer is swinging to the right. FIG. 3 is a cross-sectional view of the haptic feedback actuator of FIG. 2 at different moments while the magnetic hammer swings to the left. FIG. 3 is a cross-sectional view of the haptic feedback actuator of FIG. 2 at different moments while the magnetic hammer swings to the left. 6 is a graph illustrating an exemplary periodic actuation function that can be used to actuate a coil element of a haptic feedback actuator to generate both haptic feedback and audible feedback. 6 is a graph illustrating an exemplary periodic actuation function that can be used to actuate a coil element of a haptic feedback actuator to generate only haptic feedback. Exemplary periodic actuation function that can be used to actuate a coil element of a haptic feedback actuator to produce a haptic feedback that is stronger than the haptic feedback produced using the actuation function of FIG. 7B. It is a graph which shows. 6 is a cross-sectional view of a second example of a haptic feedback actuator, according to one embodiment. 6 is a cross-sectional view of a third example of a haptic feedback actuator including a spring mount, according to one embodiment. FIG. 6 is a cross-sectional view of a fourth example of a haptic feedback actuator including a leaf spring, according to one embodiment. FIG. FIG. 10B is a cross-sectional view of the haptic feedback actuator of FIG. 10A showing the leaf spring in a bent state. FIG. 10B is a cross-sectional view of the haptic feedback actuator of FIG. 10A showing the leaf spring in an extended state. 6 is a cross-sectional view of a fifth example of a haptic feedback actuator including a contact spring, according to one embodiment. FIG. FIG. 11B is a cross-sectional view of the haptic feedback actuator of FIG. 11A showing the contact spring in a bent state. 7 is a cross-sectional view of a sixth example of a haptic feedback actuator including a scissor spring, according to one embodiment. FIG. FIG. 12B is a cross-sectional view of the haptic feedback actuator of FIG. 12A showing the scissor spring in a bent state. FIG. 12B is a cross-sectional view of the haptic feedback actuator of FIG. 12A showing the scissor spring in an extended state. FIG. 9 is a cross-sectional view of a seventh example of a haptic feedback actuator including a flexure showing a magnetic hammer in a central rest position, according to one embodiment. FIG. 13B is a cross-sectional view of the haptic feedback actuator of FIG. 13A showing the magnetic hammer in a first rest position. FIG. 13B is a cross-sectional view of the haptic feedback actuator of FIG. 13A showing the magnetic hammer in a second rest position. 9 is a cross-sectional view of an eighth example of a haptic feedback actuator having a magnetic hammer that includes a single permanent magnet, according to one embodiment. FIG. FIG. 15 is a top view of the magnetic hammer of FIG. 14 showing exemplary field lines around it. FIG. 15 is a cross-sectional view of the haptic magnetic actuator of FIG. 14 at different moments while the magnetic hammer swings to the left. FIG. 15 is a cross-sectional view of the haptic magnetic actuator of FIG. 14 at different moments while the magnetic hammer swings to the left. FIG. 15 is a cross-sectional view of the haptic magnetic actuator of FIG. 14 at different moments while the magnetic hammer swings to the right. FIG. 15 is a cross-sectional view of the haptic magnetic actuator of FIG. 14 at different moments while the magnetic hammer swings to the right. 10 is a cross-sectional view of a ninth example of a haptic feedback actuator having a magnetic hammer that includes a plurality of permanent magnets with aligned polarities, according to one embodiment. FIG. FIG. 11 is a top view of a tenth example of a haptic feedback actuator having a magnetic attenuator on each side of the hammer path of the haptic feedback actuator, according to one embodiment.

  FIG. 1 shows a first example of an actuator 100 that can be operated to provide tactile feedback.

  As depicted, the actuator 100 can be included in a portable electronic device 10 (eg, a smartphone, tablet, remote control, etc.). The actuator 100 can also be used to provide a vibration / buzzer / audible function in the electronic device 10 instead of a conventional vibration generator (eg, a piezoelectric actuator).

  The electronic device 10 generally has a housing 12 to which a haptic input interface 14 is provided. For example, the haptic input interface 14 may be a touch sensitive sensor (capacitance type or resistance type) or a pressure sensor. The haptic input interface 14 may include a touch screen display. As shown in this example, the housing 12 houses and surrounds the actuator 100 and the controller 16. The controller 16 communicates with the haptic input interface 14 and the actuator 100. The controller 16 can be part of the computer of the electronic device 10 and / or can be provided in the form of a separate microcontroller. Note that the electronic device 10 can include other electronic components, such as those found in conventional electronic devices. An example of an electronic device incorporating a pressure sensitive user interface is described in US Pat.

  The controller 16 can be used to operate the actuator 100. For example, in use, the haptic input interface 14 can receive a touch by a user so that the interface 14 sends a signal to the controller 16 which then responds to the touch with haptic feedback, audible feedback, or Actuator 100 is operated to provide both of them.

  As can be seen, FIG. 2 is a top view of actuator 100, FIG. 2A is a cross-sectional view of actuator 100 along line 2A-2A in FIG. 2, and FIG. 2B is a line 2B-2B in FIG. 2A. FIG. 2C is a cross-sectional view of the actuator 100 taken along line 2C-2C in FIG.

  As depicted, the actuator 100 is relative to a stopper 102, an attenuator 104, a hammer path 106 between the stopper 102 and the attenuator 104, and a hammer path defined by the stopper 102 and the attenuator 104. The coil element 108 is fixedly attached. The magnetic hammer 110 is operably mounted for movement along the hammer path 106.

  As will be described below, the magnetic hammer 110 is a hammer in either of two opposite directions depending on the polarity in which the coil element 108 is activated by the magnetic field generated when the coil element 108 is activated. Electromagnetically engageable to slide longitudinally along the path 106.

  The stopper 102 has a collision surface 112 adapted to stop the magnetic hammer 110 when the magnetic hammer 110 slides longitudinally toward the stopper 102. In some embodiments, both audible feedback and haptic feedback are generated when the magnetic hammer 110 impacts the impact surface 112 of the stopper 102.

  The attenuator 104 has a first function of decelerating the magnetic hammer 110 when the magnetic hammer 110 slides longitudinally toward the attenuator 104. Thus, when the magnetic hammer 110 is decelerated by the attenuator 104, only haptic feedback is generated. The attenuator 104 can have a second function of providing a stationary position (shown in FIG. 2B) to the magnetic hammer 110, where the magnetic hammer 110 is configured when the coil element 108 is stopped. A stable equilibrium is reached along the hammer path 106.

  In some embodiments, the stopper 102, the attenuator 104, and the coil element 108 are fixedly attached to the housing 12. However, in some other embodiments, the stopper 102, the attenuator 104, and the coil element 108 are fixedly mounted inside the electronic device 10.

  The magnetic hammer 110 may be attached to the coil element 108 in a different manner depending on the embodiment. For example, in the illustrated embodiment, the hammer path guide 114 is fixedly attached to the stopper 102, the attenuator 104, and the coil element 108. More specifically, the hammer path guide 114 closely follows the hammer path 106 within the coil element 108 and around the magnetic hammer 110 so as to guide the magnetic hammer 110 longitudinally in either direction. Provided. As best seen in FIG. 2A, the hammer path guide 114 is provided in the form of a sleeve. In this example, the magnetic hammer 110 defines a hollow central cavity 116 in which the magnetic hammer 110 is slidably received. Any other suitable type of hammer route guide can be used. As described further below, such a hammer route guide may be omitted in some embodiments.

  As shown, the coil element 108 is actuated by a signal source 124. The electromagnetic engagement of the coil element 108 and the magnetic hammer 110 is described in the following paragraph.

  More specifically, referring now to FIG. 2B, the magnetic hammer 110 has two opposite ends 118L, 118R. Each end 118L, 118R of the magnetic hammer 110 has a corresponding magnet of the two permanent magnets 120L, 120R. As depicted, the permanent magnet 120L is provided proximal to the stopper 102 and the permanent magnet 120R is provided proximal to the attenuator 104.

