US20220233951A1

US20220233951A1 - Haptic Actuator Including Flexure Bearing

Info

Publication number: US20220233951A1
Application number: US17/716,935
Authority: US
Inventors: Arman HAJATI; Jere C. Harrison; Jason C. Law; Logan M. Ames
Original assignee: Apple Inc
Current assignee: Apple Inc
Priority date: 2017-02-16
Filing date: 2022-04-08
Publication date: 2022-07-28
Also published as: WO2018151753A1; US11305182B2; US20210016162A1

Abstract

A haptic actuator may include a housing, at least one coil carried by the housing, and a field member having opposing first and second sides. The haptic actuator may also include a respective at least one flexure bearing mounting each of the first and second sides of the field member to be reciprocally movable within the housing responsive to the at least one coil. Each flexure bearing may include two diverging arms joined together at proximal ends and having spaced distal ends operatively coupled between adjacent portions of the field member and the housing. The two diverging arms may each have a reduced size medial portion relative to respective proximal and distal ends.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent application Ser. No. 16/320,345, filed on Jan. 24, 2019, which is a 35 U.S.C. § 371 application of PCT/US2017/044663, filed on Jul. 31, 2017, which claims the priority benefit of U.S. Provisional Patent Application No. 62/463,885, filed on Feb. 27, 2017, U.S. Provisional Application No. 62/463,876, filed on Feb. 27, 2017, and U.S. Provisional Application No. 62/459,701 filed on Feb. 16, 2017, the contents of all of which are incorporated herein by reference in their entirety as if fully disclosed herein.

TECHNICAL FIELD

The present disclosure relates to the field of electronics, and, more particularly, to the field of haptics.

BACKGROUND

Haptic technology is becoming a more popular way of conveying information to a user. Haptic technology, which may simply be referred to as haptics, is a tactile feedback based technology that stimulates a user's sense of touch by imparting relative amounts of force to the user.
A haptic device or haptic actuator is an example of a device that provides the tactile feedback to the user. In particular, the haptic device or actuator may apply relative amounts of force to a user through actuation of a mass that is part of the haptic device. Through various forms of tactile feedback, for example, generated relatively long and short bursts of force or vibrations, information may be conveyed to the user.

SUMMARY

A haptic actuator may include a housing, at least one coil carried by the housing, and a field member having opposing first and second sides. The haptic actuator may also include a respective at least one flexure bearing mounting each of the first and second sides of the field member to be reciprocally movable within the housing responsive to the at least one coil. Each flexure bearing may include two diverging arms joined together at proximal ends and having spaced distal ends operatively coupled between adjacent portions of the field member and the housing. The two diverging arms may each have a reduced size medial portion relative to respective proximal and distal ends.
Each arm may have a blade shape having a length between respective proximal and distal ends, a thickness, and height with a varying profile defining the reduced sized medial portion, for example. Each flexure bearing may also include a spacer member between the proximal ends of the two diverging arms. The haptic actuator may further include a weld joint joining together the spacer member and the proximal ends of the two diverging arms, for example.
Each diverging arm may include first and second parallel and spaced apart blades. Each diverging arm may include proximal and distal end spacers between the first and second parallel and spaced apart blades, for example.
The haptic actuator may also include respective weld joints joining together the proximal and distal end spacers and adjacent portions of the spaced apart blades, for example. Each diverging arm may also include a filler body between the first and second parallel and spaced apart blades, for example.
Each flexure bearing may have a wishbone shape. Each flexure bearing may include at least one mechanical stop adjacent the proximal end. Each flexure bearing may include at least one mechanical stop between the spaced distal ends, for example.
A method aspect is directed to a method of making a haptic actuator. The method may include positioning a respective at least one flexure bearing to mount each of first and second sides of a field member to be reciprocally movable within a housing responsive to at least one coil. Each flexure bearing may include two diverging arms joined together at proximal ends and having spaced distal ends operatively coupled between adjacent portions of the field member and the housing. The two diverging arms may each have a reduced size medial portion relative to respective proximal and distal ends.
Another device aspect is directed to a haptic actuator that may include a housing, at least one permanent magnet carried by the housing, and a field member having opposing first and second sides and that includes at least one coil cooperating with the at least one permanent magnet. The haptic actuator may also include a respective at least one flexure bearing mounting each of the first and second sides of the field member to be reciprocally movable within the housing responsive to the at least one coil. Each flexure bearing includes two diverging arms joined together at proximal ends and having spaced distal ends operatively coupled between adjacent portions of the field member and the housing, the two diverging arms each having a reduced size medial portion relative to respective proximal and distal ends.
A method aspect is directed to a method of making a haptic actuator. The method may include positioning a respective at least one flexure bearing to mount each of first and second sides of a field member to be reciprocally movable within a housing responsive to at least one coil. The housing carries at least one permanent magnet cooperating with the at least one coil. Each flexure bearing includes two diverging arms joined together at proximal ends and having spaced distal ends operatively coupled between adjacent portions of the field member and the housing, the two diverging arms each having a reduced size medial portion relative to respective proximal and distal ends.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an electronic device including a haptic actuator according to an embodiment.

FIG. 2 is a schematic block diagram of the electronic device of FIG. 1.

FIG. 3 is a schematic block diagram of the haptic actuator of the electronic device of FIG. 1.

FIG. 4 is a perspective view of a portion of a haptic actuator in accordance with an embodiment.

FIG. 5 is an enlarged perspective view of a portion of the flexure bearing of FIG. 4.

FIG. 6 is top view of the flexure bearing of FIG. 5.

FIG. 7 is a side view of the flexure bearing of FIG. 5.

FIG. 8 is an exploded view of the flexure bearing of FIG. 5.

FIG. 9 is a schematic block diagram of a haptic actuator in accordance with an embodiment.

FIG. 10 is a perspective view of a portion of a haptic actuator in accordance with an embodiment.

FIG. 11 is an enlarged perspective view of a portion of the flexure bearing of FIG. 10.

FIG. 12 is top view of the flexure bearing of FIG. 11.

FIG. 13 is a side view of the flexure bearing of FIG. 11.

FIG. 14 is an exploded view of the flexure bearing of FIG. 11.

FIG. 15 is a perspective view of a portion of a flexure bearing in accordance with an embodiment.

FIG. 16 is a side view of the portion of the flexure bearing of FIG. 15.

FIG. 17 is a schematic block diagram of a portion of the haptic actuator according to another embodiment.

FIG. 18 is a perspective view of a portion of the haptic actuator of FIG. 17.

FIG. 19 is an enlarged perspective view of the anchor member of the haptic actuator of FIG. 18.

FIG. 20 is a top view of a parallel spaced apart flexible arm in accordance with an embodiment.

FIG. 21 is a side view of a parallel spaced apart flexible arm in accordance with an embodiment.

FIG. 22 is a side view of a portion of a parallel spaced apart flexible arm in accordance with an embodiment.

FIG. 23 is a schematic block diagram of a haptic actuator according to another embodiment.

FIG. 24 is an enlarged perspective view of a portion of a haptic actuator according to another embodiment.

FIG. 25 is a side view of a portion of a parallel spaced apart flexible arm in accordance with an embodiment.

FIG. 26 is an enlarged perspective view of a haptic actuator in accordance with an embodiment.

FIG. 27 is a perspective view of a portion of a haptic actuator according to an embodiment.

FIG. 28 is another perspective view of a portion of the haptic actuator in FIG. 27.

FIG. 29 is a perspective view of a haptic actuator according to another embodiment.

FIG. 30 is a perspective view of a portion of a haptic actuator according to an embodiment.

FIG. 31 is a perspective view of another portion of the haptic actuator in FIG. 30.

FIG. 32 is a perspective view of a portion of a haptic actuator in accordance with another embodiment.

FIG. 33 is a perspective view of a portion of a haptic actuator according to an embodiment.

FIG. 34 is an enlarged perspective view of the flexible member of FIG. 33.

FIG. 35 is an enlarged perspective view of a flexible member according to another embodiment.

FIG. 36 is a perspective view of a portion of a haptic actuator according to an embodiment.

FIG. 37 is an enlarged perspective view of a flexure bearing for use with a field member of a haptic actuator in accordance with an embodiment.

FIG. 38 is an enlarged schematic top view of a portion of a haptic actuator including a flexure bearing in accordance with an embodiment.

FIG. 39 is an enlarged schematic top view of a portion of a haptic actuator including a flexure bearing in accordance with an embodiment.

FIG. 40 is an enlarged schematic top view of a portion of a haptic actuator including a flexure bearing in accordance with an embodiment.

FIG. 41 is an enlarged schematic top view of a portion of a haptic actuator including a flexure bearing in accordance with an embodiment.

FIG. 42 is an enlarged schematic top view of a portion of a haptic actuator including a flexure bearing in accordance with an embodiment.

FIG. 43 is a block diagram of a haptic actuator in accordance with an embodiment.

FIG. 44 is a perspective view of a portion of a haptic actuator in accordance with an embodiment.

FIG. 45 is a block diagram of a haptic actuator in accordance with another embodiment.

FIG. 46 is a perspective view of a portion of a haptic actuator in accordance with another embodiment.

FIG. 47 is a perspective view of a portion of a haptic actuator in accordance with another embodiment.

FIG. 48 is an enlarged perspective view of the flexure bearing of FIG. 47.

FIG. 49 is an exploded perspective view of the flexure bearing of FIG. 47.

FIG. 50 is an exploded side view of the flexure bearing of FIG. 47.

FIG. 51 is an exploded top view of the flexure bearing of FIG. 47.

FIG. 52 is an enlarged perspective view of a flexure bearing in accordance with another embodiment.

FIG. 53 is an exploded side view of the flexure bearing of FIG. 52.

