WO2020176343A1

WO2020176343A1 - Systems, devices and methods for single actuator audio haptic systems

Info

Publication number: WO2020176343A1
Application number: PCT/US2020/019223
Authority: WO
Inventors: Vahid Khoshkava; Peyman Karimi Eskandary
Original assignee: Immersion Corporation
Priority date: 2019-02-25
Filing date: 2020-02-21
Publication date: 2020-09-03

Abstract

Single actuator audio haptic systems for producing haptic effects and audio effects are provided. Single actuator audio haptic systems may include flat form factor actuators including a resonant substrate, an actuator, and optionally, a suspension to tune the response of the actuator and resonant substrate. Single actuator audio haptic systems may be employed in mobile devices and/or as wearable devices.

Description

SYSTEMS, DEVICES AND METHODS FOR SINGLE ACTUATOR AUDIO HAPTIC

SYSTEMS

RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Application No. 62/810, 181, filed on February 25, 2019, the contents of which are incorporated by reference herein in their entirety.

FIELD OF THE INVENTION

[0002] Embodiments hereof relate to systems, devices and methods for providing wi de-bandwidth single actuator audio haptic systems configured to provide haptic effects and audio outputs. Embodiments hereof further include mobile devices and wearable devices configured to output both haptic effects and audio outputs through a single actuator.

BACKGROUND OF THE INVENTION

[0003] Conventional haptically enabled devices require multiple actuators or transducers to provide audio outputs and haptic effects. Typically, haptic effects are provided via one actuator while audio outputs are provided via one or more additional audio output devices. Multiple transducers and actuators introduce design complexity and cost to devices while reducing the flexibility of the designer.

[0004] These and other drawbacks exist with conventional haptically enabled devices. These drawbacks are addressed by the inventions described herein.

BRIEF SUMMARY OF THE INVENTION

[0005] Embodiments of the invention include wi de-bandwidth single actuator actuation systems. Such actuation systems include an actuator bonded to a resonant substrate. The actuator is configured to receive activation control signals from a processor. The activation control signals are configured to activate the actuator to produce wi de-bandwidth output in the form of both haptic effects and audio output. In some embodiments, the actuation system further includes a suspension configured to tune the frequency response of the system.

[0006] Embodiments of the invention further include mobile devices equipped with wide- bandwidth actuation systems. Mobile devices consistent with embodiments hereof include actuation systems according to embodiments described herein. In embodiments, a housing of the mobile device functions as the resonant substrate of the actuation system.

[0007] Embodiments of the invention further include wearable devices equipped with wide- bandwidth actuation systems. Wearable devices consistent with embodiments hereof include actuation systems. In embodiments, wearable device actuation systems are configured for high- displacement kinesthetic haptic effects, vibration haptic effects, and audio output provided by bone conduction methods.

[0008] In an embodiment, an actuation system is provided. The actuation system includes an actuator configured for activation in a wi de-bandwidth upon receiving activation control signals from a processor and a resonant substrate to which the actuator is attached, the resonant substrate configured to provide wi de-bandwidth output when the actuator is activated.

[0009] In a further embodiment, a mobile device is provided. The mobile device includes a housing and an actuation system coupled to the interior of the housing. The actuation system includes an actuator configured for activation in a wi de-bandwidth upon receiving activation control signals from a processor, the actuator coupled to the housing so as to cause a wide- bandwidth output from the housing when the actuator is activated.

[0010] In a further embodiment, a wearable device is provided. The wearable device includes an infinitely adjustable band; and an actuation system disposed on the infinitely adjustable band. The actuation system includes an actuator configured for activation in a wi de-bandwidth upon receiving activation control signals from a processor, the actuator coupled to a resonant substrate so as to cause a wi de-bandwidth output from the resonant substrate when the actuator is activated

BRIEF DESCRIPTION OF DRAWINGS

[0011] The foregoing and other features and advantages of the invention will be apparent from the following description of embodiments hereof as illustrated in the accompanying drawings. The accompanying drawings, which are incorporated herein and form a part of the specification, further serve to explain the principles of the invention and to enable a person skilled in the pertinent art to make and use the invention. The drawings are not to scale.