  For clarity, in this disclosure, the reference sign identified by the letter L refers to the element shown on the left hand side of the page, and the reference sign identified by the letter R is shown on the right hand side of the page. Note that it refers to an element. For example, the permanent magnet 120L refers to the first of the two permanent magnets and is shown on the left hand side of the page. Similarly, permanent magnet 120R refers to the second of the two permanent magnets and is shown on the right hand side of the page. This nomenclature also applies to other components of actuator 100.

  The two permanent magnets 120L and 120R have opposite polarities. For ease of understanding, the north and south poles of such permanent magnets are identified with corresponding tags N or S. As will be described below, the two permanent magnets 120L, 120R are arranged such that their magnetic poles form an SNS or NSN configuration along the magnetic hammer 110. Have opposite polarity.

  Each permanent magnet 120L, 120R can include one or more permanent magnet units, each sharing a similar polarity arrangement. For example, the permanent magnet 120L includes two permanent magnet units arranged such that the N pole of one of the two permanent magnet units is in contact with the S pole of the other of the two permanent magnet units. Can be included. Each permanent magnet 120L, 120R can be made from a rare earth material such as neodymium-iron-boron (NdFeB), samarium-cobalt, or from iron, nickel, or any suitable alloy.

  As can be appreciated, the magnetic hammer 110 has an intermediate section 126 that separates the two permanent magnets 120L, 120R. The intermediate section 126 can be made from a ferromagnetic material or any other suitable material.

  As described above, the first function of the attenuator 104 may be to decelerate the magnetic hammer 110 as the magnetic hammer 110 slides longitudinally toward the attenuator 104 along the hammer path 106. The second function of the attenuator 104 can be to provide a stationary position where the magnetic hammer 110 is in a stable equilibrium between the stopper 102 and the attenuator 104 as shown in FIG. 2B.

  Many embodiments of the attenuator 104 can be provided, some of which are described below. As described, some exemplary attenuators, such as attenuator 104, use only magnetic attenuation to achieve these functions, and some other exemplary attenuators include magnetic attenuation and mechanical Both of these attenuations are used to achieve these functions. More specifically, in some embodiments, both the first and second functions can be achieved using magnetic damping. However, in some other embodiments, the first function may be implemented using mechanical damping, magnetic damping, or both, and the second function is implemented using only magnetic damping. May be. In still other embodiments, both the first and second functions can be achieved using mechanical damping.

  In this example, the attenuator 104 is provided in the form of a magnetic damping assembly and is referred to as the “magnetic damping assembly 104”. In this example, the magnetic damping assembly 104 is adapted to perform these two functions using magnetic damping.

  More specifically, the magnetic damping assembly 104 includes a ferromagnetic element 130 and an attenuator magnet 132 having a pole for striking a hammer. As will be appreciated, the permanent magnet 120 R of the magnetic hammer 110 attempts to attract the ferromagnetic element 130 as the magnetic hammer 110 approaches the magnetic damping assembly 104. On the other hand, the permanent magnet 120R of the magnetic hammer 110 attempts to displace the hammering pole of the attenuator magnet 132 as the magnetic hammer 110 approaches the magnetic damping assembly 104.

  The ferromagnetic element 130 and the attenuator magnet 132 are such that, when the coil element 108 is not activated, the overall magnetic force applied to the magnetic hammer 110 by the ferromagnetic element 130 and the attenuator magnet 132 is: i) a portion of the magnetic hammer 110 is When they are at a rest position along the hammer path 106, they cancel each other out, ii) when a portion of the magnetic hammer 110 is between the rest position and the stopper 102, draw the magnetic hammer 110, and iii) a portion of the magnetic hammer 110 rests When located between the position and the magnetic damping assembly 104, the magnetic hammer 110 is disposed in such a manner.

  Still referring to the embodiment shown in FIG. 2B, a portion of the magnetic hammer 110 is defined as the tip 136 of the permanent magnet 120R. However, this portion can be any reference portion of the permanent magnet 120R proximal to the magnetic damping assembly 104.

  In some embodiments, the ferromagnetic element 130 of the magnetic damping assembly may include a non-magnetized ferromagnetic material. For example, the ferromagnetic element 130 may be made from steel. Other suitable non-magnetized ferromagnetic materials may be applied.

  However, in some embodiments, the ferromagnetic element 130 of the magnetic damping assembly 104 may be partially or wholly replaced with a permanent magnet having a pole that attracts the hammer (referred to as an “attractor magnet”). it can. In these embodiments, attractor magnet and attenuator magnet 132 have permanently aligned poles of opposite polarity. Each of the attractor magnet and the attenuator magnet may be made from a rare earth material such as neodymium-iron-boron (NdFeB), samarium-cobalt, or from iron, nickel, or a suitable alloy. The use of attractor magnets instead of non-magnetized ferromagnetic materials can help reduce the size of the ferromagnetic element 130 and / or thereby position the ferromagnetic element 130 further from the magnetic hammer 110. Note that this is possible and this may be convenient.

  In this example, the ferromagnetic element 130 is substantially larger than the attenuator magnet 132 so that the net effect of the magnetic field emanating from the magnetic damping assembly 104 is such that the tip 136 of the magnetic hammer 110 is stationary with the stopper 102. When the magnetic hammer 110 is between the positions, the permanent magnet 120 </ b> R of the magnetic hammer 110 is attracted to move the magnetic hammer 110 toward the magnetic damping assembly 104. However, when the magnetic hammer 110 is pulled sufficiently close to the magnetic damping assembly 104 (between the rest position and the magnetic damping assembly 104), the repulsive force of the attenuator magnet 132 acting on the permanent magnet 120R of the magnetic hammer 110 is reduced. The attractive force between the ferromagnetic element 130 and the permanent magnet 120R of the magnetic hammer 110 is canceled out. In the meantime, the magnetic hammer 110 is in a stable equilibrium state at a stationary position as shown in FIG. 2B. A similar effect can be realized using, for example, an attractor magnet that is a stronger magnet than the attenuator magnet.

  In this example, magnetic hammer 110 and magnetic damping assembly 104 are aligned with each other and substantially parallel to hammer path 106. As shown in FIG. 2C, the ferromagnetic element 130 and the attenuator magnet 132 are aligned with the silhouette 138.

  The operation of the coil element 108 to move the magnetic hammer 110 in either direction is described below. As shown in FIG. 3, the permanent magnets 120L, 120R of the magnetic hammer 110 have opposite polarities and thus generate magnetic field lines such as those shown in this figure. For example, as can be appreciated, the north pole of each of the two permanent magnets 120L, 120R is provided inward toward the middle section 126, and the south pole of each of the two permanent magnets 120L, 120R is 126 is provided outwardly.

  The middle section 126 is optional. For example, in an embodiment where the intermediate section 126 is omitted, the two permanent magnets 120L, 120R are secured together with sufficient strength to overcome the repulsive force between them.

  Referring again to FIGS. 2, 2A, and 2B, the coil element 108 includes multiple turns or turns 140 of a given diameter of conductive wire wound around the hammer path guide 114. The coil element 108 includes two wire ends 142L and 142R, to which a signal source 124 is connected. In some embodiments, the coil element 108 includes 200-500 turns of 0.2 mm gauge insulated copper wire. In these embodiments, the hammer path guide 114 is provided in the form of a sleeve having a profile of about 3.2 mm and the hollow central cavity 116 has an inner diameter of about 3 mm as best seen in FIG. 2A.