DETAILED DESCRIPTION

The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like numbers refer to like elements throughout, and prime and multiple prime notations and refer to like elements in different embodiments.
Referring initially to FIGS. 1-2, an electronic device 20 illustratively includes a device housing 21 and a controller 22 carried by the device housing. The electronic device 20 is illustratively a mobile wireless communications device, for example, a wearable wireless communications device, and includes a band 28 or strap for securing it to a user. The electronic device 20 may be another type of electronic device, for example, a cellular telephone, a tablet computer, a laptop computer, etc.
Wireless communications circuitry 25 (e.g. cellular, WLAN Bluetooth, etc.) is also carried within the device housing 21 and coupled to the controller 22. The wireless communications circuitry 25 cooperates with the controller 22 to perform at least one wireless communications function, for example, for voice and/or data. In some embodiments, the electronic device 20 may not include wireless communications circuitry 25.
A display 23 is also carried by the device housing 21 and is coupled to the controller 22. The display 23 may be, for example, a liquid crystal display (LCD), light emitting diode (LED) display, or may be another type of display, as will be appreciated by those skilled in the art. The display 23 may be a touch display.
Finger-operated user input devices 24 a, 24 b, illustratively in the form of a pushbutton switch and a rotary dial are also carried by the device housing 21 and are coupled to the controller 22. The pushbutton switch 24 a and the rotary dial 24 b cooperate with the controller 22 to perform a device function in response to operation thereof. For example, a device function may include a powering on or off of the electronic device 20, initiating communication via the wireless communications circuitry 25, and/or performing a menu function.
The electronic device 20 illustratively includes a haptic actuator 40. The haptic actuator 40 is coupled to the controller 22 and provides haptic feedback to the user in the form of relatively long and short vibrations or “taps”, particularly when the user is wearing the electronic device 20. The vibrations may be indicative of a message received, and the duration of the vibration may be indicative of the type of message received. Of course, the vibrations may be indicative of or convey other types of information. More particularly, the controller 22 applies a voltage to move a moveable body or masses between first and second positions in a y-axis.
While a controller 22 is described, it should be understood that the controller 22 may include one or more of a processor and other circuitry to perform the functions described herein. For example, the controller 22 may include a class-D amplifier to drive the haptic actuator 40 and/or sensors for sensing voltage and current.
Referring now additionally to FIGS. 3-8 the haptic actuator 40 includes an actuator housing 41. The actuator housing 41 illustratively has a dimension in a length direction greater than a width direction. The actuator housing 41 may include ferritic material in portions of or all of the actuator housing. For example, the top and bottom of the actuator housing 41 may be ferritic. Of course other and/or additional portions of the actuator housing 41 may be ferritic. The use of ferritic material in the actuator housing 41 may improve performance, for example.
The haptic actuator 40 also includes first and second coils 44, 45 carried by the actuator housing 41, for example, the top and the bottom, respectively. The first and second coils 44, 45 may each have a loop shape or “racetrack” shape and are aligned in a stacked relation and spaced apart. There may be any number of first and second coils 44, 45, as will be appreciated by those skilled in the art. Moreover, in some embodiments, the first and/or second coils 44, 45 may be carried by the actuator housing around an exterior thereof, i.e., a circumferential voice coil.
The haptic actuator 40 also includes a field member 50 carried by the actuator housing 41. The field member 50, similarly to the actuator housing 41, has a dimension in a length direction greater than a width direction. Thus, the field member 50 is reciprocally movable in the width direction (i.e., the y-direction). While the movement of the field member 50 is described as being moveable in one direction, i.e., a linear haptic actuator, it should be understood that in some embodiments, the field member may be movable in other directions, i.e., an angular haptic actuator, or may be a combination of both a linear and an angular haptic actuator.
The field member 50 illustratively includes permanent magnets 51 a-51 d between the first and second coils 44, 45. The permanent magnets 51 a-51 d may be neodymium, for example, and may be positioned in opposing directions with respect to their respective poles.
The permanent magnets 51 a-51 d may be aligned along a length of the first and second coils 44, 45. While four shaped permanent magnets 51 a-51 d are illustrated, it will be appreciated that there may be any number of permanent magnets having any shape between the first and second coils 44, 45. The permanent magnets 51 a-51 d may be arranged as a Halbach array. Referring briefly to FIG. 9, in some embodiments, the position of the coils 44′, 45′ and the permanent magnets 51 a′-51 d′ may be reversed. In other words, the first and second coils 44′, 45′ may be carried by or part of the field member 50′, while the permanent magnets 51 a′-51 d′ are stationary or carried by the actuator housing 41′ (i.e., a moving coil configuration).
The field member 50 also includes masses 57 a, 57 b adjacent the permanent magnets 51 a-51 d. The masses 57 a, 57 b may be tungsten, for example. The masses 57 a, 57 b may be a different material and there may any number of masses. In some embodiments, the position of the coils 44, 45 and the permanent magnets 51 a-51 d may be reversed. In other words, the first and second coils 44, 45 may be carried by or part of the field member 50, while the permanent magnets 51 a-51 d are stationary (i.e., a moving coil configuration).
The haptic actuator 40 also includes respective flexure bearings 60 mounting each of first and second sides 53, 54 of the field member 50 to be reciprocally movable within the actuator housing 41 responsive to the first and second coils 44, 45. Each flexure bearing 60 is illustratively in the shape of a wishbone and includes two diverging arms 61 a, 61 b, joined together at proximal ends 62 a, 62 b. The two diverging arms 61 a, 61 b each have spaced distal ends 63 a, 63 b that are operatively coupled between adjacent portions of the field member 50 and the actuator housing 41. In some embodiments, each flexure bearing 60 may not be in a wishbone shape, but may have another shape.
The two diverging arms 61 a, 61 b may include steel, titanium, and/or copper. The two diverging arms 61 a, 61 b may include other and/or additional materials.
The two diverging arms 61 a, 61 b each have a reduced size medial portion 64 a, 64 b relative to respective proximal and distal ends. More particularly, each arm 61 a, 61 b has a blade shape having a length between respective proximal and distal ends, a thickness, and height with a varying profile defining the reduced sized medial portion 64 a, 64 b.
Each flexure bearing 60 also includes a spacer member 65 between the proximal ends 62 a, 62 b of the two diverging arms 61 a, 61 b. A respective weld joint 66 joins together the spacer member 65 and the proximal ends 62 a, 62 b of the two diverging arms 61 a, 61 b.
The reduced size medial portion 64 a, 64 b may advantageously distribute stresses over each arm 61 a, 61 b thus constituting an improved use of the material. In contrast, in a flat arm, or uniform size arm, stresses are mostly distributed along edges of the arm. More particularly, each arm is patterned (e.g. stamped) with the illustrated curved pattern defining the reduced size medial portion to distribute the stress more uniformly over the length of the arms and away from the weld joints to reduce the risk of fatigue and improve the flexure travel range at low frequencies by up to 1.5 times.
Each flexure bearing illustratively includes mechanical stops 72 a, 72 b adjacent the proximal ends 62 a, 62 b. More particularly, first and second mechanical stops 72 a, 72 b are between the proximal ends 62 a, 62 b and the actuator housing 41 and the field member 50, respectively. The first and second mechanical stops 72 a, 72 b may be an elastomeric material, for example, having a hardness between 38-90. A third mechanical stop 73 is carried by the distal end 63 a of one of the diverging arms 61 a, and more particularly, is between the distal ends 63 a, 63 b. The third mechanical stop 73 may be a material similar to the first and second mechanical stops 72 a, 72 b. The third mechanical stop 73 may be carried by the other diverging arm 61 b.
A respective anchor member 75 is coupled between each flexure bearing 60 and the adjacent portions of the housing 41. More particularly, the anchor member 75 is coupled between a distal end 63 a of an arm 61 a and the housing 41.
Referring now to FIGS. 10-14, in another embodiment, each diverging arm 61 a″, 61 b″ includes first and second parallel and spaced apart blades 67 a″, 67 b″ each, similarly to the embodiments described above, has a reduced size medial portion 64 a″, 64 b″ relative to respective proximal and distal ends 62 a″, 62 b″, 63 a″, 63 b″. More particularly, each spaced apart blade 67 a″, 67 b″ of each arm 61 a″, 61 b″ has a length between respective proximal and distal ends 62 a″, 62 b″, 63 a″, 63 b′, a thickness, and height with a varying profile defining the reduced sized medial portion 64 a″, 64 b″.
Distal end spacers 68 a″, 68 b″ are between the first and second parallel and spaced apart blades 67 a″, 67 b″. Each flexure bearing 60″ has a wishbone shape. Each flexure bearing 60″ may not have a wishbone shape in some embodiments. Respective weld joints 66 a″, 66 b″ join together the proximal and distal end spacers 65″, 68 a″, 68 b″ and adjacent portions of the spaced apart blades 67 a″, 67 b″.
Referring briefly to FIGS. 15 and 16, in some embodiments, each diverging arm 61 a′″, 61 b′″ includes a filler body 71′″ between the first and second parallel and spaced apart blades 67 a′″, 67 b′″. The filler body 71′″ may include a relatively soft material or bumper material, for example, an elastic material, silicone, and/or foam and follows the contour of the first and second blades 67 a′″, 67 b′″. The filler body 71′″ may act as a crash stop, for example, to reduce failure in an event of a crash. Of course, the filler body 71′″ may be another and/or include other materials, for example, and may be the same as the first, second, and/or third mechanical stops. As will be appreciated by those skilled in the art, at a relatively low frequency, the filler body 71′″ may not have a relatively large effect on the flexure bearing 60′″, but upon a drop of the haptic actuator or at a relatively high frequency, the filler material provides increased protection against a failure.
Referring again to FIGS. 10-14, in some embodiments, the spaced apart blades 67 a″, 67 b″ may be covered, partially or completely, in a bumper material. As will be appreciated by those skilled in the art, in addition to the advantages described in the above embodiments, moving from one blade to two spaced apart blades 67 a″, 67 b″ torsion, for example, at the distal ends 63 a″, 63 b″, may be limited while maintaining relatively easy bending motion in the x-axis direction. Stresses are applied to or spread over two pairs of (i.e., four) blades instead of the two arms as in the embodiment described above. In other modes, i.e., movement in the y-axis and z-axis directions, stiffness is relatively maintained. Thus, the bandwidth of the actuator may be increased, for example, by up to two times.
Moreover, the proximal ends 62 a″, 62 b″ may be considered a relatively robust stop in addition to the mechanical stop 73″ between the distal ends 63 a″, 63 b″. This may reduce the risk of flexure deformation during drops in the x-axis direction. Additionally, considering the significant improvement in z-axis stiffness, stronger EM engines, for example, in the form of larger magnets, a larger number of stages, and complex magnet arrays such as Halbach arrays, may be supported without giving much consideration of the magnetic anti-spring and the resulting z-axis tolerance amplification (manufacturing/yield risk). Elements in the illustrated embodiment that are not specifically described with respect to the present embodiment are similar to the elements described above and need no further discussion.
A method aspect is directed to a method of a method of making a haptic actuator 40. The method includes positioning a respective flexure bearing 60 to mount each of first and second sides 53, 54 of a field member 50 to be reciprocally movable within a housing 41 responsive to at least one coil 44, 45, each flexure bearing including two diverging arms 61 a, 61 b joined together at proximal ends 62 a, 62 b and having spaced distal ends 63 a, 63 b operatively coupled between adjacent portions of the field member and the housing. The two diverging arms each have a reduced size medial portion 64 a, 64 b relative to respective proximal and distal ends 62 a, 62 b, 63 a, 63 b.
A haptic actuator comprises a housing, at least one permanent magnet carried by the housing, and a field member having opposing first and second sides and comprising at least one coil cooperating with the at least one permanent magnet. The haptic actuator also includes a respective at least one flexure bearing mounting each of the first and second sides of the field member to be reciprocally movable within the housing responsive to the at least one coil. Each flexure bearing comprises two diverging arms joined together at proximal ends and having spaced distal ends operatively coupled between adjacent portions of the field member and the housing, and the two diverging arms each having a reduced size medial portion relative to respective proximal and distal ends.
Each arm has a blade shape having a length between respective proximal and distal ends, a thickness, and height with a varying profile defining the reduced sized medial portion.
Each flexure bearing further comprises a spacer member between the proximal ends of the two diverging arms.
The haptic actuator further comprises a weld joint joining together the spacer member and the proximal ends of the two diverging arms.
Each diverging arm comprises first and second parallel and spaced apart blades.
Each diverging arm comprises proximal and distal end spacers between the first and second parallel and spaced apart blades.
The haptic actuator further comprises respective weld joints joining together the proximal and distal end spacers and adjacent portions of the spaced apart blades.
Each diverging arm further comprises a filler body between the first and second parallel and spaced apart blades.
Each flexure bearing has a wishbone shape.
Each flexure bearing comprises at least one mechanical stop adjacent the proximal ends.
Each flexure bearing comprises at least one mechanical stop between the spaced distal ends.