[0012] FIG. 1 illustrates an actuation system consistent with embodiments hereof.

[0013] FIG. 2 illustrates an actuation system consistent with embodiments hereof.

[0014] FIGS. 3A-3C illustrate an actuation system incorporated in a mobile device consistent with embodiments hereof.

[0015] FIGS. 4A and 4B illustrate the frequency response of an actuation system incorporated in a mobile device consistent with embodiments hereof.

[0016] FIGS. 5 illustrates an actuation system incorporated in a mobile device consistent with embodiments hereof.

[0017] FIGS. 6A and 6B illustrate the frequency response of an actuation system incorporated in a mobile device consistent with embodiments hereof.

[0018] FIG. 7 illustrates a schematic diagram of an actuation system incorporated in a mobile device consistent with embodiments hereof.

[0019] FIG. 8 illustrates an actuation system incorporated in a mobile device consistent with embodiments hereof.

[0020] FIG. 9 illustrates an actuation system incorporated in a wearable device consistent with embodiments hereof.

[0021] FIGS. 10A and 10B illustrate the frequency response of an actuation system incorporated in a wearable device consistent with embodiments hereof.

[0022] FIG. 11 is a process diagram illustrating a process of providing localized haptic effects in accordance with an embodiment hereof.

DETAILED DESCRIPTION OF THE INVENTION

[0023] Specific embodiments of the present invention are now described with reference to the figures. The following detailed description is merely exemplary in nature and is not intended to limit the invention or the application and uses of the invention. Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, brief summary or the following detailed description.

[0024] Embodiments of the present invention may be used with immersive reality interfaces having multi-modal user outputs including audio, visual, vibration haptic, and kinesthetic haptic effects. Immersive reality, as used herein, describes visual display systems that provide altered reality viewing to a user. Immersive reality environments include virtual reality environments, augmented reality environments, mixed reality environments, and merged reality environments, as well as other similar visual environments. Immersive reality environments are designed to provide visual display environments that mimic a realistic viewing experience and include panoramic imaging where a user’s movements determine the display. As a user turns their head or body, the images displayed to the user are adjusted as if the user were inside the immersive reality environment. Immersive reality environments frequently include stereoscopic or other three-dimensional imaging technologies to improve realism. Immersive reality environments may include any mix of real and virtual objects that may or may not interact with one another.

[0025] Embodiments of the present invention may be used with any type of mobile device, smart phone, laptop computer, tablet, phablet, wearable device, auto dashboard and/or display, and any other device that provides audio and haptic outputs.

[0026] Haptic effects as described herein may include vibration haptic effects and kinesthetic haptic effects. Haptic effects are characterized as having touch or feel as a primary mode of perception. Haptic effects may also be perceived, secondarily, through sound. Vibration haptic effects are characterized by their use of vibration or oscillatory movement to induce user perception. Vibration haptic effects typically include higher frequency vibrations (>400Hz) of lower amplitude. Kinesthetic haptic effects are characterized by their use of force and displacement to induce user perception. Kinesthetic haptic effects typically include lower frequency movements (30-400Hz) of higher amplitude.

[0027] Audio outputs as described herein include signals audible to human perception as a primary mode of perception. Audio outputs may also be perceived, secondarily, through touch. Such signals may include signals between the frequencies of 20Hz and 20 kHz of sufficient sound pressure or volume to be audible to a human. Audio outputs as described herein may also include voiceband audio outputs. Voiceband audio outputs include signals between

approximately 400 Hz and 3.4 kHz, the audio frequency range used for modern telephony.

[0028] As used herein, the term“flat form factor” refers to a structure that is substantially flat, having a depth dimension significantly smaller than either a height or a width dimension. In embodiments, the depth dimension of a flat form factor structure may be less than 10% of the height and width dimensions, may be less than 5% of the height and width dimensions, or may be less than 1% of the height and width dimensions.