  In the embodiment shown, the two permanent magnets 120L, 120R have a cylindrical shape with a length Lm of 6 mm and a diameter of less than 3 mm (fit through the hollow central cavity 116 of the hammer path guide 114). So that it is sized). In this further embodiment, the intermediate section 126 has a cylindrical shape with a length of 7 mm and a diameter similar to one of the two permanent magnets 120L, 120R. It will be appreciated that one skilled in the art can select alternative dimensions for alternative embodiments.

  The lengths of the two permanent magnets 120L, 120R and the intermediate section 126 can be selected according to the span S of the winding 140 of the coil element 108, as shown in FIG. The magnetic hammer 110 is positioned so that when the permanent magnet 120L abuts against the stopper 102, the permanent magnet 120L is drawn / pulled toward the center of the span S (to the right) by the coil element 108. It is understood that the positioning is such that it is positioned to be retracted / pushed toward the magnetic damping assembly 104. Similarly, when the magnetic hammer 110 is positioned at a proximal rest position of the magnetic damping assembly 104 and the coil element 108 is actuated with the opposite polarity, the permanent magnet 120R is moved by the coil element 108 in the span S. Positioned to be pulled / pulled toward the center, the permanent magnet 120L is positioned to be retracted / pushed toward the stopper 102.

  The magnetic field generated by the coil element 108 varies depending on the output of the signal source 124 (shown in FIG. 2) that determines the direction and amplitude of the current flow in the coil element 108. Of interest is the effect on the magnetic hammer 110 with respect to the direction of the magnetic field lines of the coil element 108 and whether the coil element 108 retracts or attracts the corresponding one of the two permanent magnets 120L, 120R. .

  The coil element 108 can be activated by applying a given voltage V to the wire ends 142L, 142R via the signal source 124. When actuated, the coil element 108 forms an electromagnet having a given magnetic polarity with north pole (N) and south pole (S) on either side of the coil element 108. This given magnetic polarity can be reversed by reversing the voltage V applied to the wire ends 142L, 142R.

  For example, FIG. 4A shows that a given voltage 5V is applied to the coil element 108 and FIG. 4B shows that a given voltage −5V is applied to the coil element 108. In other words, changing the polarity of the voltage applied by the signal source is dependent on the conductivity of the coil element 108 as indicated by the upward and downward arrows near the wire ends 142L, 142R shown in FIGS. 4A and 4B. Equivalent to reversing the flow direction of the current I along the wire and reversing the polarity of the electromagnet.

  For readability, in the following paragraphs, the operation of the coil element 108 shown in FIG. 4A may be referred to as “operation with a first polarity” and the coil element 108 shown in FIG. 4B. Can be referred to as "operation with the second polarity". The first polarity is opposite to the first polarity.

  During operation of the actuator 100, the coil element 108 can be actuated to move the magnetic hammer 110 toward the magnetic damping assembly 104, as described in detail below with reference to FIGS. 5A and 5B. In some cases, the magnetic damping assembly 104 attenuates the movement of the magnetic hammer 110 to prevent collision between the magnetic hammer 110 and the magnetic damping assembly 104, providing tactile feedback but not audible feedback. .

  FIGS. 5A and 5B show an example of a movement sequence of the magnetic hammer 110, which is initially stationary at a stationary position proximal to the magnetic damping assembly 104, and the coil element 108 is activated. In response, it moves to the right toward the magnetic damping assembly 104, and when the coil element 108 is stopped, it is retracted back to the rest position by the magnetic damping assembly 104.

  More specifically, FIGS. 5A and 5B include snapshots at different instants t1 to t5 in the movement sequence, where t5> t4> t3> t2> t1. As shown in FIG. 5A, at the instant t1, the magnetic hammer 110 is in a rest position. At this stage, the coil element 108 is not activated. The repulsive force of the attenuator magnet 132 acting on the permanent magnet 120 </ b> R of the magnetic hammer 110 cancels the attractive force between the ferromagnetic element 130 and the permanent magnet 120 </ b> R of the magnetic hammer 110. Accordingly, both magnetic attraction between the permanent magnet 120R and the ferromagnetic element 130 and magnetic repulsion between the permanent magnet 120R and the attenuator magnet 132 exist, thereby maintaining the magnetic hammer 110 in a rest position. .

  To initiate movement of the magnetic hammer 110 in this sequence, the controller generates a second polarity for the coil element 108 via the signal source 124 in such a manner as to generate a magnetic force between the coil element 108 and the magnetic hammer 110. The coil element 108 is operated by a voltage of -5V (for example, -5V). The operation of such a coil element 108 is maintained during the instants t2 and t3.

  As shown in FIG. 5A, at the instant t2, activation of the coil element 108 accelerates the magnetic hammer 110 from a rest position toward the magnetic damping assembly 104 to a given speed. In this respect, the operation of the coil element 108 attracts the permanent magnet 120L toward the magnetic damping assembly 104 and retracts the permanent magnet 120R.

  As shown in FIG. 5A, at the instant t3, activation of the coil element 108 causes the coil element 110 to still draw the permanent magnet 120L toward the magnetic damping assembly 104 and retract the permanent magnet 120R. . However, the magnetic hammer 110 decelerates due to the magnetic repulsive force between the attenuator magnet 132 of the magnetic damping assembly 104 and the permanent magnet 120R, and finally reaches zero speed and collides with the magnetic damping assembly 104. Is avoided.

  As shown in FIG. 5B, at the instant t4, the tip of the magnetic hammer 136 is between the rest position and the magnetic damping assembly 104, and due to the magnetic repulsion between the attenuator magnet 132 and the permanent magnet 120R, The magnetic hammer 110 “bounces” without colliding with the magnetic damping assembly 104 even when the coil element 108 stops, and moves toward the rest position. In this way, haptic feedback is generated, but no audible feedback is generated.

  As shown in FIG. 5B, at the instant t5, the magnetic hammer 110 returns to the rest position, where the magnetic attractive force between the permanent magnet 120R and the ferromagnetic element 130, and between the permanent magnet 120R and the attenuator magnet 132 is shown. The magnetic hammer 110 is maintained in a stationary position by both of the magnetic repulsive forces in between.

  The operation of the actuator 100 shown in FIGS. 5A and 5B can produce a first feedback including haptic feedback. For example, the first feedback may be provided in response to pressing a button on the touch screen of the electronic device that includes the actuator 100. The movement of the magnetic hammer 110 is attenuated by the magnetic damping assembly 104 so that the magnetic hammer 110 does not collide with the magnetic damping assembly 104. Thus, you can feel the first feedback but not hear it.

  Conversely, during operation of the actuator 100, the coil element 108 can be actuated to push the magnetic hammer 110 toward the stopper 102, as described in detail below with reference to FIGS. 6A and 6B. In that case, the impact surface 112 of the stopper 102 can stop the movement of the magnetic hammer 110 to provide both tactile feedback and audible feedback (eg, audible clicks).

  FIGS. 6A and 6B show another example of a movement sequence of the magnetic hammer 110, which is initially stationary at a first stationary position proximal to the magnetic damping assembly 104 and the coil In response to the operation of the element 108, it moves leftward toward the stopper 102 to the second stationary position.

  More specifically, FIGS. 6A and 6B include snapshots of different instants t6 to t10 in the movement sequence, where t10> t9> t8> t7> t6. As shown in FIG. 6A, at the instant t6, the magnetic hammer 110 is in the first rest position. At this stage, the coil element 108 is not activated. Both the magnetic attraction between the permanent magnet 120R and the ferromagnetic element 130 and the magnetic repulsion between the permanent magnet 120R and the attenuator magnet 132 maintain the magnetic hammer 110 in the first rest position.

  As shown in FIG. 6A, at a moment t7, by operating the coil element 108 with a first polarity (eg, + 5V), the magnetic hammer 110 is applied from the first rest position toward the stopper 102. Accelerated to the speed of. At this point, the permanent magnet 120L is retracted toward the stopper 102 and the permanent magnet 120R is attracted by the operation of the coil element 108. The magnetic repulsion between the attenuator magnet 132 and the permanent magnet 120R can help in this step.