An electronic device comprises a housing, wireless communications circuitry carried by the housing, and a haptic actuator carried by the housing. The haptic actuator comprises an actuator housing, at least one permanent magnet carried by the actuator housing, and a field member having opposing first and second sides and comprising at least one coil cooperating with the at least one permanent magnet. The haptic actuator comprises a respective at least one flexure bearing mounting each of the first and second sides of the field member to be reciprocally movable within the housing responsive to the at least one coil. Each flexure bearing comprises two diverging arms joined together at proximal ends and having spaced distal ends operatively coupled between adjacent portions of the field member and the housing, the two diverging arms each having a reduced size medial portion relative to respective proximal and distal ends. The electronic device comprises a controller coupled to the wireless communications circuitry and the haptic actuator and configured to perform at least one wireless communications function and selectively operate the haptic actuator.
Each arm has a blade shape having a length between respective proximal and distal ends, a thickness, and height with a varying profile defining the reduced sized medial portion.
Each flexure bearing further comprises a spacer member between the proximal ends of the two diverging arms.
The haptic actuator further comprises a weld joint joining together the spacer member and the proximal ends of the two diverging arms.
Each diverging arm comprises first and second parallel and spaced apart blades.
Each diverging arm comprises proximal and distal end spacers between the first and second parallel and spaced apart blades.
Each diverging arm further comprises a filler body between the first and second parallel and spaced apart blades.
A method of making a haptic actuator comprises positioning a respective at least one flexure bearing to mount each of first and second sides of a field member to be reciprocally movable within a housing responsive to at least one coil, the housing carrying at least one permanent magnet cooperating with the at least one coil, and each flexure bearing comprising two diverging arms joined together at proximal ends and having spaced distal ends operatively coupled between adjacent portions of the field member and the housing, the two diverging arms each having a reduced size medial portion relative to respective proximal and distal ends.
Each arm has a blade shape having a length between respective proximal and distal ends, a thickness, and height with a varying profile defining the reduced sized medial portion.
Each flexure bearing further comprises a spacer member between the proximal ends of the two diverging arms.
Each diverging arm comprises first and second parallel and spaced apart blades.
Each diverging arm comprises proximal and distal end spacers between the first and second parallel and spaced apart blades.
Each diverging arm further comprises a filler body between the first and second parallel and spaced apart blades.
Referring now to FIGS. 17-19, in another embodiment, the haptic actuator 140 includes an actuator housing 141. The actuator housing 141 illustratively has a dimension in a length direction greater than a width direction. The actuator housing 141 may be ferritic. More particularly, the top and bottom of the actuator housing 141 may be ferritic. Of course other and/or additional portions of the actuator housing 141 may be ferritic.
The haptic actuator 140 also includes first and second coils 144, 145 carried by the actuator housing 141, for example, the top and the bottom, respectively. The first and second coils 144, 145 each illustratively have a loop shape or “racetrack” shape and are aligned in a stacked relation and spaced apart.
The haptic actuator 140 also includes a field member 150 carried by the actuator housing 140. The field member 150, similarly to the actuator housing 141, has a dimension in a length direction greater than a width direction. Thus, the field member 150 is reciprocally movable in the width direction (i.e., the y-direction). While the movement of the field member 150 is described as being moveable in one direction, i.e., a linear haptic actuator, it should be understood that in some embodiments, the field member may be movable in other directions, i.e., an angular haptic actuator, or may be a combination of both a linear and an angular haptic actuator.
The field member 150 illustratively includes permanent magnets 151, 152 between the first and second coils 144, 145. The permanent magnets 151, 152 may be neodymium, for example, and may be positioned in opposing directions with respect to their respective poles.
The permanent magnets 151, 152 also have a rectangular shape and are aligned along a length of the first and second coils 144, 145. While a pair of rectangular shaped permanent magnets is illustrated, it will be appreciated that there may be any number of permanent magnets having any shape between the first and second coils 145, 145.
The field member 150 also includes a mass 157 between the permanent magnets 151, 152. The mass 157 may be tungsten, for example. The mass 157 may be a different material and there may be more than one mass.
The haptic actuator 140 also includes respective flexure bearings 160 a, 160 b mounting each of first and second sides 153, 154 of the field member 150 to be reciprocally movable within the actuator housing 141 responsive to the first and second coils 144, 145. Each flexure bearing 160 a, 160 b includes a first end member 161 a, 161 b, and a second end member 162 a, 162 b. The second end member 161 a, 161 b is coupled to an adjacent side 153, 154 of the field member 150. The second end member 162 a, 162 b has a slot 159 b therein (FIG. 19) receiving the adjacent side 153, 154 of the field member 150 therein.
Each flexure bearing 160 a, 160 b also includes a pair of parallel spaced apart flexible arms 163 a, 163 b coupled between the first and second end members 161 a, 161 b, 162 a, 162 b. Each flexure bearing 160 a, 160 b may have more than one pair of parallel spaced apart flexible arms 163 a, 163 b.
The pair of parallel spaced apart flexible arms 163 a, 163 b illustratively has a non-uniform thickness. Referring briefly to FIGS. 20, 21, and 22, in some embodiments, the pair of parallel spaced apart flexible arms 163 a′ may include an enlarged width medial portion 167 a′ (FIG. 20), enlarged width end portion's 168 a″, 168 b″ (FIG. 21), and/or one or more openings 169 a′″ therein (FIG. 22). By having a non-uniform thickness or having an opening therethrough, stress areas, which may be referred to as “stress hot spots,” may be reduced by reducing the amount of material, thereby also increasing displacement.
Additionally, it may be desirable for the pair of parallel spaced apart flexible arms 163 a, 1613 b to have a thickness that is a few times smaller than the height thereof. This may maintain a reasonable stiffness in directions other than along the motion axis, for example, as will be appreciated by those skilled in the art. More particularly, the pair of parallel spaced apart flexible arms 163 a, 163 b may have a thickness that is greater than or equal to half of the distance of the travel thereof (i.e., displacement) to reduce nonlinear stiffening. Reasonable nonlinear stiffening may be particularly advantageous for widening the spectrum, as will be appreciated by those skilled in the art.
Each flexure bearing 160 a, 160 b also includes an anchor member 164 a, 164 b coupled to the first end member 161 a, 161 b and coupled to the actuator housing 141. The anchor member 164 a, 164 b is also spaced from the second end member 162 a, 162 b. The anchor member 164 a, 164 b includes a T-shaped anchor body 165 a, 165 b and a pair of parallel spaced apart flexure arms 166 a, 166 b extending between the anchor body and the first end member 161 a, 161 b. In some embodiments, the anchor body 165 a, 165 b may have another shape.
The flexure bearings 160 a, 160 b mount each of the first and second sides 153, 154 of the field member 150 to be reciprocally movable within the actuator housing 141 responsive to the coils 144, 145. More particularly, the flexure bearings 160 a, 160 b move or flex in the direction of the field member 150 and return it to the equilibrium position. Overall flexure or movement of each flexure bearing 160 a, 160 b is about 1/10 of the length of the flexure bearing.
The haptic actuator 140 advantageously does not include, relative to other types of haptic actuators, shafts and/or bearings to constrain the motion of the mass 157 in a desired direction. Typically, to constrain angular motions, a second shaft or relatively complex stabilization techniques, such as stabilization magnets would be used. However, stabilization magnets may make the haptic actuator more complex, more unreliable, and increasingly expensive. By using the flexure bearings 160 a, 160 b, movement is generally constrained in every direction except the desired direction, and several relatively expensive parts may be omitted, such as shafts, precise bearings (round/slot), and springs, resulting in a more simple haptic actuator 140.
A method aspect is directed to a method of making a haptic actuator 140. The method may include positioning at least one coil 144, 145 to be carried by an actuator housing 141 and positioning a field member 50 having opposing first and second sides 153, 154 within the actuator housing 141. The method also includes positioning a respective flexure bearing 160 a, 160 b to mount each of the first and second sides 153, 154 of the field member 150 to be reciprocally movable within the housing responsive to the at least one coil 144, 145. Each flexure bearing 160 a, 1610 b includes a first end member 161 a, 161 b, a second end member 162 a, 162 b coupled to an adjacent side of the field member, a pair of parallel spaced apart flexible arms 163 a, 163 b coupled between the first and second end members, and an anchor member 164 a, 164 b coupled to the first end member and coupled to the actuator housing.
Referring now to FIG. 23 in another embodiment, the haptic actuator 140″″ may include permanent magnets 151″″, 152″″ carried by the housing 141″″, and the field member 150″″ may include one or more coils 144″″, 145″″ that cooperate with the permanent magnets. In other words, in contrast to the embodiment described above, the permanent magnets 151″″, 152″″ are stationary (i.e., carried by the actuator housing 141″″) and the coils 144″″, 145″″, as part of the field member 150″″, are moving (i.e., connected to the mass). Of course, there may be any number of coils 144″″, 145″″ and/or permanent magnets 151″″, 152″″.
Referring now to FIG. 24, another embodiment of a haptic actuator 240 is illustrated. Similar to the haptic actuator 140 described above, the haptic actuator 240 includes an actuator housing 241 having a dimension in a length direction greater than a width direction and a coil 244 carried by the actuator housing. The coil 244 illustratively has a loop shape. A second coil, not shown, may be carried by the actuator housing 241 in spaced relation from the coil 244. Of course, there may be any number of coils 244, and the coil may have a different shape.
The haptic actuator 240 also includes a field member 250 having opposing first and second sides 253, 254. The field member 250, similarly to the actuator housing 241, has a dimension in a length direction greater than a width direction. Thus, the field member 250 is reciprocally movable in the width direction (i.e., the y-direction). While the movement of the field member 250 is described as being moveable in one direction, i.e., a linear haptic actuator, it should be understood that in some embodiments, the field member may be movable in other directions, i.e., an angular haptic actuator, or may be a combination of both a linear and an angular haptic actuator.
The field member 250 includes permanent magnets 251, 252 under the coil 244, or between the first and second coils. The permanent magnets 151, 152 may be neodymium, for example, and may be positioned in opposing directions with respect to their respective poles.
The permanent magnets 251, 252 also have a rectangular shape and are aligned along a length of the coil 244. While a pair of rectangular shaped permanent magnets is illustrated, it will be appreciated that there may be any number of permanent magnets having any shape.
The field member 250 also includes a mass 257 adjacent the permanent magnets 251, 252. The mass 257 may be tungsten, for example. The mass 257 may be a different material and there may be more than one mass.
The haptic actuator 240 also includes a flexure bearing 260 mounting each of the first and second sides 253, 254 of the field member 250 to be reciprocally movable within the actuator housing 241 responsive to the coil 244. The flexure bearing 260 includes first and second opposing end members 261 a, 261 b, and two pairs of parallel spaced apart flexible arms 262 a-262 b, 263 a-263 b coupled between the first and second end members and spaced apart on opposing sides of the field member 250. In other embodiments, there may be more than two pairs of parallel spaced apart flexible arms 262 a-262 b, 263 a-263 b, or only one pair.
The haptic actuator 240 also includes first and second anchor members 264 a-264 b, 265 a-265 b each having a rectangular shape and respectively coupling one of each of the two pairs of parallel spaced apart flexible arms 262 a-262 b, 263 a-263 b. The first anchor members 264 a, 264 b are illustratively coupled between inner ones of the two pairs of the parallel spaced apart flexible arms and the adjacent portions of the field member 250. In particular, the first anchor members 264 a, 264 b are coupled to a medial portion of the field member 250 and a medial portion of the inner ones 262 b, 263 b of the pairs of parallel spaced apart flexible arms. In some embodiments, for example, where there is a single pair of parallel spaced apart flexible arms, there may be a single first anchor. In other embodiments, there may be more than two first anchors 264 a, 264 b.
The second anchor members 265 a, 265 b respectively couple the outer ones 262 a-262 b of each pair of parallel spaced apart flexible arms to adjacent portions of the actuator housing 241. In particular, the second anchor members 265 a, 265 b are coupled to a medial portion of the actuator housing 141 and a medial portion of the outer ones 263 a, 262 a of the pairs of the parallel spaced apart flexible arms respectively. In some embodiments, for example, where there is a single pair of parallel spaced apart flexible arms 262 a-262 b, 263 a-263 b, there may be a single second anchor member. In other embodiments, there may be more than two second anchor members 265 a, 265 b. Moreover, while the first and second anchor members 264 a-264 b, 265 a-265 b have been described as being rectangular, in some embodiments the first and second anchor members may be a different shape.
Each of the pairs of parallel spaced apart flexible arms 262 a-262 b, 263 a-263 b illustratively has a non-uniform height. Referring briefly to FIG. 25, in some embodiments, each of the pairs of parallel spaced apart flexible arms 263 a′ may include one or more openings therein 269′. By having a non-uniform height or having an opening therethrough, stress areas, which may be referred to as “stress hot spots,” may be reduced by reducing the amount of material, thereby also increasing displacement.
A method aspect is directed to a method of making an actuator 240. The method includes positioning at least one coil 244 to be carried by the actuator housing 241. The method also includes positioning a field member 250 having opposing first and second sides 253, 254 within the housing and positioning the flexure bearing 260 to mount each of the first and second sides of the field member to be reciprocally movable within the housing responsive to the at least one coil 244.
Referring now to FIG. 26, in another embodiment, the haptic actuator 240″ may include permanent magnets 251″, 252″ carried by the housing 241″, and the field member 250″ may include one or more coils 244″ that cooperate with the permanent magnets. In other words, in contrast to the embodiment described above, the permanent magnets 251″, 252″ are stationary (i.e., carried by the actuator housing 241″) and the coil 244″, as part of the field member 250″ is moving (i.e., connected to the masses 257″). Of course, there may be any number of coils and/or permanent magnets. For example, another set of permanent magnets may be carried on opposing sides of the coil 244″ than the first and second magnets 251″, 252″