[0029] Embodiments described herein may relate to mobile devices and systems having a computer system and a display. Devices consistent with the present invention may be configured as a gaming console, a handheld gaming device, a personal computer (e.g., a desktop computer, a laptop computer, etc.), a smartphone, a tablet computing device, a television, an interactive sign, and/or any other device that can be programmed to provide a haptic control signal. The computer system may include one or more processors (also interchangeably referred to herein as processors, processor(s), or processor for convenience), one or more memory units, audio outputs, user input elements, a communication unit or units, and/or other components. Computer system processors may be programmed by one or more computer program instructions to carry out methods described herein.

[0030] FIG. 1 illustrates an actuation system 100 including an actuator 110 and a resonant substrate 120. The actuation system 100 comprises a single actuator audio haptic system. As used herein, the term“single actuator audio haptic system” refers to an actuation system configured to provide both haptic and audio output with one actuator device. Single actuator audio haptic systems, as described herein, use a single actuator device to produce audio output and haptic output. Devices that employ single actuator systems, accordingly, can provide a range of haptic effects as well as audio output with one actuator device. Additional haptic devices and audio output devices (e.g., speakers), are not required. Devices that employ single actuator audio haptic systems, however, are not precluded from including additional haptic devices or audio output devices. The actuator 110 may have a flat form factor and is configured for activation in a wi de-bandwidth upon receiving activation control signals from a processor. The actuator 110 is attached, directly or indirectly, to a resonant substrate 120, which also may have a flat form factor. The actuation system 100 may thus maintain a flat form factor. The resonant substrate 120 is configured to provide wide-bandwidth output when the actuator 110 attached to it is activated.

[0031] Single actuator audio haptic systems, as described herein, may be possible through tuning and configuration to provide“wide-bandwidth” and“ultrawi de-bandwidth” frequency responses in both haptic and audio ranges. As used herein,“wide-bandwidth” refers to a frequency range sufficient to generate perceptible kinesthetic haptic effects in a frequency range of 30-400 Hz, perceptible vibration haptic effects in a frequency range of 400 - 3400 Hz, and perceptible audio output in a frequency range of 400-3400 Hz (voiceband response). “Ultrawi de-bandwidth” refers to a frequency range sufficient to generate perceptible kinesthetic haptic effects in a frequency range of 30-400 Hz, perceptible vibration haptic effects in a frequency range of 400 - 3400 Hz, perceptible voiceband audio output in a frequency range of 400-3400 Hz, and perceptible audio output in a frequency range between 20-20000 Hz. Perceptible haptic effects may include kinesthetic effects with accelerations of lg or more peak-to-peak. Perceptible vibration effects may include vibratory effects that surpass a user perception threshold.

Perceptible audio effects may include audible effects that surpass a user auditory threshold. Embodiments discussed herein may achieve peak-to-peak acceleration results for haptic effects in excess of 1.2g. Embodiments discussed herein may achieve audio output in excess of 40db, 50db, 60db, 70db, and 80 db. Thus, the use of the terms“wi de-bandwidth output” and “ultrawi de-bandwidth output” refer to bandwidth of outputs perceptible to human hearing and human tactile senses. “Wide-bandwidth outputs” and“ultrawi de-bandwidth outputs” consistent with embodiments herein are suitable for providing the necessary audio volume, necessary tactile (vibration and kinesthetic) strength for use in devices that rely on such outputs.

[0032] As used herein, direct attachment to the resonant substrate 120 of the actuators 110 refers to an attachment that includes no intervening materials, objects, or elements between the actuator 110 and the resonant substrate 120 excepting those required for attachment. For example, an actuator 110 bonded to the resonant substrate 120 via welding or via an adhesive such as epoxy is directly attached to the resonant substrate 120. As used herein, indirect attachment to the resonant substrate 120 of the actuators 110 refers to an attachment that includes intervening materials, objects, or elements between the actuator 110 and the resonant substrate 120 that are not required to facilitate attachment of the actuator 110 to the resonant substrate 120. For example, an actuator 110 that is bonded or attached to an intervening material which in turn is bonded or attached to the resonant substrate 120 is indirectly attached to the resonant substrate 120.