  As shown in FIG. 6A, at the instant t8, when the coil element 108 is operated, the coil element 108 still retracts the permanent magnet 120L toward the stopper 102 and pulls the permanent magnet 120R.

  As shown in FIG. 6B, at the instant t9, the magnetic hammer 110 impacts the impact surface 112 of the stopper 102 at a given speed, thereby stopping the movement of the magnetic hammer 110.

  The operation of the actuator 100 shown in FIGS. 6A and 6B can create a second feedback that includes both haptic feedback and audible feedback. For example, the second feedback may be provided in response to pressing a button on the touch screen of the electronic device that includes the actuator 100. The collision of the magnetic hammer 110 with the stopper 102 may be audible, for example, to mimic the sound of a button being pressed (eg, a click sound or a tap sound). Thus, the second feedback can be felt and heard. In some embodiments, the first feedback (ie, vibration) is weaker than the second feedback. This may be desirable when the electronic device is in silent mode or to provide less noticeable feedback.

  As shown in FIG. 6B, at the instant t9, in some embodiments, the magnetic hammer 110 is maintained in the second rest position, where the permanent magnet 120L is not even when the coil element 108 is stopped. It contacts the collision surface 112 of the stopper 102. In these embodiments, the magnetic hammer 110 is maintained in the second rest position by magnetic attraction.

  For example, in these embodiments, the stopper 102 has a ferromagnetic portion 144 made integrally therewith. The stopper 102 can be made wholly or partially from a ferromagnetic material (eg, iron, nickel, cobalt, alloys thereof) so as to be magnetically attracted by the permanent magnet 120L of the magnetic hammer 110. However, in the illustrated embodiment, the stopper 102 has a non-ferromagnetic portion 146 that is integrally formed with the ferromagnetic portion 144 of the stopper 102.

  The ferromagnetic portion 144 of the stopper 102 is large enough to maintain the magnetic hammer 110 in the second rest position so that the coil element 108 pulls the magnetic hammer 110 away from the second rest position when necessary. It can be sized to be small enough to be guided. For example, the ferromagnetic portion 144 of the stopper 102 can be a steel plate.

  The non-ferromagnetic portion 146 of the stopper 102 can be made from a non-ferromagnetic material (eg, aluminum) so as not to attract the magnetic hammer 110. The non-ferromagnetic portion 146 of the stopper 102 can be made of a material that transmits the force / vibration that occurs when the magnetic hammer 110 impacts the stopper 102. Referring again to FIG. 2, the stopper 102, more specifically its non-ferromagnetic portion 146, couples the actuator 100 to the housing 12 of the electronic device 10 to the machine and transmits force / vibration through such components. Thus, it is fixedly attached to the housing 12. In some embodiments, the stopper 102 can be made only from a ferromagnetic material. However, in this case, the stopper 102 is adapted such that the magnetic attraction between the magnetic hammer 110 and the stopper 102 can allow the coil element 108 to move the magnetic hammer 110 out of the second rest position.

  As will be appreciated, when the coil element 108 is not actuated, the magnetic hammer 110 can be maintained in the first rest position by a combination of magnetic and magnetic repulsion, or the magnetic hammer 110 can be It can be located in two rest positions.

  In some other embodiments, the stopper 102 can be made from a non-ferromagnetic material (eg, aluminum). In this case, the actuator 100 has only a first stationary position proximal to the magnetic damping assembly 104. The material of the stopper 102 can be selected because of the sound that occurs when the magnetic hammer 110 collides with its impact surface 112.

  Actuator 100 performs any of the movement sequences described above in a punctiform manner to provide punctate feedback, or continuously to provide a series of punctate feedback over a given duration. Note that it can be manipulated.

  For example, the actuator 100 may be operated to perform the movement sequence shown in FIGS. 6A and 6B, in which case the magnetic hammer 110 provides a series of point-like feedback over a given duration. , Continuously moving from the first stationary position to the second stationary position. Such movement is the first until magnetic hammer 110 moves from a first stationary position proximal to magnetic damping assembly 104 toward stopper 102 to a second stationary position abutting stopper 102. The coil element 108 at a second polarity voltage until the magnetic hammer 110 is moved back to the first stationary position proximal to the magnetic damping assembly 104. It can be realized by operating. This particular movement results in a second feedback that includes haptic feedback and audible feedback, followed by a first feedback that includes only haptic feedback, after which the movement of the magnetic hammer 110 can be stopped.

  The actuator 100 can be operated to produce a series of feedback. This behavior can be used to create vibrations in the electronic device 10.

  For example, FIG. 7A shows that the coil element 108 over time by a signal source to oscillate the magnetic hammer 110 between the stopper 102 and the magnetic damping assembly 104 to alternately provide first and second feedback. FIG. 6 illustrates an exemplary actuation function that represents a voltage that can be applied to, which can be translated into a vibration with a series of audible clicks or taps. Such oscillating movements include multiple half-cycles (half-period T / 2) or full-cycles (period T) that are executed continuously over a given amount of time. In this example, the magnetic hammer 110 starts from the second stationary position.

  Alternatively, FIG. 7B illustrates a coil element 108 over time by a signal source to oscillate the magnetic hammer 110 between the first rest position and the magnetic damping assembly 104 and provide a first feedback each time it bounces. Fig. 6 shows an exemplary operating function representing the voltage that can be applied to As can be appreciated, operation of the coil element 108 includes maintaining the coil element 108 in a stopped state for a given duration. This actuation function may be used to create a weaker vibration that does not provide audible feedback.

  FIG. 7C shows another exemplary actuation function representing the voltage that can be applied to the coil element 108 over time by the signal source to provide feedback without any audible feedback. As can be appreciated, actuation of the coil element 108 includes operating the coil element 108 with a second polarity for a given duration and operating with the first polarity for a given duration. The operation with the first polarity and the operation with the second polarity differ in at least one of amplitude and duration. Specifically, in this example, this actuation function may be used to oscillate the magnetic hammer 110 between the stopper 102 and the magnetic damping assembly 104 without hitting the stopper 102. More specifically, in order to move the magnetic hammer 110 toward the stopper 102 so as not to collide with the stopper 102, a short pulse of + 5V (which is duration A) is used to bring the magnetic hammer 110 into the magnetic damping assembly 104. A long pulse of -5V (with duration B) is used to move towards.

  The actuation function shown in FIG. 7C is compared to the actuation function shown in FIG. 7B so that the magnetic hammer 110 is accelerated toward the magnetic damping assembly 104 over a longer portion of the hammer path 106. The amplitude of vibration can be increased. The duration A is selected to move the magnetic hammer 110 near the stopper 102 without colliding with the stopper 102. Similar techniques can be used to increase the force with which the magnetic hammer 110 impacts the stopper 102. In particular, the coil element 108 is actuated in the second direction to move the magnetic hammer 110 toward the magnetic damping assembly 104, and then the polarity of the coil element 108 is reversed to move the magnetic hammer 110 toward the stopper 102. Can move (and collide with it). Indeed, if the coil element 108 is actuated at the right time, the “rebound” action of the magnetic damping assembly 104 can be amplified to produce a higher velocity and a stronger impact on the stopper 102.

  Optionally, the amplitude and / or duty cycle of the actuation function applied by the signal source can be adjusted using, for example, software stored in the memory of the controller of the electronic device. For example, the amplitude and / or period may be adjusted to change the intensity and / or frequency of the haptic and / or audible feedback vibrations, respectively. Note that the frequency and duty cycle can be controlled, but square waves can be easily generated. In order to avoid an impact between the magnetic hammer and the stopper, the polarity of the coil element can be changed at the moment when there is sufficient time to decelerate the magnetic hammer before it hits the stopper. The exact timing may need to be tuned. In another embodiment, using a position sensor provided as part of an actuator and / or as part of an electronic device (eg, a Hall effect sensor for detecting a magnetic field affected by the position of a magnetic hammer), The effect of attraction is compensated. For example, providing feedback to control the coil element (eg, PIO controller). In another embodiment, a sensor based on the current flowing through the coil element is used, but it is more difficult to measure the current than to measure the magnetic field.