Referring now to FIGS. 27 and 28, another embodiment of a haptic actuator 340 is illustrated. The haptic actuator 340 includes an actuator housing 341 having a dimension in a length direction greater than a width direction and first and second sets of coils 344 a-344 d, 345 a-345 d are carried by the actuator housing 341 in spaced apart relation by the top and bottom of the actuator housing. The coils 344 a-344 d, 345 a-345 d each illustratively have a loop shape and each extends along a width of the actuator housing 341. Each of the first set of coils 344 a-344 d is in side-by-side relation. Each of the second set of coils 345 a-345 d, is also in side-by-side relation. While four first coils 344 a-344 d and four second coils 345 a-345 d are illustrated, it will be appreciated by those skilled in the art that there may be any number of coils 344 a-344 d, 345 a-345 d, and the coils may have a different shape.
The haptic actuator 340 also includes a field member 350 having opposing first and second sides 353, 354. The field member 350, similarly to the actuator housing 341, has a dimension in a length direction greater than a width direction. Thus, the field member 350 is reciprocally movable in the length direction (i.e., the x-direction). While the movement of the field member 350 is described as being moveable in one direction, i.e., a linear haptic actuator, it should be understood that in some embodiments, the field member may be movable in other directions, i.e., an angular haptic actuator, or may be a combination of both a linear and an angular haptic actuator.
The field member 350 includes permanent magnets 351 a-351 e between the first and second sets of coils 244 a-244 d, 245 a-345 d. The permanent magnets 351 a-351 e may be neodymium, for example, and may be positioned in opposing directions with respect to their respective poles.
The permanent magnets 351 a-351 e also each have a rectangular shape and are spaced apart along a length of the actuator housing 341. While rectangular shaped permanent magnets 351 a-351 e are illustrated, it will be appreciated that there may be any number of permanent magnets having any shape between the first and second coils 344 a-344 d, 345 a-345 d.
The field member 350 also includes masses 357 a-357 d between the permanent magnets 351 a-351 e. The masses 357 a-357 d may be tungsten, for example. The masses 357 a-357 d may be a different material and there may be more or less than the three masses illustrated. The masses 357 a-357 d may be part of a body of the field member 350, for example members extending across the actuator housing 341.
The haptic actuator 340 also includes a respective flexure bearing 360 mounting each of the first and second sides 353, 354 of the field member 350 to be reciprocally movable within the actuator housing 341 responsive to the first and second sets of coils 344 a-344 d, 345 a-345 d. Each flexure bearing 360 includes a first anchor member 361 coupled to an adjacent portion of the actuator housing 341, more particularly, adjacent an end and a side (i.e., a corner) of the actuator housing. A second anchor member 362 is coupled to an adjacent side of the field member 350 and also adjacent the first side 347 a of the actuator housing 341. The first and second anchor members 361, 362 are illustratively spaced apart at an initial at-rest position. However, under compression, for example, the first and second anchor members 361, 362 may be in contact, as will be appreciated by those skilled in the art.
A first flexible arm 363 couples the first and second anchor members 361, 362 together. The first flexible arm 363 has a bend therein to define a V-shape, for example. The first flexible arm 363 may have more than one bend therein.
Each flexure bearing 360 also includes a third anchor member 364 coupled to an adjacent portion of the actuator housing 341, illustratively in a corner opposite the first anchor member 361. A fourth anchor member 365 is coupled to an adjacent side of the field member 350 opposite the second anchor member 362 and also adjacent the second side of the actuator housing 341. A second flexible arm 366 couples the third and fourth anchor members 364, 365 together and has a bend therein, for example, to also define a V-shape. The second flexible arm 366 may have more than one bend therein.
A method aspect is directed to a method of making a haptic actuator 340. The method includes positioning at least one coil 344 a-344 d to be carried by an actuator housing 341 and positioning a field member 350 having opposing first and second sides 353, 354 within the actuator housing. The method also includes positioning respective flexure bearings 360 to mount each of the first and second sides 353, 354 of the field member 350 to be reciprocally movable within the actuator housing responsive to the at least one coil.
Referring now to FIG. 29, in another embodiment, the haptic actuator 340′ may include permanent magnets 351 a′-351 e′ carried by the housing 341′, and the field member 350′ may include coils 344 a′-344 d′ that cooperate with the permanent magnets. In other words, in contrast to the embodiment described above, the permanent magnets 351 a′-351 e′ are stationary (i.e., carried by the actuator housing 341′) and the coils 344 a′-344 d′ as part of the field member 350′ are moving (i.e., connected to the masses 357 a′-357 d′). Of course, there may be any number of coils and/or permanent magnets. For example, there may be a second set of permanent magnets carried on an opposing side of the coils 344 a′-344 d′.
Referring now to FIGS. 30 and 31, another embodiment of a haptic actuator 440 is illustrated. The haptic actuator 440 includes an actuator housing 441 having a dimension in a length direction greater than a width direction and first and second sets of coils 444 a-444 d, 445 a-445 d are carried by the actuator housing in spaced apart relation by the top and bottom of the actuator housing. The coils 444 a-444 d, 445 a-445 d each illustratively has a loop shape and each extends along a width of the actuator housing 441. Each of the first set of coils 444 a-444 d is in side-by-side relation. Each of the second set of coils 445 a-445 d, is also in side-by-side relation. While four first coils 444 a-444 d and four second coils 445 a-445 d are illustrated, it will be appreciated by those skilled in the art that there may be any number of coils, and the coils may have a different shape.
The haptic actuator 440 also includes a field member 450 having opposing first and second sides 453, 454. The field member 450, similarly to the actuator housing 441, has a dimension in a length direction greater than a width direction. Thus, the field member 450 is reciprocally movable in the length direction (i.e., the x-direction). While the movement of the field member 450 is described as being moveable in one direction, i.e., a linear haptic actuator, it should be understood that in some embodiments, the field member may be movable in other directions, i.e., an angular haptic actuator, or may be a combination of both a linear and an angular haptic actuator.
The field member 450 includes permanent magnets 451 a-451 e between the first and second sets of coils 444 a-444 d, 445 a-445 d. The permanent magnets 451 a-451 e may be neodymium, for example, and may be positioned in opposing directions with respect to their respective poles.
The permanent magnets 451 a-451 e also each have a rectangular shape and are spaced apart along a length of the actuator housing 441. While rectangular shaped permanent magnets 451 a-451 e are illustrated, it will be appreciated that there may be any number of permanent magnets having any shape.
The field member 450 also includes a body 456 that includes masses 457 a-457 d between the permanent magnets 451 a-451 e. The masses 457 a-457 d may be tungsten, for example. The masses 457 a-457 d may be a different material and there may be any number of masses. The field member 450 also includes shafts 458 a, 458 b extending outwardly from the body 456 adjacent the first and second ends or sides 453, 454.
The haptic actuator 440 also illustratively includes a frame member 470 extending along a first side of the actuator housing 441. A respective flexure bearing 460 is carried by the frame member 470 and mounts each of the first and second ends 453, 454 of the field member 450 to be reciprocally movable within the actuator housing 441 responsive to the first and second coils 444 a-444 d, 445 a-445 d.
Each flexure bearing 460 includes a base member 461 coupled to an end of the frame member 470, and spaced apart flexible arms 462 a, 462 b extending outwardly from the base member to a second side of the actuator housing 441. The spaced apart flexible arms 462 a, 462 b are spaced apart at distal ends thereof at an initial at-rest position, and may be parallel at the initial at-rest position. When the flexure bearing 460 is under compression, the spaced apart flexible arms 462 a, 462 b may contact one another at the distal ends thereof. The spaced apart flexible arms 462 a, 462 b also illustratively include an opening 464 a, 464 b therein for receiving respective ones of the shafts 458 a, 458 b therein.
The haptic actuator 440 also includes a respective guide member 471 a, 471 b coupled between a respective end of the actuator housing 441 and a respective flexure bearing 460. Each guide member 471 a, 471 b has an opening 472 a, 472 b therein for receiving a respective one of the shafts 458 a, 458 b. Each guide member 471 a, 471 b also has a tapered shape, and more particularly, a width that is decreasing along the width thereof. A thinner or smaller end of each guide member is adjacent the base member of each flexure bearing 460, for example, to permit the field member 450 to have a larger displacement along the movement or travel path (i.e., the x-axis). As will be appreciated by those skilled in the art, the distal ends of the spaced apart flexible arms slide on the shafts 458 a, 458 b. In some embodiments, there may be no shafts and openings.
A method aspect is directed to a method of making a haptic actuator 440. The method includes positioning at least one coil 444 a-444 d, 445 a-445 d to be carried by an actuator housing 410 and positioning a field member 450 having opposing first and second sides 453, 454 within the actuator housing. The method also includes positioning the respective flexure bearing 460 to mount each of the first and second sides 453, 454 of the field member 450 to be reciprocally movable within the housing responsive to the at least one coil 444 a-444 d, 445 a-445 d.
Referring to FIG. 32, in another embodiment, the haptic actuator 440′ may include first and second sets of permanent magnets 451 a′-451 e′, 452 a′-352 e′ carried by the housing, and the field member 450′ may include coils 444 a′-444 d′ that cooperate with the permanent magnets, and more particularly, that are between the first and second sets of permanent magnets. In other words, in contrast to the embodiment described above, the permanent magnets 451 a′-451 e′, 452 a′-452 e′ are stationary (i.e., carried by the actuator housing 441′) and the coils 444 a′-444 d′ as part of the field member 450′ are moving (i.e., connected to the masses). Of course, there may be any number of coils and/or permanent magnets.
Referring now to FIGS. 33 and 34, another embodiment of a haptic actuator 540 is illustrated. The haptic actuator 540 may include an actuator housing 541 having a dimension in a length direction greater than a width direction and first and second sets of coils carried by the actuator housing in spaced apart relation, for example, as described above.
The haptic actuator 540 also includes a field member 550 having opposing first and second sides 553, 554. The field member 550, similarly to the actuator housing, has a dimension in a length direction greater than a width direction. Thus, the field member 550 is reciprocally movable in the length direction (i.e., the x-direction). While the movement of the field member 550 is described as being moveable in one direction, i.e., a linear haptic actuator, it should be understood that in some embodiments, the field member may be movable in other directions, i.e., an angular haptic actuator, or may be a combination of both a linear and an angular haptic actuator.
The field member 550 includes permanent magnets 551 a-551 f that are positioned between the first and second sets of coils. The permanent magnets 551 a-551 f may be neodymium, for example, and may be positioned in opposing directions with respect to their respective poles.
The permanent magnets 551 a-551 f also each have a rectangular shape and are spaced apart along a length of the field member 550, and more particularly, spaced within openings 555 a-555 f in the field member 550. While rectangular shaped permanent magnets 551 a-551 f are illustrated, it will be appreciated that there may be any number of permanent magnets having any shape between and the openings 555 a-555 f may also have any shape.
The field member 550 also includes masses 557 a-557 e between the permanent magnets 551 a-551 f. The masses 557 a-557 e are illustratively part of the body of the field member 550, for example, members extending across the field member and defining the openings 555 a-555 f. Of course, the masses 557 a-557 e can be arranged as described above with respect to the other embodiments.
The haptic actuator 540 also includes a respective flexure bearing 560 mounting each of the first and second sides 553, 554 of the field member 550 to be reciprocally movable within the actuator housing 541 responsive to the first and second sets of coils. Each flexure bearing 560 includes a flexible member 563 having a wishbone or Y-shape, with two diverging arms 562 a, 562 b joined together at proximal ends 575 a, 575 b. The two diverging arms 562 a, 562 b have spaced distal ends 576 a, 576 b operatively coupled between adjacent portions of the field member 550 and the housing.
The flexible member 563 has a bend 578 therein joining together the two diverging arms 562 a, 562 b at the proximal ends 575 a, 575 b. The bend 578 causes the two diverging arms 562 a, 562 b to be spaced apart at the distal ends 576 a, 576 b. Illustratively, the two diverging arms 562 a, 562 b include a parallel portion 577 a, 577 b at the distal ends 576 a, 576 b. In some embodiments, the distal ends 576 a, 576 b of the two diverging arms 562 a, 562 b may continue to diverge instead of turning or becoming parallel.
Referring briefly to FIG. 35 in another embodiment, the two diverging arms 562 a′, 552 b′ are parallel at the proximal ends 575 a′, 575 b′ and are coupled together, for example, via a weld joint 579′.
Referring now to FIG. 36, in another embodiment, each flexure bearing 560″ may include first and second flexible members 563 a″, 563 b″. A respective anchor member 561″ is coupled to an adjacent portion of the housing and spaced from an adjacent portion of the field member 550″. The anchor member 561″ is illustratively L-shaped, having a length aligned along the adjacent portion of the housing. The first and second flexible members 563 a″, 563 b″ are coupled between the respective anchor member 561″ and the adjacent portions of the field member 550″. The first and second flexible members 563 a″, 563 b″ are arranged so that the proximal end of the first flexible member 563 a″ is adjacent the distal end of the second flexible member 563 b″.
The table below illustrates exemplary mode shapes and frequencies versus design. Indeed, as will be appreciated by those skilled in the art, the wishbone or Y-shaped design of the flexible member 563 may provide increased stability versus a U or V-shaped flexible member, for example.