[0033] The actuator 110 is a smart material actuator including one or more of a macro-fiber composite (MFC), a piezoceramic, and/or an electroactive polymer. The actuator 110 is configured for activation upon receipt of an activation control signal. The actuator 110 is configured to contract when activated. In alternative embodiments, the actuator 110 may be configured to expand when activated. Contraction or expansion of the actuator 110 causes the resonant substrate 120 to which it is attached to flex in response to the contraction/expansion. Contraction and/or expansion of the actuator 110 in a vibration or oscillatory manner causes the resonant substrate 120 to vibrate or oscillate at the same frequency.

[0034] The materials and structure of the resonant substrate 120 are selected to permit the resonant substrate 120 to respond in a resonant fashion to a wi de-bandwidth of frequencies as output by the actuator 110. The resonant substrate 120 is typically a material having a high stiffness. Suitable materials include fiberglass, carbon fiber, steel, metal sheeting, and suitable plastic materials. Responding in a resonant fashion refers to the structure’s ability to amplify the vibrations of the actuator 110 such that they produce perceptible haptic effects (vibration or kinesthetic) and perceptible audio outputs. The resonant substrate 120 provides mass, damping, and stiffness (e.g., a spring constant) to the actuation system. The resonant substrate 120 is configured such that the mass, damping, and stiffness characteristics of the overall actuation system are sufficient to produce wi de-bandwidth perceptible outputs. In further embodiments, the materials and structure of the resonant substrate 120 are selected to permit the resonant substrate 120 to respond in a resonant fashion to an ultrawi de-bandwidth of frequencies as output by the actuator 110.

[0035] In embodiments, both the actuators 110 and the resonant structure 120 may be flexible, resulting in a flexible actuation system 100.

[0036] FIG. 2 illustrates an actuation system 200 including an actuator 210, a resonant substrate 220, and a suspension 230. The actuator 210 and the resonant substrate 220 are structurally and functionally similar to the actuator 110 and the resonant substrate 120. As used herein the term “suspension” refers to structures or materials added to a system and configured to tune the frequency response properties of the system by adding mass, damping, and/or stiffness. The suspension 230 is configured with a size, structure, and material properties to tune the resonance of the actuation system 200. The suspension 230 is located on the actuator 210 on a side opposite that of resonant substrate 220. The structure and materials of the suspension 230 are selected to add appropriate amounts of mass, damping, and stiffness to the actuation system 200 to adjust the perceptible bandwidth of the actuation system 200 relative to an actuation system comprising the actuator 210 and the resonant substrate 220 alone. In embodiments, the suspension 230 includes a foam or gel material. In embodiments, the suspension 230 includes multiple discrete, non- continuous portions. In embodiments, the suspension 230 includes flexible or inflexible materials. In embodiments, the suspension 230 may include one or more selected masses directly or indirectly coupled to the resonant substrate 220 or actuator 210 to provide further tuning to the frequency response characteristics of the actuation system 200.

[0037] FIGS. 3A-C illustrates an actuation system 300 included inside a mobile device 301, consistent with embodiments hereof. FIG. 3 A illustrates the mobile device 301, FIG. 3B illustrates the actuation system 300, and FIG. 3C illustrates the actuation system 300 deployed within the mobile device 301. The actuation system 300 is a single actuator audio haptic system which may be consistent with either of actuation systems 100 and 200. The actuation system 300 includes one or more actuators 310, a resonant substrate 320, and, optionally, a suspension 330. A flat form factor of actuation system 300 lends itself to deployment with the mobile device 301, illustrated in FIG. 3 A as a phone. Other mobile devices consistent with embodiments hereof include tablets, phablets, laptop computers, wearable devices, immersive reality accessories, and vehicle dashboards and displays. Additionally, the ability of the actuation system 300 to provide both haptic effects and audio outputs is of considerable advantage in reducing the bill of materials of the mobile device 301. Still further, as the actuation system 300 may be a flexible structure, deployment within a mobile device having a flexible display and/or housing may be particularly advantageous.