  Referring back to FIG. 2, an exemplary profile of the force acting on the magnetic hammer 110 by the magnetic damping assembly 104, as opposed to the force applied to the magnetic hammer 110 by the coil element 108, is shown at the bottom of the page. . For example, when the coil element 108 operates to move the magnetic hammer 110 from the first rest position toward the stopper 102 (region 1), the magnetic damping assembly 104 pushes the magnetic hammer 110 toward the rest position. Attraction can be provided. In this region, the magnetic attractive force between the permanent magnet 120R and the ferromagnetic element 130 is superior to the magnetic repulsive force between the permanent magnet 120R and the attenuator magnet 132. In contrast, when the coil element 108 operates to move the magnetic hammer 110 from the first rest position toward the magnetic damping assembly 104 (region 2), the magnetic damping assembly 104 decreases as the distance decreases. Provides increased opposing force. In this region, the magnetic repulsive force between the permanent magnet 120R and the attenuator magnet 132 is superior to the magnetic attractive force between the permanent magnet 120R and the ferromagnetic element 130. Specifically, the opposing force is proportional to the inverse fourth power of the distance in this example. However, the opposing force can vary in different ways in other embodiments. For example, in some embodiments, the opposing force provided by the magnetic damping assembly 104 in region 2 can be approximately constant.

Actuator 200-Second Example FIG. 8 shows a second example of an actuator 200 according to another embodiment. Further, in this example, the first and second functions of the attenuator described above can be achieved using magnetic damping via the magnetic damping assembly 204. More specifically, the actuator 200 has a magnetic hammer 210 that is slidable along a hammer path 206 between the stopper 202 and the magnetic damping assembly 204. Either or both of the first and second feedback described above can be provided using the actuator 200.

  As shown, the actuator 200 has a coil element 208 that is fixedly attached to a housing 212 (eg, inside the device), and the magnetic hammer 210 is in the hammer path when the coil element 208 is activated. It can slide in the longitudinal direction along 206. In these embodiments, the actuator 200 is operated such that feedback is generated in response to actuation of the coil element 208 with an actuation function such as that shown in FIGS. 7A, 7B, and 7C. can do. However, it is understood that any other suitable actuation function may be used to provide either or both of the first and second feedbacks described above.

  In this particular example, magnetic damping assembly 204 has attractor magnet 231 separated from attenuator magnet 232 by spacer 248. The spacer 248 can be made from a ferromagnetic material. In this embodiment, the actuator 200 includes a hammer path guide 214 provided in the form of an elongated sleeve containing a magnetic hammer 210 and a magnetic damping assembly 204.

  As depicted, the magnetic hammer 210 is in a first rest position, where the tip 236 of the permanent magnet 220R of the magnetic hammer 210 is about 2.25 mm from the attenuator magnet 232. As will be appreciated, any electronic device, such as electronic device 10 of FIG.

Actuator 300-Third Example FIG. 9 shows a third example of an actuator 300 according to another embodiment. In this example, the first and second functions of the attenuator described above can be achieved using mechanical damping via mechanical damping assembly 304.

  More specifically, the actuator 300 has a magnetic hammer 310 that is slidable along a hammer path 306 between two ends of the hammer path 306. One of the two ends of the hammer path 306 is proximal to the stopper 302 and the other of the two ends of the hammer path 306 is on the opposite side of the stopper 302. Either or both of the first and second feedback described above can be provided using the actuator 300.

  As depicted, the magnetic hammer 310 is attached to the housing of the electronic device (eg, the housing 12) using a spring mount 350 that is part of the mechanical damping assembly 304. The spring mount 350 can be configured to damp the movement of the magnetic hammer 310 when the magnetic hammer 310 is moving away from the stopper 302. More specifically, in the spring mount 350, the movement of the magnetic hammer 310 causes the spring mount 350 to elongate (thus creating a minimum opposing force), and the movement of the magnetic hammer 310 causes the spring mount 350 to bend and provide an opposing force. Can be configured. The spring mount 350 may be formed from a leaf spring.

  In this embodiment, the damping is provided by the mechanical damping assembly 304, so that the magnetic damping assembly 104 of FIG. 2 and the magnetic damping assembly 204 of FIG. 8 can be omitted.

Actuator 400—Fourth Example FIGS. 10A, 10B, and 10C illustrate a fourth example of an actuator 400 according to another embodiment. In this example, the first and second functions of the attenuator described above can be realized using mechanical attenuation via mechanical attenuator 404.

  More specifically, the actuator 400 includes a magnetic hammer 410 that can slide along the hammer path 406 inside the hammer path guide portion 414. More specifically, the hammer path guide 414 fits snugly around the magnetic hammer 410 within the coil element 408 to guide the magnetic hammer 410 longitudinally in either direction along the hammer path 406. , Provided along the hammer path 406. Either or both of the first and second feedback described above can be provided using the actuator 400.

  As depicted in this example, the mechanical dampener 404 includes a leaf spring (“leaf spring” having an end 404 a attached to the hammer path guide 414 and another end 404 b attached to the magnetic hammer 410. 404 "). When stationary, the leaf spring 404 is adapted to bring the magnetic hammer 410 to the rest position shown in FIG. 10A.

  As shown in FIG. 10B, the leaf spring 404 is bent. More specifically, when the coil element 408 is actuated to move the magnetic hammer 410 toward the leaf spring 404, the leaf spring 404 bends and decelerates the magnetic hammer 410, which can be felt but heard. A first feedback that cannot be generated is generated.

  On the other hand, as shown in FIG. 10C, the leaf spring 404 is in an extended state. Specifically, when the coil element 408 is actuated to move the magnetic hammer 410 toward the stopper 402, the magnetic hammer 410 collides with the stopper 402 and generates a second feedback that can be felt and heard. The leaf spring 404 is extended so that it can.

Actuator 500—Fifth Example FIGS. 11A and 11B show a fifth example of an actuator 500 according to another embodiment. In this example, the first and second functions of the attenuator described above can be achieved using both magnetic and mechanical attenuation via the attenuator assembly 504.

  As shown, the actuator 500 has a magnetic hammer 510 that can slide along the hammer path 506 inside the hammer path guide 514. More specifically, the hammer path guide 514 provides a coil element that guides the magnetic hammer 510 longitudinally in either direction between the stopper 502 and the attenuator assembly 504 along the hammer path 506. Within 508, it is provided along the hammer path 506 snugly around the magnetic hammer 510. The attenuator assembly 504 can include any suitable type of spring (eg, coil spring, leaf spring, etc.).

  In this example, the attenuator assembly 504 includes a base portion 552 fixed to the stopper 502 and a contact spring 554. FIG. 11A shows the contact spring 554 in a bent state. More specifically, the contact spring 554 attenuates the movement of the magnetic hammer 510 as the magnetic hammer 510 moves toward the attenuator assembly 504, as shown in FIG. Used to provide feedback.

  In some embodiments, the contact spring 554 is made of a ferromagnetic material so that the magnetic attraction between the permanent magnet 520R of the magnetic hammer 510 achieves the first rest position shown in FIG. 11B. It is done. In some other embodiments, the base portion 552 is made of a ferromagnetic material such that the magnetic attraction between the permanent magnet 520R of the magnetic hammer 510 provides a first rest position. In an alternative embodiment, both the contact spring 554 and the base 552 are made from a ferromagnetic material or ultimately from a permanent magnet.