	Mode

	Rocking
X Mode	Z Mode	Z Mode	Y Mode

U/V Shaped	100 Hz	285 Hz	316 Hz	329 Hz
w/o magnetic
anti-spring
Wishbone	100 Hz	381 Hz	382 Hz	405 Hz
Shaped w/o
magnetic
anti-spring
U/V Shaped	100 Hz	Unstable	128 Hz	329 Hz
w/magnetic
anti-spring
Wishbone	100 Hz	250 Hz	251 Hz	405 Hz
Shaped
w/magnetic
anti-spring

A method aspect is directed to a method of making a haptic actuator 540. The method includes positioning at least one coil to be carried by an actuator housing and positioning a field member 550 having opposing first and second sides 553, 554 within the actuator housing. The method also includes positioning respective flexure bearings 560 to mount each of the first and second sides 553, 554 of the field member 550 to be reciprocally movable within the actuator housing responsive to the at least one coil.
Referring now to FIG. 37, another embodiment of a flexure bearing 660 is illustrated for use with a field member in a haptic actuator as described above. As will be appreciated by those skilled in the art and along the lines as described above, two flexure bearings 660 are typically used in the haptic actuator.
Each flexure bearing 660 includes a first anchor member 661 coupled to an adjacent portion of the actuator housing, and more particularly, adjacent an end and a side (i.e., a corner) of the actuator housing. A second anchor member 662 is coupled to an adjacent side of the field member and also adjacent the first side of the actuator housing. The first and second anchor members 661, 662 are illustratively spaced apart at an initial at-rest position. However, under compression, for example, the first and second anchor members 661, 662 may be in contact, as will be appreciated by those skilled in the art.
First and second parallel, spaced apart flexible arms 663 a, 663 b each couple the first and second anchor members 661, 662 together. The first and second flexible arms 663 a, 663 b each has a bend 678 a, 678 b therein to define a V-shape, for example. The first and second parallel and spaced apart flexible arms 663 a, 663 b may each have more than one bend therein. The first and second parallel, spaced apart flexible arms 663 a, 663 b may each have a varying thickness along a length thereof (e.g., from the first anchor member 661 through the bend 678 a, 678 b to the second anchor member 662). While two parallel, spaced apart flexible arms are illustrated, it will be appreciated that any number of parallel, spaced apart flexible arms 663 a, 663 b may couple the first and second anchor members 661, 662.
A method aspect is directed to a method of making a haptic actuator. The method includes positioning at least one coil to be carried by an actuator housing and positioning a field member having opposing first and second sides within the actuator housing. The method also includes positioning respective flexure bearings 660 to mount each of the first and second sides of the field member to be reciprocally movable within the actuator housing responsive to the at least one coil.
Referring now to FIG. 38, in another embodiment, a respective flexure bearing 760 mounts each of the first and second sides of the field member 750 to be reciprocally movable within the housing 741 responsive to at least one coil. The field member 750 and at least one coil are similar to those described above and, thus, need no further discussion herein.
Each flexure bearing 760 includes nested flexible members 763 a, 763 b (i.e., having a chevron shape) each having a wishbone or Y-shape, with two diverging arms 762 a, 762 b joined together at spaced apart proximal ends 775 a, 775 b. The two diverging arms 762 a, 762 b have spaced distal ends 776 a, 776 b operatively coupled between adjacent portions of the field member 750 and the housing 741. The two diverging arms 762 a, 762 b are parallel at the proximal ends 775 a, 775 b and are coupled together, for example, via a coupling member 779. The coupling member 781 (e.g., a spacer) may be coupled to the two diverging arms 762 a, 762 b of each of the nested flexible members 763 a, 763 b by way of weld joints 779, for example, laser weld joints. The two diverging arms 762 a, 762 b of each nested flexible member 763 a, 763 b are also parallel to the adjacent nested flexible member.
The two diverging arms 762 a, 762 b of each of the nested flexible members 763 a, 763 b at the distal ends 776 a, 776 b may be coupled to the adjacent portions of the field member 750 and housing 741 by an adhesive bond. The respective adjacent portions of the field member 750 and housing 741 are spaced apart along the length of the field member and housing. Of course, the two diverging arms 762 a, 762 b of each of the nested flexible members 763 a, 763 b at the distal ends 776 a, 776 b may be coupled to the adjacent portions of the field member 750 and housing 741 by other coupling techniques, for example, mechanical fasteners, epoxies, etc.
Mechanical stops 782 a are illustratively coupled between the spaced apart distal ends 776 a, 776 b of the two diverging arms 762 a, 762 b of the nested flexible members 763 a, 763 b. Mechanical stops 782 b are also illustratively coupled to the field member 750 adjacent the proximal ends 775 a, 775 b of the two diverging arms 762 a, 762 b of the flexible members 763 a, 763 b. The mechanical stops 782 a, 782 b may include rubber or other material. There may a different number of mechanical stops 782 a, 782 b, and the mechanical stops may be positioned elsewhere. In some embodiments, mechanical stops 782 a, 782 b, may not be included.
An exemplary assembly process of the flexure bearing 760 will now be described. A first step may include assembly of the two diverging arms 762 a, 762 b of the inner nested flexible member 763 a. The two diverging arms 762 a, 762 b or flexure legs and coupling member or linkage are mounted in position by carrier tabs that have notches therein, which are pressed together and welded, for example. 1.3 mm long welding spacing provides a standoff between zones affected by welding heat and high-strain locations of the flexure bearing 760.
The lower or inner nested flexible member and corresponding mounts are assembled and mounted by positioning the lower flexure, inner mount, outer mount, and hard stops in a fixture or bearing by carrier tabs, pressed together and welded. The upper flexure halves are assembled into the flexure assembly or bearing by positioning upper flexure legs or the outer diverging arms in a fixture by carrier tabs, pressed together and welded. It should be noted that there may be an increased failure risk at the welding point during assembly due to a relatively small gap between upper flexure halves and lower flexure halves at the push location due to tight tolerances at small gaps (inner and outer nested flexible members). Relatively tight gaps can be widened by using a profile bar rather than a sheet metal linkage and an offset between upper and lower flexures on inner and outer flexure mounts. The carrier tabs are then removed, by “wiggling” or back and forth motion, flexure glue added, bumpers attached, and a soft stop attached.
Referring now to FIG. 39, in another embodiment, a first pair of coupling members 781 a′, for example, in the form of spacers, couple each of the nested flexible members 763 a′, 763 b′, and more particularly, the proximal ends 775 a′, 775 b′ of the two diverging arms 762 a′, 762 b′, together. The first pair of coupling members 781 a′ may be welded between the two diverging arms of the inner and outer nested flexible members 763 a′, 763 b′, for example, via laser welding, to create weld joints 779 b′ therebetween. Illustratively, there is no coupling member or spacer between proximal ends of the two diverging arms 762 a′ of the inner nested flexible member 763 a′, as the two diverging arms are welded together forming a weld joint 779 a′ therebetween. A second pair of coupling members 781 b′ are coupled between the distal ends 776 a′, 776 b′ of two diverging arms 762 a′, 762 b′ of the inner and outer nested flexible members 763 a′, 763 b′.
The spaced apart distal ends 776 a′, 776 b′ of the two diverging arms 762 a′, 762 b′ of each of the inner and outer nested flexible members 763 a′, 763 b′ couple to the same adjacent portion of the housing 741′ and field member 750′. Since the inner nested flexible member 763 a′ is spaced from direct contact or coupling with the adjacent portions of the housing and field member 750′, it is the second pair of coupling members 781 b′ that provides the operative coupling to the adjacent portions of the field member and the housing. While not illustrated, mechanical stops may be included.
The parallel proximal ends 775 a′, 775 b′ of the two diverging arms 762 a′ of the inner nested flexible member 763 a′ are illustratively longer in length than their counterparts of the outer nested flexible member 763 b′. The spaced distal ends 776 a′, 776 b′ of the two diverging arms of the outer nested flexible member 763 b′ are illustratively longer in length than their counterparts of the inner nested flexible member. This arrangement may advantageously achieve a desired spacing between the inner and outer nested flexible members 763 a′, 763 b′.
Referring now briefly to FIG. 40, in another embodiment, the proximal and distal ends 775 a″, 775 b″, 776 a″, 776 b″ of the two diverging arms 762 a″, 762 b″ of the inner and outer nested flexible members 763 a″, 763 b″ are relatively the same length. The result is that the spacing between the inner and outer nested flexible members 763 a″, 763 b″ are determined by the width of the first and second pairs of coupling bodies 781 a″, 781 b″. The distal ends 776 a″, 776 b″ of each of the inner and outer nested flexible members 763 a″, 763 b″ couple the same adjacent portion of the field member 750″ and housing 741″.
Referring to FIG. 41, similar to the embodiments described in FIG. 39, the parallel proximal ends 775 a′″, 775 b′″ of the two diverging arms 762 a′″ of the inner nested flexible member 763 a′″ are illustratively longer in length than their counterparts of the outer nested flexible member 763 b′″. There is no coupling member coupling together the proximal ends 775 a′″, 775 b′″ of the inner and outer nested flexible members 763 a′″, 763 b′″, as the proximal ends of the inner and outer nested flexible members may be coupled by way of a respective weld joints 779′″. The spaced apart distal ends 776 a′″, 776 b′″ of the inner and outer nested flexible members 763 a′″, 763 b′″ are operatively coupled to spaced apart adjacent portions of the field member 750′″ and housing 741′″ via a coupling member 781 b′″ (inner) and directly (outer) thereto.
Referring now to FIG. 42, in another embodiment, similar to the embodiment described in FIG. 38, a coupling member 781″″ couples together the proximal ends 775 a″″, 775 b″″ of the inner and outer nested flexible members 763 a″″, 763 b″″. The location at which the inner and outer nested flexible members 763 a″″, 763 b″″ couple to the coupling member 781″″ is spaced apart to create spacing between the inner and outer nested flexible members. For further spacing, for example, the diverging arms 762 b″″ of the outer nested flexible member 763 b″″ each have a bend 783 b″″ therein adjacent the proximal ends 775 b″″ thereof. Each of the diverging arms 762 a″″ of the inner nested flexible member 763 a″″ also, for example, for spacing, have a bend 783 a″″ therein adjacent the distal ends 776 a″″ thereof.
The tables below shows a comparison between the different, above-described, flexure bearings.


		Linear X	Linear Y	Linear Z
		Stiffness	Stiffness	Stiffness
Architecture	Layout	(N/mm)	(N/mm)	(N/mm)

Chevron	Offset 0.20 mm X,	1.3	70	77
(FIG. 24)	Offset 0.00 mm Y,
	2x linkage 0.10 mm
Chevron	Offset 0.20 mm X,	1.2	99	77
(FIG. 23)	Offset 2.20 mm Y,
	2x linkage 0.10 mm
Chevron	Offset 0.10 mm X,	1.4	99	108
(FIG. 25)	Offset 2.20 mm Y,
	1x linkage 0.10 mm
Chevron	Offset 0.00 mm X,	1.5	93	94
(FIG. 22)	Offset 2.70 mm Y,
	1x linkage 0.20 mm
Chevron	Offset 0.00 mm X,	1.7	177	71
Asymmetric	Offset 2.20 mm Y,
Flexure	1x linkage 0.20 mm
(FIG. 26)
Single	One edge	0.6	18	48
Wishbone	of mounts
(reference)
Double	Opposing edges	1.2	35	95
wishbone	of mounts
(not nested;
reference)


		Bending X	Bending Y	Bending Z
		Stiffness	Stiffness	Stiffness
Architecture	Layout	(N/mm)	(N/mm)	(N/mm)

Chevron	Offset 0.20 mm X,	1.3	31	18
(FIG. 24)	Offset 0.00 mm Y,
	2x linkage 0.10 mm
Chevron	Offset 0.20 mm X,	1.2	63	27
(FIG. 23)	Offset 2.20 mm Y,
	2x linkage 0.10 mm
Chevron	Offset 0.10 mm X,	1.4	60	34
(FIG. 25)	Offset 2.20 mm Y,
	1x linkage 0.10 mm
Chevron	Offset 0.00 mm X,	1.5	59	26
(FIG. 22)	Offset 2.70 mm Y,
	1x linkage 0.20 mm
Chevron	Offset 0.00 mm X,	1.6	95	49
Asymmetric	Offset 2.20 mm Y,
Flexure	1x linkage 0.20 mm
(FIG. 26)
Single	One edge	0.6	13	17
Wishbone	of mounts
(reference)
Double	Opposing edges	1.2	27	24
wishbone	of mounts
(not nested;
reference)

As will be appreciated by those skilled in the art, a proximal end of a flexible member may bend toward the housing or field member during compression or tension. Moreover, there may be motion in directions other than linear compression or tension, which may be undesirable and result in crashing. A single wishbone shaped flexible member may also be subject to rotation and buckling.
The nested flexible members having a wishbone shape advantageously may restrict movement of the proximal end of the flexure member and may restrict movement of the field member in directions other than linear compression and tension. However, the nested flexible members having a wishbone shape may be subject to increased x-direction, y-direction, and z-direction drop and fatigue risk relative to other types of flexible members. Simulated comparisons between a flexure bearing having nested flexible members each having a wishbone shape relative to a U/V shape flexure bearing are below in the tables.


		Nested Wishbone
	U/V Shaped	Flexure
Parameter	Flexure	(% change)

X-Translation	133	Hz	−5%
Frequency (X)
Y-Translation	511	Hz	+53%
Frequency (Y)
Z-Bending	436	Hz	+16%
Frequency (Z)			(w/anti-spring)
XY-Rotation	732	Hz	+34%
Frequency (ZZ)
YZ-Rotation	1027	Hz	−18%
Frequency (XX)			(w/anti-spring)
2^ndZ-Bending	1193	Hz	+46%
Frequency (YY)
3^rdZ-Bending	2402	Hz	+0.5%
Frequency
XY-Flexure	3907	Hz	+189%
Frequency
X-Drop/(Nominal)	0.65 (0.42)	GPa	+17%
Peak Stress