[0038] Since audio outputs of the mobile device 301 are provided by the actuation system 300 that is enclosed within the housing, the housing of the mobile device 301 may form a continuous and sealed surface with none of the penetrations for speaker outputs that are traditional in mobile devices. In some embodiments, the housing of mobile device 301 is an integral housing devoid of openings (e.g. holes, penetrations). In some embodiments, the housing of mobile device 301 includes two or more housing portions (e.g., clamshell halves). Each housing portion, and thus, the entire housing once assembled, may be devoid of openings for audio output. In embodiments, each housing portion may be devoid of any openings. The two or more housing portions may connect to one another to form a waterproof, dustproof, and dirtproof sealed housing. Such designs provide both an aesthetically pleasing form factor and a more environmentally protected device (i.e., waterproof, dirtproof, dustproof). Such environmentally protected designs may be employed in mobile devices that include smartphones, laptops, tablets, phablets, wearable devices, and immersive reality devices. [0039] In embodiments consistent with the use of the actuation system 300 for vehicle dashboard and displays, the actuation system 300 may provide similar advantages. The actuation system 300 may be disposed on (i.e., on a backside) or near a vehicle display or touch surface to provide haptic actuation of the display or touch surface, and audio output from or near the display or touch surface. In further embodiments the actuation system 300 may be disposed within the vehicle dashboard to provide haptic actuation and audio output from discrete portions of the vehicle dashboard. Such designs may be aesthetically pleasing, resulting in a seamless dashboard.

[0040] In embodiments, various aspects of the mobile device 301 may be flexible. For example, internal componentry may be flexible, the actuator 310 and actuation system 300 may be flexible, the resonant substrate 320 and the suspension 330 may be flexible, and the housing and display of the mobile device 301 may be flexible. In such embodiments, the flexible actuation system facilitates a more flexible overall device, in contrast to traditional LRA and ERM style actuators.

[0041] In embodiments, the actuation system 300 may be configured to output haptic effects, low volume audio outputs, and high volume audio outputs, depending on an activation control signal. Accordingly, the single actuation system 300 may replace three actuators (loudspeaker, ear speaker, and haptic actuator) in a conventional mobile device.

[0042] In embodiments, the actuation system 300 may be configured to provide audio and haptic effects simultaneously. This can be done by adding low frequency (haptic) and high frequency (audio) signals provided to the actuation system 300. Alternatively, signal processing can be used in to alternate (e.g. interleave) between two signals (high frequency and low frequency) in a manner that is not perceivable to a user. Actuators consistent with the actuation system 300 include MFC and piezoceramic actuators. Such actuators are capable of being excited at more than one frequency at a time. Accordingly, the single actuator could be excited at 200 Hz to produce a haptic response while also being excited at frequencies between 400 Hz and 3,400 Hz to provide voiceband response. FIGS. 4 A and 4B illustrate measured output of the mobile device 301 as equipped with the actuation system 300. The charts in FIGS. 4A and 4B show acceleration measurements across a sweep of frequencies, as measured by an accelerometer placed in the center of a display of the mobile device 301. As illustrated in FIGS. 4A and 4B, the mobile device 301 exhibits a wi de-bandwidth of perceptible outputs that are consistent with kinesthetic haptic outputs (30-400Hz), vibration haptic outputs (400 - 3400Hz) and voice-band audio outputs (400-3400Hz). In embodiments, the structural parameters of the actuation system 300 may be selected to provide perceptible audio outputs in an ultrawide bandwidth as well. Depending on the actuation signal (which may specify a voltage, frequency, number of cycles, etc.) that is applied to the actuator, the actuator can provide a frequency that corresponds to a desired one of kinesthetic haptic outputs (30-400Hz), vibration haptic outputs (400 - 3400Hz) and voice-band audio outputs (400-3400Hz).