  In some embodiments, the contact spring 554 is secured directly to the housing (eg, the housing 12 of the electronic device 10) so that the base portion 552 can be omitted. In this case, the attenuator assembly 504 may simply be referred to as an attenuator (not an assembly) and the contact spring 554 may be ferromagnetic.

Actuator 600—Sixth Example FIGS. 12A, 12B, and 12C illustrate a sixth example of an actuator 600 according to another embodiment. In this example, the first and second functions of the attenuator described above can be achieved using mechanical and magnetic attenuation via mechanical attenuator 604.

  More specifically, the actuator 600 has a magnetic hammer 610 that can slide along the hammer path 606 inside the hammer path guide portion 614. More specifically, the hammer path guide 614 fits snugly around the magnetic hammer 610 within the coil element 608 so as to guide the magnetic hammer 610 longitudinally in either direction along the hammer path 606. , Provided along the hammer path 606. Either or both of the first and second feedbacks described above can be provided using the actuator 600.

  As depicted in this example, the mechanical attenuator 604 includes an end 604 a attached to the distal position of the hammer path guide 614 and another end attached to the proximal position of the hammer path guide 614. It includes a pair of scissors springs (referred to as “scissors springs 604”) each having a portion 604b. When stationary, the scissor spring 604 is adapted to place the magnetic hammer 610 in the rest position shown in FIG. 12A.

  In this embodiment, the scissor spring 604 is made from a ferromagnetic material so that the magnetic attraction between the permanent magnet 620R of the magnetic hammer 610 provides the rest position shown in FIG. 12A.

  FIG. 12B shows the scissor spring 604 in a bent state. In fact, when the coil element 608 is actuated to move the magnetic hammer 610 toward the scissor spring 604, the scissor spring 604 bends and decelerates the magnetic hammer 610, which can be felt but cannot be heard. 1 feedback is generated.

  In contrast, FIG. 12C shows the scissor spring 604 in an extended state. More specifically, when the coil element 608 is actuated to move the magnetic hammer 610 toward the stopper 602, the magnetic hammer 610 collides with the stopper 602 and generates a second feedback that can be felt and heard. The scissor spring 604 is extended so that it can.

Actuator 700—Seventh Example FIGS. 13A, 13B, and 13C illustrate a seventh example of an actuator 700 according to another embodiment. In this example, the first and second functions of the attenuator described above can be achieved using magnetic damping via a magnetic damping assembly 704. The magnetic damping assembly 704 is similar to the magnetic damping assembly 104 and is therefore not described again.

  In this example, the magnetic hammer 710 is attached to a housing (eg, the housing 12 of the electronic device 10 of FIG. 1) using a bend 760. Some examples of bends are described in the literature (for more information about bends, see, for example, http://web.mit.edu/mac/www/Blog/Flexures/FlexureIndex.html).

  The bend 760 is configured to limit the movement of the magnetic hammer 710 within the hammer path 706 between the stopper 702 and the magnetic damping assembly 704. By providing the actuator 700 with a bend 760, it is not necessary to provide a hammer path guide to limit the movement of the magnetic hammer 710, such as that shown at 114 in FIG.

  FIG. 13A shows the magnetic hammer 710 in a central rest position between the stopper 702 and the magnetic damping assembly 704.

  FIG. 13B illustrates the bending of the bend 760 as the magnetic hammer 710 moves toward the magnetic damping assembly 704. As described above, in this case, the magnetic hammer 710 can be maintained in the first rest position.

  On the other hand, FIG. 13C shows the bending of the bent portion 760 when the magnetic hammer 710 moves toward the stopper 702. When the ferromagnetic portion 744 is provided on the stopper 702, the second stationary position can be realized by the attractive force between the ferromagnetic portion 744 and the permanent magnet 720L of the magnetic hammer 710.

Actuator 800—Eighth Example FIG. 14 illustrates an eighth example of an actuator 800 that can be operated to provide haptic feedback. Similar to the embodiments described above, the actuator 800 can be fastened to the housing 12 of the electronic device to provide a vibration / buzzer / audible function to the corresponding electronic device.

  The actuator 800 includes a stopper 802, a magnetic damping assembly 804, a hammer path 806 defined between the stopper 802 and the magnetic damping assembly 804, and a coil element 808 fixedly attached to the hammer path 806. Have. The magnetic hammer 810 is mounted for guidance along a hammer path 806. In this example, the magnetic hammer 810 includes a single permanent magnet 820 having an N pole on the left and an S pole on the right. Accordingly, the magnetic hammer 810 has magnetic field lines that surround the magnetic hammer 810 as shown in FIG. Thus, the magnetic hammer 810 is different from the magnetic hammer 110 because it has only one permanent magnet (or multiple permanent magnets with aligned polarities) rather than two permanent magnets of opposite polarity.

  In this particular example, the magnetic damping assembly 804 has an attractor magnet 831 and an attenuator magnet 832. Both attractor magnet 831 and attenuator magnet 832 are made of a ferromagnetic material having permanently aligned poles. The magnetic hammer 810 is disposed in the hammer path guide portion 814 of the actuator 800 with the magnetic pole aligned with the magnetic pole of the attractor magnet 831 so that the magnetic hammer 810 and the attractor magnet 831 are attracted to each other. . As a result, the magnetic hammer 810 and the magnetic poles of the attenuator magnet 832 are in contact with each other. The attraction and repulsive forces acting on the magnetic hammer 810 by the attractor magnet 831 and the attenuator magnet 832 respectively create a rest position along the hammer path 806 in which the magnetic hammer 810 can slide.

  However, as described above, attractor magnet 831 can be partially or wholly replaced with a ferromagnetic element made of a material that is ferromagnetic but does not have a permanently aligned pole. In these embodiments, the ferromagnetic element needs to be larger or closer to the magnetic hammer 810 to achieve a magnetic attractive force similar to that between the attractor magnet 831 and the magnetic hammer 810.

  During operation of the actuator 800, the coil element 808 can be actuated to move the magnetic hammer 810 from a rest position toward the stopper 802, as described in detail below with reference to FIGS. 16A and 16B. In that case, the magnetic hammer 810 impacts the stopper 802 to provide audible feedback (eg, an audible click) and then the magnetic attractive force between the permanent magnet 820 and the attractor magnet 831 of the magnetic damping assembly 804. Is pulled back to the rest position.

  In the embodiment depicted in FIG. 14, the center C 1 of the magnetic hammer 810 is offset from the center C 2 of the coil element 808 along the hammer path 806. More specifically, in this example, the center C1 of the magnetic hammer 810 is on the left side of the center C2 when the magnetic hammer 810 is in the rest position. Thus, the coil element 808 can be operated with a voltage of a given polarity to displace the magnetic hammer 810 to the left. In contrast, the coil element 808 can be operated with a voltage of opposite polarity to pull the magnetic hammer 810 to the right until the center C1 of the magnetic hammer 810 passes past the center C2 of the coil element 808.

  In this embodiment, the rest position of the magnetic hammer 810 is not provided at the stopper 802. More specifically, the stopper 802 is made of a material that has no magnetic attraction with respect to the magnetic hammer 810. However, in other embodiments, such additional stationary positions may be provided.

  Since there is only one rest position, the magnetic hammer 810 will return to the rest position under the influence of the magnetic damping assembly 804 whenever power is not supplied to the coil element 808.

  FIGS. 16A and 16B show an example of a movement sequence of the magnetic hammer 810 that is initially resting in a stationary position proximal to the magnetic damping assembly 804. More specifically, FIGS. 16A and 16B include snapshots at different instants t1 to t5 in the movement sequence, where t5> t4> t3> t2> t1.

  As shown in FIG. 16A, at the instant t1, the magnetic hammer 810 is in a rest position. At this stage, the coil element 808 is not activated. Both the magnetic attractive force between the permanent magnet 820 and the attractor magnet 831 and the magnetic repulsion between the permanent magnet 820 and the attenuator magnet 832 maintain the magnetic hammer 810 in a stationary position.