Z-Drop Peak	2.42	+15%
Stress

Indeed, while various embodiments have been described with respect to various flexure bearing configurations and coil and permanent magnet configurations, it should be understood that elements from any of the embodiments may be used with any of the other embodiments. For example, a given haptic actuator may include more than one type of flexure bearing as described herein, for example, to not only allow movement of the field member, but return it to an equilibrium position.
A haptic actuator comprises a housing, at least one coil carried by the housing, a field member having opposing first and second sides, and a respective flexure bearing mounting each of the first and second sides of the field member to be reciprocally movable within the housing responsive to the at least one coil. Each flexure bearing comprises a plurality of nested flexible members each having a wishbone shape with two diverging arms joined together at proximal ends and having spaced distal ends operatively coupled between adjacent portions of the field member and the housing.
The haptic actuator further comprises a coupling member coupling together proximal ends of the plurality of nested flexible members.
The two diverging arms of a given flexible member are parallel with the two diverging arms of an adjacent nested flexible member of the plurality thereof.
Each of the two diverging arms of each of the plurality of nested flexible members has a bend therein.
The two diverging arms include respective portions being spaced apart adjacent the proximal ends.
The two diverging arms are coupled together at the proximal ends.
Each flexible member comprises a weld joint at the proximal ends.
The haptic actuator further comprises at least one adhesive bond coupling each flexible member to adjacent portions of the field member.
The haptic actuator further comprises a mechanical stop coupled between the spaced distal ends of a given flexible member.
The haptic actuator further comprises a mechanical stop coupled to the field member adjacent the proximal ends of the two diverging arms of a given flexible member.
An electronic device comprises a housing, wireless communications circuitry carried by the housing, and a haptic actuator carried by the housing. The haptic actuator comprises an actuator housing, at least one coil carried by the housing, a field member having opposing first and second sides, and a respective flexure bearing mounting each of the first and second sides of the field member to be reciprocally movable within the housing responsive to the at least one coil. Each flexure bearing comprises a plurality of nested flexible members each having a wishbone shape with two diverging arms joined together at proximal ends and having spaced distal ends operatively coupled between adjacent portions of the field member and the housing. The electronic device comprises a controller coupled to the wireless communications circuitry and the haptic actuator and configured to perform at least one wireless communications function and selectively operate the haptic actuator.
The haptic actuator further comprises a coupling member coupling together proximal ends of the plurality of nested flexible members.
The two diverging arms of a given flexible member are parallel with the two diverging arms of an adjacent nested flexible member of the plurality thereof.
Each of the two diverging arms of each of the plurality of nested flexible members has a bend therein.
The two diverging arms include respective portions being spaced apart adjacent the proximal ends.
A method of making a haptic actuator comprises positioning a respective flexure bearing to mount each of first and second sides of a field member to be reciprocally movable within a housing responsive to at least one coil, each flexure bearing comprising a plurality of nested flexible members each having a wishbone shape with two diverging arms joined together at proximal ends and having spaced distal ends operatively coupled between adjacent portions of the field member and the housing.
Each respective flexure bearing comprises a coupling member coupling together proximal ends of the plurality of nested flexible members.
The two diverging arms of a given flexible member are parallel with the two diverging arms of an adjacent nested flexible member of the plurality thereof.
Each of the two diverging arms of each of the plurality of nested flexible members has a bend therein.
The two diverging arms include respective portions being spaced apart adjacent the proximal ends.
Referring now additionally to FIGS. 43-44, in another embodiment the haptic actuator 1040 includes an actuator housing 1041. The actuator housing 1041 illustratively has a dimension in a length direction greater than a width direction. The actuator housing 1041 may include ferritic material in portions of or all of the actuator housing. For example, the top and bottom of the actuator housing 1041 may be ferritic. Of course other and/or additional portions of the actuator housing 1041 may be ferritic. The use of ferritic material in the actuator housing 1041 may improve performance, for example.
The haptic actuator 1040 also includes first and second coils 1044, 1045 carried by the actuator housing 1041, for example, the top and the bottom, respectively. The first and second coils 1044, 1045 may each have a loop shape or “racetrack” shape and are aligned in a stacked relation and spaced apart. There may be any number of first and second coils 1044, 1045, as will be appreciated by those skilled in the art. Moreover, in some embodiments, the first and/or second coils 1044, 1045 may be carried by the actuator housing around an exterior thereof, i.e., a circumferential voice coil.
The haptic actuator 1040 also includes a field member 1050 carried by the actuator housing 1041. The field member 1050, similarly to the actuator housing 1041, has a dimension in a length direction greater than a width direction. Thus, the field member 1050 is reciprocally movable in the width direction (i.e., the y-direction). While the movement of the field member 1050 is described as being moveable in one direction, i.e., a linear haptic actuator, it should be understood that in some embodiments, the field member may be movable in other directions, i.e., an angular haptic actuator, or may be a combination of both a linear and an angular haptic actuator.
The field member 1050 illustratively includes permanent magnets 1051 a-1051 c between the first and second coils 1044, 1045. The permanent magnets 1501 a-1051 c may be neodymium, for example, and may be positioned in opposing directions with respect to their respective poles.
The permanent magnets 1051 a-1501 c are aligned with the first and second coils 1044, 1045. While three permanent magnets 1051 a-1051 c are illustrated, it will be appreciated that there may be any number of permanent magnets having any shape between the first and second coils 1044, 1045. The permanent magnets 1051 a-1051 c may be arranged in a Halbach array, for example. Referring briefly to FIG. 45, in some embodiments, the position of the coils 1044′, 1045′ and the permanent magnets 1051 a′-1051 c′ may be reversed. In other words, the first and second coils 1044′, 1045′ may be carried by or part of the field member 1050′, while the permanent magnets 1051 a′-1051 c′ are stationary or carried by the actuator housing 1041′ (i.e., a moving coil configuration).
The haptic actuator 1040 also includes respective flexure bearings 1060 mounting each of first and second sides 1053, 1054 of the field member 1050 to be reciprocally movable within the actuator housing 1041 responsive to the first and second coils 1044, 1045. Each flexure bearing 1060 includes series coupled arms 1061 a-1061 c. While three arms 1061 a-1061 c are illustrated, it will be appreciated that there may be more than three arms. A first arm 1061 a has a fixed end 1062 a coupled to the actuator housing 1041, for example, by way of a first anchor member 1071.
A last arm 1061 c has a fixed end 1063 a this is coupled to the field member 1050. The last arm 1061 c may be coupled to the field member 1050 by way of a second anchor member 1072, for example. The first and last arms 1061 a, 1061 c may be coupled, respectively, to the actuator housing 1041 by other and/or additional interface members or directly without any anchor or other member.
Each flexure bearing 1060 also includes an intermediate arm 1061 b coupled between free ends 1062 b, 1063 b of the first and last arms 1061 a, 1061 c. The intermediate arm 1061 b has opposing free ends by way of coupling to the free ends 1062 b, 1063 b of the first and last arms 1061 a, 1061 c. Illustratively, the flexure bearing 1060 has first and second bends 1064 a, 1064 b therein at the transition between the first and intermediate arms 1061 a, 1061 b and the last and intermediate arms 1061 c, 1061 b, respectively. In some embodiments, the transition between adjacent series coupled arms may not be in the form of a bend, but instead may include spacers, weld joints, and/or other transitions. As will be appreciated by those skilled in the art, the flexure bearing 1060 may include additional arms, for example, additional intermediate arms that would be series coupled.
The first, intermediate, and last arms 1061 a-1061 c may include steel, titanium, and/or copper. The first, intermediate, and last arms 1061 a-1061 c may include other and/or additional materials.
Referring now to FIG. 46, each arm 1061 a″-1061 c″ has a blade shape having a length between respective ends, a thickness, and height with a varying profile defining a reduced sized medial portion 1065 a″-1065 c″. The varying profile that defines the reduced sized medial portions 1065 a″-1065 c″ illustratively is in the form of a curve between the ends.
Each flexure bearing 1060″ illustratively does not include a bend. Each arm 1061 a″-1061 c″ is coupled to the adjacent arm using a spacer member 1066 a″, 1066 b″ adjacent the ends. More particularly, a respective spacer member 1066 a″, 1066 b″ is between adjacent ends of the intermediate arm 1061 b″ and the first arm 1061 a″, and the intermediate arm and the last arm 1061 c″. A weld joint joins 1067 a″, 1067 b″ together each respective spacer member 1066 a″, 1066 b″ with the intermediate and first arms 1061 b″, 1061 a″, and intermediate and last arms 1061 c″.
The reduced size medial portion 1065 a″-1065 c″ may advantageously distribute stresses over each arm 1061 a″-1061 c″ thus constituting an improved use of the material. In contrast, in a flat arm, or uniform size arm, stresses are mostly distributed along edges of the arms. More particularly, each arm is patterned (e.g. stamped) with the illustrated curved pattern defining the reduced size medial portion 1065 a″-1065 c″ to distribute the stress more uniformly over the length of the arms and away from the weld joints to reduce the risk of fatigue and improve the flexure travel range at low frequencies by up to 1.5 times.
Referring now to FIGS. 47-51, in another embodiment, each arm 1061 a′″-1061 c′″ includes first and second parallel and spaced apart blades 1068 a′″, 1068 b′″. Each arm 1061 a′″-1061 c′″ has spacer members 1074′ between the first and second parallel and spaced apart blades 1068 a′″, 1068 b′″ at the ends thereof (e.g., at both free and fixed ends). Respective weld joints 1075′″ join together each of the plurality of spacer members 1074′″ and adjacent portions of the spaced apart blades 1068 a′″-1068 c′″. Further spacer members 1078′″ and respective weld joints 1079′″ join together the first and intermediate arms 1061 a′″, 1061 b″, and the last and intermediate arms 1061 c′″, 1061 b′″ at ends thereof.
Referring briefly to FIGS. 52 and 53 in another embodiment, each arm 1061 a″″-1061 c″″ may include a filler body 1081″″ between the first and second parallel and spaced apart blades 1068 a″″, 1068 b″″. The filler body 1081″″ may include a relatively soft material or bumper material, for example, an elastic material, silicone, and/or foam and follows the contour of the first and second blades 1068 a″″, 1068 b″″. The filler body 1081″″ may act as a crash stop, for example, to reduce failure in an event of a crash. Of course, the filler body 1081″″ may be another and/or include other materials, for example. As will be appreciated by those skilled in the art, the flexure bearing 1060″″, at a relatively low frequency, may not see between the filler body 1081″″, but upon a drop of the haptic actuator or at a relatively high frequency, the filler material provides increased protection against a failure. In some embodiments, the first and second spaced apart blades 1068 a″″, 1068 b″″ may be covered, partially or completely, in a bumper material.