[0043] FIG. 5 illustrates a mobile device 501 incorporating an actuation system 500 including an actuator 510, a resonant substrate 520, and, optionally, a suspension 530 consistent with actuation systems 200 and 300. The actuation system 500 is a single actuator audio haptic system. The mobile device 501 further includes a housing 521. At least a portion of the housing 521 forms the resonant substrate 520. Although FIG. 5 illustrates a portion of the housing 521 as the resonant substrate 520, all or some of the housing 521 may act as the resonant substrate 520. For example, one half or side of a two-piece housing 521 may act as the resonant substrate 520. The housing 521 of the mobile device 501 is configured to house all of the required components of the mobile device 501, including appropriate processors, circuit boards, antennas, memories, and any other suitable mobile device component. The actuation system 500 is disposed in the interior of the housing 521. In embodiments, the mobile device 501 includes a display, which may be incorporated into the housing 501 or attached to or disposed on the housing 501.

[0044] In the actuation system 500, the actuator 510, which may be an MFC or piezoceramic, is coupled directly or indirectly to the resonant substrate 520 formed by the rear wall of the housing 521 - i.e., a portion of the housing 521 opposite the display. For example, the actuator 510 may be coupled directly to the resonant substrate 520 via epoxy. In further embodiments, the actuator 510 may be coupled to the display of the mobile device 501 and the resonant substrate 520 may be formed by the display of the mobile device 501. Such embodiments may be facilitated by the use of transparent actuators.

[0045] The actuation system 500 is similar in structure and function to actuation systems 100, 200 and 300, including an actuator 510, a resonant substrate 520, and, optionally, a suspension 530. The actuation system 500, which is a single actuator audio haptic system, may have a flat form factor and is configured for activation in a wi de-bandwidth upon receiving activation control signals from a processor. The actuation system 500 is configured to provide wi de-bandwidth output when the actuator is activated by the activation control signals. The provided wide- bandwidth output includes output in a kinesthetic haptic effect frequency range (30-400 Hz), a vibration haptic effect frequency range (400-3400 Hz), a voiceband audio output frequency range (400-4000Hz). In embodiments, the actuation system 500 is configured for ultrawide-bandwidth output. The actuation system 500 operates similarly to actuation systems 100, 200 and 300, as described above

[0046] The housing 521 functions as a resonant substrate 520 in the design of mobile device 501. When activated by activation control signals, the actuator 510 contracts or expands according to the received activation control signal, causing the resonant substrate 520 to flex according the received activation control signal. The housing 521 provides mass, damping, and stiffness to the actuation system 500 and serves to amplify the output of the actuator 510 in the desired wide- bandwidth frequency range to produce perceptible haptic effects and audio outputs. Accordingly, the housing 521 itself functions as both a speaker for audio output and a haptic actuator for haptic output.

[0047] In embodiments, the structural properties of the mobile device 500 housing may not be optimal to produce the desired wi de-bandwidth output. The optional suspension 530 may be coupled to the actuator 510 on a side opposite the resonant substrate 520. The suspension 530 is a flexible or inflexible material with a structure and material properties selected to tune the resonant output of the actuation system 500. The suspension 530 may include a gel or foam material. The suspension 530 may include one or more masses directly or indirectly coupled to the resonant substrate 520 to provide further tuning to the frequency response characteristics of the actuation system 500. The mass, stiffness, and damping characteristics of the suspension 530, when added to the characteristics of the actuator 510 and resonant substrate 520, provides the actuation system 500 with the appropriate resonant properties to provide a wi de-bandwidth frequency response capable of amplifying haptic signals (kinesthetic and vibration) and audio signals.