  As shown in FIG. 16A, at a moment t2, by operating the coil element 808 with a second polarity (eg, −5V), the magnetic hammer 810 moves from a rest position toward the stopper 802 at a given speed. To be accelerated. At this point, the permanent magnet 820 is retracted toward the stopper 802 by the operation of the coil element 808. The magnetic repulsion between the attenuator magnet 832 and the permanent magnet 820 can help in this step.

  As shown in FIG. 16A, at the instant t3, the magnetic hammer 810 collides with the non-magnetic collision surface 812 of the stopper 802 at a given speed, thereby stopping the movement of the magnetic hammer 810. Actuation of the actuator 800 shown in FIG. 16A can produce a second feedback that includes both haptic feedback and audible feedback.

  As shown in FIG. 16B, after the collision at the instant t4, the magnetic hammer 810 moves between the permanent magnet 820 and the attractor magnet 831 of the magnetic damping assembly 804 even when the coil element 808 is stopped. Attracted by the magnetic attraction between them, it returns to the rest position, and returns to the rest position shown at the instant t5.

  On the contrary, during operation of the actuator 800, the coil element is adapted to move the magnetic hammer 810 from a rest position toward the magnetic damping assembly 804, as described in detail below with reference to FIGS. 17A and 17B. 808 may also be actuated, in which case the magnetic damping assembly 804 attenuates the movement of the magnetic hammer 810 to provide tactile feedback but not audible feedback so that the magnetic hammer 810 and magnetic damping are coupled. Collisions with the assembly 804 are prevented. The magnetic hammer 810 is then retracted by the attenuator magnet 832 of the magnetic damping assembly 804 back to the rest position.

  FIGS. 17A and 17B show another example of the movement sequence of the magnetic hammer 810, which is initially stationary at a stationary position proximal to the magnetic damping assembly 804, and the coil element 808 is In response to actuation, it moves to the right toward the magnetic damping assembly 804, and when the coil element 808 is stopped, it is retracted by the magnetic damping assembly 804 and returns to the rest position.

  More specifically, FIGS. 17A and 17B include snapshots at different instants t6 to t11 in the movement sequence, where t11> t10> t9> t8> t7> t6. As shown in FIG. 17A, at the instant t6, the magnetic hammer 810 is in a rest position. At this stage, the coil element 808 is not activated and there is a magnetic balance between the magnetic hammer 810 and the magnetic damping assembly 804 so that the magnetic hammer 810 is stationary at a rest position. More specifically, the repulsive force between the attenuator magnet 832 of the magnetic damping assembly 804 and the permanent magnet 820 of the magnetic hammer 810 causes the attractor magnet 831 of the magnetic damping assembly 804 and the permanent magnet of the magnetic hammer 810 to move. Cancel the attractive force between 820.

  To initiate the movement of the magnetic hammer 810 in this sequence, the controller generates a first polarity voltage (eg, via the signal source 824) in such a manner as to generate a magnetic force between the coil element 808 and the magnetic hammer 810. + 5V) to activate the coil element 808. The operation of this coil element 108 is maintained during the instants t7 and t8.

  As shown in FIG. 17A, at instant t7, actuation of coil element 808 accelerates magnetic hammer 810 from a rest position toward magnetic damping assembly 804 to a given velocity. At this point, actuation of the coil element 808 pulls the permanent magnet 820 toward the magnetic damping assembly 804.

  As shown in FIG. 17A, at the instant t8, the coil element 810 still attracts the permanent magnet 820 due to the operation of the coil element 808. The coil element 808 is stopped before the center C1 of the magnetic hammer 810 passes through the center C2 of the coil element 808. Then, as the magnetic hammer 810 continues to move toward the magnetic damping assembly 804 due to inertia, the magnetic repulsion between the attenuator magnet 832 of the magnetic damping assembly 804 and the permanent magnet 820 causes the magnetic hammer 810 to decelerate. In the end, however, the velocity is zero and collision with the magnetic damping assembly 804 is avoided.

  As shown in FIG. 17B, at the instant t9, the tip 836 of the magnetic hammer 810 is between the rest position and the magnetic damping assembly 804, and the magnetic repulsive force between the attenuator magnet 832 and the permanent magnet 820 is The magnetic hammer 810 “rebounds” without colliding with the magnetic damping assembly 804 and moves toward the rest position even when the coil element 808 is stopped. In this way, haptic feedback is generated, but no audible feedback is generated.

  As shown in FIG. 17B, at the instant t10, the magnetic hammer 810 returns to the rest position, where the magnetic attractive force between the permanent magnet 820 and the attractor magnet 831 and between the permanent magnet 820 and the attenuator magnet 832 is shown. The magnetic hammer 810 is maintained in a stationary position by both the magnetic repulsive forces in between.

  The first feedback, including haptic feedback, can be created by the operation of the actuator 800 shown in FIGS. 17A and 17B. For example, the first feedback may be provided in response to pressing a button on the touch screen of the electronic device that includes the actuator 800. The movement of the magnetic hammer 810 is damped by the magnetic damping assembly 804 and the magnetic hammer 810 does not collide with the magnetic damping assembly 804. Thus, you can feel the first feedback but not hear it.

Actuator 900—Ninth Example FIG. 18 illustrates a ninth example of an actuator 900 according to another embodiment. As shown, the actuator 900 follows a hammer path 906 defined by a coil element 908 fixedly attached to the hammer path guide 914, a right stopper 902, and a left magnetic damping assembly 904. And a magnetic hammer 910 that is slidable in the longitudinal direction.

  In this example, the magnetic hammer 910 includes a series of permanent magnets 920 having a matched polarity (ie, a matched pole) and forming a permanent magnet having a diameter of 2 mm and a length of 6 mm.

  Further in this example, the attenuator magnet 932 is made from NdFeBN45. The attenuator magnet 932 has a diameter of 1 mm and a length of 2 mm.

  Furthermore, in this example, attractor magnet 931 is made from NdFeBN45. The attractor magnet 931 has a diameter of 2 mm and a length of 7 mm. The attractor magnet 931 and the attenuator magnet 932 are separated from each other by a separation distance of 0.5 mm along the hammer path 906 with the attenuator magnet 932 closer to the coil element 908 than the attractor magnet 931.

  In this embodiment, the magnetic hammer 910 has a rest position of about 2.50 mm from the attenuator magnet 932 of the magnetic damping assembly 904. The center C1 of the magnetic hammer 910 is 0.5 mm to the right of the center C2 of the coil element 908.

  In this example, the hammer path guide 914 is made of acrylic plastic, the hammer path guide 914 has a length L1 of 25 mm, and an end having a rectangular cross section with sides having a length L2 of 3.7 mm. Has a part. As depicted, the left end portion is shaped and sized to receive the attractor magnet 931 and the attenuator magnet 932. An intermediate portion of the hammer path guide portion 914 has a circular cross section with a diameter of 2.7 mm, and a coil element 908 is wound around the circular cross section.

Actuator 1000—Tenth Example FIG. 19 illustrates a tenth example of an actuator 1000 according to another embodiment. As depicted, the actuator 1000 can be housed within the housing 12 of the electronic device. In this example, the actuator 1000 has a left first damping assembly 1004L, a right second damping assembly 1004R, and a hammer path 1006 between the first and second damping assemblies 1004L and 1004R. ing. The coil element 1008 is fixedly attached to the hammer path 1006, and the magnetic hammer 1010 is attached so as to be movable along the hammer path 1006. Similar to the embodiment of FIG. 2, magnetic hammer 1010 has two opposite ends, each end of magnetic hammer 1010 having a corresponding magnet of two permanent magnets 1020L and 1020R. The two permanent magnets 1020L and 1020R have opposite polarities as described above.