As will be appreciated by those skilled in the art, by adding to the number of arms in a flexure bearing (e.g., going from two to three), the displacement and load may be distributed over more arms and reduce, e.g. proportionally, the fatigue risk for a same travel range. Furthermore, increasing the number of arms generally may increase the thickness of the flexure bearing for a given stiffness. Thus, the flexure bearings 1060, 1060″, 1060′″, 1060″″ described herein may be significantly more bulky than one with two arms, for example, for the same stiffness.
Increasing the number of arms may deteriorate the lateral stiffness of the flexure bearing especially in Y-axis and Z-axis directions, which may be considered the main tradeoff of the flexure bearings described herein as opposed to, for example, a two-arm V-shaped flexure bearing. The first and second parallel and spaced apart blades 1068 a′″, 1068 b′″ of each flexure arm 1061 a′″-1061 c′″ improve the lateral stiffness. Moreover, torsion, for example, at the free ends 1062 b′″, 1063 b′″ may be reduced, thus improving the actuator particularly in its higher modes. Frequency separation between a first mode (desired LRA motion in x-axis direction) and higher modes may also increase.
Still further, the free ends 1062 b′″, 1063 b′″ of the arms 1061 a′″, 1061 c′″ may act as a robust crash stop and may be used in addition to other crash stops that may be positioned along and/or adjacent the arms. Thus the risk of flexure deformation in the x-axis direction may be reduced, for example, during a drop.
A method aspect is directed to a method of making a haptic actuator 1040. The method includes positioning a respective flexure bearing 1060 to mount each of first and second sides 1053, 1054 of a field member 1050 to be reciprocally movable within a housing 1041 responsive to at least one coil 1044, 1045. Each flexure bearing 1060 includes series coupled arms 1061 a-1061 c, with a first arm 1061 a having fixed end 1062 a coupled to the housing 1041, a last arm 1061 c having a fixed end 1063 a coupled to the field member 1050, and an intermediate arm 1061 b coupled between free ends 1062 b, 1063 b of the first and last arms.
A haptic actuator comprises a housing, at least one coil carried by the housing, a field member having opposing first and second sides, and a respective flexure bearing mounting each of the first and second sides of the field member to be reciprocally movable within the housing responsive to the at least one coil. Each flexure bearing comprises a plurality of series coupled arms, with a first arm having a fixed end coupled to the housing, a last arm having a fixed end coupled to the field member, and at least one intermediate arm coupled between free ends of the first and last arms.
Each arm has a blade shape having a length between respective ends, a thickness, and height with a varying profile defining a reduced sized medial portion.
Each flexure bearing further comprises a respective spacer member between adjacent ends of the at least one intermediate arm and the first arm, and the at least one intermediate arm and the last arm.
The haptic actuator further comprises a weld joint joining together the respective spacer member with the at least one intermediate and first arms, and the at least one intermediate and last arms.
Each arm comprises first and second parallel and spaced apart blades.
Each arm comprises a plurality of spacer members between the first and second parallel and spaced apart blades.
The haptic actuator further comprises respective weld joints joining together each of the plurality of spacer members and adjacent portions of the spaced apart blades.
Each arm further comprises a filler body between the first and second parallel and spaced apart blades.
Each flexure bearing has a plurality of bends therein.
Each flexure bearing further comprises a first anchor member between the housing and first arm.
Each flexure bearing further comprises a second anchor member between the field member and last arm.
An electronic device comprises a housing, wireless communications circuitry carried by the housing, and a haptic actuator carried by the housing. The haptic actuator comprises an actuator housing, at least one coil carried by the housing, a field member having opposing first and second sides, and a respective flexure bearing mounting each of the first and second sides of the field member to be reciprocally movable within the housing responsive to the at least one coil. Each flexure bearing comprises a plurality of series coupled arms, with a first arm having a fixed end coupled to the housing, a last arm having a fixed end coupled to the field member, and at least one intermediate arm coupled between free ends of the first and last arms. The electronic device comprises a controller coupled to the wireless communications circuitry and the haptic actuator and configured to perform at least one wireless communications function and selectively operating the haptic actuator.
Each arm has a blade shape having a length between respective ends, a thickness, and height with a varying profile defining a reduced sized medial portion.
Each flexure bearing further comprises a respective spacer member between adjacent ends of the at least one intermediate arm and the first arm, and the at least one intermediate arm and the last arm.
Each arm comprises first and second parallel and spaced apart blades.
Each arm comprises a plurality of spacer members between the first and second parallel and spaced apart blades.
Each arm further comprises a filler body between the first and second parallel and spaced apart blades.
A method of making a haptic actuator comprises positioning a respective flexure bearing to mount each of first and second sides of a field member to be reciprocally movable within a housing responsive to at least one coil, each flexure bearing comprising a plurality of series coupled arms, with a first arm having a fixed end coupled to the housing, a last arm having a fixed end coupled to the field member, and at least one intermediate arm coupled between free ends of the first and last arms.
Each arm has a blade shape having a length between respective ends, a thickness, and height with a varying profile defining a reduced sized medial portion.
Each flexure bearing further comprises a respective spacer member between the at least one intermediate arm and the first arm, and the at least one intermediate arm and the last arm.
Each arm comprises first and second parallel and spaced apart blades.
Each arm comprises a plurality of spacer members between the first and second parallel and spaced apart blades.
Each arm further comprises a filler body between the first and second parallel and spaced apart blades.
A haptic actuator comprises a housing, at least one permanent magnet carried by the housing, a field member having opposing first and second sides and comprising at least one coil cooperating with the at least one permanent magnet, and a respective flexure bearing mounting each of the first and second sides of the field member to be reciprocally movable within the housing responsive to the at least one coil. Each flexure bearing comprises a plurality of series coupled arms, with a first arm having a fixed end coupled to the housing, a last arm having a fixed end coupled to the field member, and at least one intermediate arm coupled between free ends of the first and last arms.
Each arm has a blade shape having a length between respective ends, a thickness, and height with a varying profile defining a reduced sized medial portion.
Each flexure bearing further comprises a respective spacer member between adjacent ends of the at least one intermediate arm and the first arm, and the at least one intermediate arm and the last arm.
The haptic actuator further comprises a weld joint joining together the respective spacer member with the at least one intermediate and first arms, and the at least one intermediate and last arms.
Each arm comprises first and second parallel and spaced apart blades.
Each arm comprises a plurality of spacer members between the first and second parallel and spaced apart blades.
The haptic actuator further comprises respective weld joints joining together each of the plurality of spacer members and adjacent portions of the spaced apart blades.
Each arm further comprises a filler body between the first and second parallel and spaced apart blades.
Each flexure bearing has a plurality of bends therein.
Each flexure bearing further comprises a first anchor member between the housing and first arm.
Each flexure bearing further comprises a second anchor member between the field member and last arm.
An electronic device comprises a housing, wireless communications circuitry carried by the housing, and a haptic actuator carried by the housing. The haptic actuator comprises an actuator housing, at least one permanent magnet carried by the housing, a field member having opposing first and second sides and comprising at least one coil cooperating with the at least one permanent magnet, and a respective flexure bearing mounting each of the first and second sides of the field member to be reciprocally movable within the housing responsive to the at least one coil. Each flexure bearing comprises a plurality of series coupled arms, with a first arm having a fixed end coupled to the housing, a last arm having a fixed end coupled to the field member, and at least one intermediate arm coupled between free ends of the first and last arms. The electronic device comprises a controller coupled to the wireless communications circuitry and the haptic actuator and configured to perform at least one wireless communications function and selectively operating the haptic actuator.
Each arm has a blade shape having a length between respective ends, a thickness, and height with a varying profile defining a reduced sized medial portion.
Each flexure bearing further comprises a respective spacer member between adjacent ends of the at least one intermediate arm and the first arm, and the at least one intermediate arm and the last arm.
Each arm comprises first and second parallel and spaced apart blades.
Each arm comprises a plurality of spacer members between the first and second parallel and spaced apart blades.
Each arm further comprises a filler body between the first and second parallel and spaced apart blades.
A method of making a haptic actuator comprises positioning a respective flexure bearing to mount each of first and second sides of a field member comprising at least one coil to be reciprocally movable within a housing responsive to the at least one coil, the housing carrying at least one permanent magnet cooperating with the at least one coil, each flexure bearing comprising a plurality of series coupled arms, with a first arm having a fixed end coupled to the housing, a last arm having a fixed end coupled to the field member, and at least one intermediate arm coupled between free ends of the first and last arms.
Each arm has a blade shape having a length between respective ends, a thickness, and height with a varying profile defining a reduced sized medial portion.
Each flexure bearing further comprises a respective spacer member between the at least one intermediate arm and the first arm, and the at least one intermediate arm and the last arm.
Each arm comprises first and second parallel and spaced apart blades.
Each arm comprises a plurality of spacer members between the first and second parallel and spaced apart blades.
Each arm further comprises a filler body between the first and second parallel and spaced apart blades.
While several different embodiments have been described, it should be appreciated that elements in any one embodiment may be used with any other element or elements from any of the other embodiments. Many modifications and other embodiments of the invention will come to the mind of one skilled in the art having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is understood that the invention is not to be limited to the specific embodiments disclosed, and that modifications and embodiments are intended to be included within the scope of the appended claims.