  In this embodiment, the magnetic hammer 1010 has a hammer path 1006 in one of two opposite directions depending on the polarity in which the coil element 1008 is activated by a magnetic field generated when the coil element 1008 is activated. Can be electromagnetically engaged so as to be slid longitudinally along the axis. Each of the first and second damping assemblies 1004L and 1004R is when the magnetic hammer 1010 slides longitudinally toward the corresponding one of the first and second damping assemblies 1004L and 1004R. Adapted to slow down the magnetic hammer 1010.

  As can be appreciated, the first damping assembly 1004L includes an attractor magnet 1031L and an attenuator magnet 1032L. Similarly, the second damping assembly 1004R includes an attractor magnet 1031R and an attenuator magnet 1032R.

  By using the first and second damping assemblies 1004L and 1004R, there can be two rest positions. More specifically, the magnetic hammer 1010 rests at a first of the two rest positions proximal to the first damping assembly 1004L or near the second damping assembly 1004R. It is possible to stop at the second stationary position of the two stationary positions at the position.

  As can be appreciated, the examples described and illustrated above are intended to be merely exemplary. The scope is indicated by the appended claims.

Claims (20)

  A stopper, an attenuator, a hammer path between the stopper and the attenuator, a coil element fixedly attached to the hammer path, and a magnetically mounted to be guided along the hammer path A tactile feedback actuator having a hammer, wherein the magnetic hammer has two opposite ends, each end of the magnetic hammer having a corresponding permanent magnet, Two permanent magnets have opposite polarities, and the magnetic hammer is driven by a magnetic field generated when the coil element is operated, in two opposite directions depending on the polarity in which the coil element is operated. Electromagnetically engageable to slide longitudinally along the hammer path in either direction, and the stopper stops the magnetic hammer Characterized in that the attenuator is adapted to decelerate the magnetic hammer when the magnetic hammer slides longitudinally toward the attenuator. Tactile feedback actuator.   2. A haptic feedback actuator according to claim 1, wherein the attenuator is a magnetic damping assembly including a ferromagnetic element and an attenuator magnet having a pole for striking a hammer. Actuator. The haptic feedback actuator according to claim 2, wherein the ferromagnetic element and the attenuator magnet are added to the magnetic hammer by the ferromagnetic element and the attenuator magnet when the coil element is not in operation. The overall power
i) when a portion of the magnetic hammer is in a rest position along the hammer path, they cancel each other;
ii) pulling the magnetic hammer when the portion of the magnetic hammer is between the rest position and the stopper;
iii) A haptic feedback actuator, wherein the haptic feedback actuator is arranged in such a way as to open the magnetic hammer when the portion of the magnetic hammer is between the rest position and the magnetic damping assembly.   3. A haptic feedback actuator according to claim 2, wherein the ferromagnetic element of the magnetic damping assembly includes an attractor magnet having a pole for attracting a hammer.   5. A haptic feedback actuator according to claim 4, wherein the attractor magnet and the attenuator magnet of the ferromagnetic element are spaced apart along the hammer path.   2. The haptic feedback actuator according to claim 1, wherein the attenuator is a mechanical attenuator, the mechanical attenuator includes at least one spring, and each of the at least one spring is defined as the stopper. A tactile feedback actuator having a first end fixed to the opposite end of the hammer path and a second end engaged with the magnetic hammer. 7. The haptic feedback actuator according to claim 6, wherein the at least one spring has an overall force applied to the magnetic hammer by the at least one spring when the coil element is not actuated.
i) when a portion of the magnetic hammer is in a rest position along the hammer path, they cancel each other;
ii) pulling the magnetic hammer when the portion of the magnetic hammer is between the rest position and the stopper;
iii) A haptic feedback actuator, wherein the haptic feedback actuator is arranged in such a way as to open the magnetic hammer when the portion of the magnetic hammer is between the rest position and the mechanical attenuator.   7. A haptic feedback actuator according to claim 6, wherein the at least one spring is a spring mount.   7. The haptic feedback actuator according to claim 6, wherein the at least one spring is ferromagnetic and a second end of each spring of the at least one spring is the two permanent magnets of the magnetic hammer. A tactile feedback actuator characterized by magnetically engaging adjacent magnets.   7. A haptic feedback actuator according to claim 6, wherein the second end of the at least one spring is mechanically attached to an adjacent magnet of the two permanent magnets of the magnetic hammer. A tactile feedback actuator.   The haptic feedback actuator according to claim 1, further comprising a hammer path guide portion fixed to the stopper, wherein the hammer path guide portion moves the magnetic hammer along any of the hammer paths. A tactile feedback actuator, wherein the tactile feedback actuator is provided along the hammer path, just around the magnetic hammer in the coil element so as to be guided in a longitudinal direction as well.   The haptic feedback actuator according to claim 1, wherein the attenuator applies an opposing force that gradually increases as the magnetic hammer moves toward the attenuator. A method of operating a haptic feedback actuator, wherein the haptic feedback actuator is guideably mounted to move along the hammer path and an attenuator proximal to one end of the hammer path And a coil element, the method comprising:
a) actuating the coil element with a first polarity for a given duration to accelerate the magnetic hammer in a direction toward the attenuator along the hammer path;
b) decelerating the approaching magnetic hammer at least in part by the attenuator and then accelerating the magnetic hammer in a direction away from the attenuator along the hammer path;
c) actuating the coil element with the first polarity for a given duration to accelerate the magnetic hammer in a direction toward the attenuator along the hammer path;
d) repeating steps b) and c) to generate haptic feedback. 14. The method according to claim 13, wherein said step b)
Maintaining the coil element in a stopped state for a given duration. 14. The method according to claim 13, wherein said step b)
Actuating the coil element with a second polarity for a given duration, wherein actuation with the first polarity and actuation with the second polarity are at least of amplitude and duration A method, characterized in that it is different in one.   14. The method of claim 13, wherein the haptic feedback actuator includes a stopper at another end of the hammer path, and the actuation of the second polarity causes the magnetic hammer to move to the magnetic hammer. A method characterized by generating tactile feedback and audible feedback upon impact.   An electronic device comprising a housing and a haptic feedback actuator mounted inside the housing, wherein the haptic feedback actuator includes a stopper, an attenuator, a hammer path between the stopper and the attenuator, A coil element fixedly attached to the housing, and a magnetic hammer that is guideably attached to move along the hammer path, the magnetic hammer having two opposite ends; Each end of the magnetic hammer has a corresponding permanent magnet, the two permanent magnets have opposite polarities, and the magnetic hammer is activated when the coil element is actuated. The hammer is applied in one of two opposite directions according to the polarity in which the coil element is operated by the generated magnetic field. Electromagnetically engageable so as to slide longitudinally along a path, the stopper has an impact surface adapted to stop the magnetic hammer, and the attenuator includes the magnetic hammer An electronic device adapted to decelerate the magnetic hammer when slid longitudinally toward the attenuator.   18. An electronic device according to claim 17, wherein the attenuator is a magnetic damping assembly including a ferromagnetic element and an attenuator magnet having a pole for striking a hammer. 19. The electronic device according to claim 18, wherein the ferromagnetic element and the attenuator magnet are added to the magnetic hammer by the ferromagnetic element and the attenuator magnet when the coil element is not activated. The overall power is
i) when a portion of the magnetic hammer is in a rest position along the hammer path, they cancel each other;
ii) pulling the magnetic hammer when the part of the magnetic hammer is between the rest position and the stopper;
iii) An electronic device, wherein the electronic device is arranged in such a manner that the magnetic hammer is opened when the portion of the magnetic hammer is between the rest position and the magnetic damping assembly.   18. The electronic device of claim 17, wherein the attenuator is a mechanical attenuator, the mechanical attenuator includes at least one spring, and each of the at least one spring is opposite the stopper. An electronic device comprising: a first end fixed to an end of the hammer path; and a second end engaged with the magnetic hammer.