Claims

What is claimed is:

1. A haptic actuator comprising:

a housing;

at least one coil carried by the housing;

a field member having opposing first and second sides; and

a respective at least one flexure bearing mounting each of the first and second sides of the field member to be reciprocally movable within the housing responsive to the at least one coil;

each flexure bearing comprising two diverging arms joined together at proximal ends and having spaced distal ends operatively coupled between adjacent portions of the field member and the housing, the two diverging arms each having a reduced size medial portion relative to respective proximal and distal ends.

2. The haptic actuator of claim 1 wherein each arm has a blade shape having a length between respective proximal and distal ends, a thickness, and height with a varying profile defining the reduced sized medial portion.

3. The haptic actuator of claim 1 wherein each flexure bearing further comprises a spacer member between the proximal ends of the two diverging arms.

4. The haptic actuator of claim 3 further comprising a weld joint joining together the spacer member and the proximal ends of the two diverging arms.

5. The haptic actuator of claim 1 wherein each diverging arm comprises first and second parallel and spaced apart blades.

6. The haptic actuator of claim 5 wherein each diverging arm comprises proximal and distal end spacers between the first and second parallel and spaced apart blades.

7. The haptic actuator of claim 6 further comprising respective weld joints joining together the proximal and distal end spacers and adjacent portions of the spaced apart blades.

8. The haptic actuator of claim 5 wherein each diverging arm further comprises a filler body between the first and second parallel and spaced apart blades.

9. The haptic actuator of claim 1 wherein each flexure bearing has a wishbone shape.

10. The haptic actuator of claim 1 wherein each flexure bearing comprises at least one mechanical stop adjacent the proximal ends.

11. The haptic actuator of claim 1 wherein each flexure bearing comprises at least one mechanical stop between the spaced distal ends.

12. An electronic device comprising:

a housing;

wireless communications circuitry carried by the housing;

a haptic actuator carried by the housing and comprising:

an actuator housing,

at least one coil carried by the actuator housing,

a field member having opposing first and second sides, and

a respective at least one flexure bearing mounting each of the first and second sides of the field member to be reciprocally movable within the housing responsive to the at least one coil,

each flexure bearing comprising two diverging arms joined together at proximal ends and having spaced distal ends operatively coupled between adjacent portions of the field member and the housing, the two diverging arms each having a reduced size medial portion relative to respective proximal and distal ends; and

a controller coupled to the wireless communications circuitry and the haptic actuator and configured to perform at least one wireless communications function and selectively operate the haptic actuator.

13. The electronic device of claim 12 wherein each arm has a blade shape having a length between respective proximal and distal ends, a thickness, and height with a varying profile defining the reduced sized medial portion.

14. The electronic device of claim 12 wherein each flexure bearing further comprises a spacer member between the proximal ends of the two diverging arms.

15. The electronic device of claim 14 wherein the haptic actuator further comprises a weld joint joining together the spacer member and the proximal ends of the two diverging arms.

16. The electronic device of claim 12 wherein each diverging arm comprises first and second parallel and spaced apart blades.

17. The electronic device of claim 16 wherein each diverging arm comprises proximal and distal end spacers between the first and second parallel and spaced apart blades.

18. The electronic device of claim 16 wherein each diverging arm further comprises a filler body between the first and second parallel and spaced apart blades.

19. A method of making a haptic actuator comprising:

positioning a respective at least one flexure bearing to mount each of first and second sides of a field member to be reciprocally movable within a housing responsive to at least one coil, each flexure bearing comprising two diverging arms joined together at proximal ends and having spaced distal ends operatively coupled between adjacent portions of the field member and the housing, the two diverging arms each having a reduced size medial portion relative to respective proximal and distal ends.

20. The method of claim 19 wherein each arm has a blade shape having a length between respective proximal and distal ends, a thickness, and height with a varying profile defining the reduced sized medial portion.