[0048] Because audio outputs of the mobile device 501 are provided by the actuation system 500 that is enclosed within the housing, the housing of the mobile device 501 may form a continuous and sealed surface with none of the penetrations for speaker outputs that are traditional in mobile devices. In some embodiments, the housing of mobile device 501 is an integral housing devoid of openings (e.g. holes, penetrations). In some embodiments, the housing of mobile device 501 includes two or more housing portions (e.g., clamshell halves). Each housing portion, and thus, the entire housing once assembled, may be devoid of openings for audio output. In embodiments, each housing portion may be devoid of any openings. The two or more housing portions may connect to one another to form a waterproof, dustproof, and dirtproof sealed housing. Such designs provide both an aesthetically pleasing form factor and a more environmentally protected device (i.e., waterproof, dirtproof, dustproof). Such environmentally protected designs may be employed in mobile devices that include smartphones, laptops, tablets, phablets, wearable devices, and immersive reality devices.

[0049] In embodiments consistent with the use of the actuation system 500 for vehicle dashboard and displays, the actuation system 500 may provide similar advantages. The actuation system 500 may be disposed on (i.e., on a backside) or near a vehicle display to provide haptic actuation of the display and audio output from the display or near the display. In further embodiments the actuation system 500 may be disposed within the vehicle dashboard to provide haptic actuation and audio output from discrete portions of the vehicle dashboard. In such embodiments, the actuation system 500 may make use of the dashboard or the display as a resonant substrate 521. Such designs may be aesthetically pleasing, resulting in a seamless dashboard.

[0050] In embodiments, various aspects of the mobile device 501 may be flexible. For example, internal componentry may be flexible, the actuator 510 and actuation system 500 may be flexible, and the housing 521 and display may be flexible. In such embodiments, the flexible actuation system 500 facilitates a more flexible overall device, in contrast to traditional LRA and ERM style actuators.

[0051] In embodiments, the actuation system 500 may be configured to output haptic effects, low volume audio outputs, and high volume audio outputs, depending on an activation control signal. Accordingly, the single actuation system 500 may replace three actuators (loudspeaker, ear speaker, and haptic actuator) in a conventional mobile device.

[0052] In embodiments, the actuation system 500 may be configured to provide audio and haptic effects simultaneously. This can be done by adding low frequency (haptic) and high frequency (audio) signals provided to the actuation system 500. Alternatively, signal processing can be used in order to alternate (e.g. interleave) between two signals (high frequency and low frequency) in a manner that is not perceivable to a user. Actuators consistent with the actuation system 500 include MFC and piezoceramic actuators. Such actuators are capable of being excited at more than one frequency at a time. Accordingly, the single actuator may be excited at 200 Hz to produce a haptic response while also being excited at frequencies between 400 Hz and 3,400 Hz to provide voiceband response. [0053] FIGS. 6A and 6B illustrate measured output of the mobile device 501 as equipped with the actuation system 500. The charts in FIGS. 6A and 6B show acceleration measurements across a series of frequencies. FIG. 6A shows the acceleration frequency response of the total system. FIG. 6B shows acceleration frequency response as measured on the rear of the housing 521 and on the display. As illustrated in FIGS. 6A and 6B, the mobile device 501 exhibits a wide- bandwidth of perceptible (greater than lg acceleration) outputs that are consistent with kinesthetic haptic outputs (30-400Hz), vibration haptic outputs (400-3400 Hz) and voice-band audio outputs (400-3400 Hz). In embodiments, the structural parameters of the actuation system 500 may be selected to provide ultrawi de-bandwidth outputs as well. In embodiments, as shown in FIG. 5, the actuation system 500 may be mounted to a rear of the housing 521. As shown in FIG. 6B, this may result in higher accelerations, i.e., output magnitudes, as measured at a rear of the housing 521 in comparison to the front of the device (i.e. the display). In further embodiments, the actuation system 500 may be mounted to the rear side of a display of the mobile device 501, leading to greater outputs at the display as compared to the rear of the housing 521.

[0054] FIG. 7 is a schematic diagram illustrating aspects of the mobile device 501. In the embodiment illustrated in FIG. 7, the mobile device 501 includes at least one processor 508, at least one memory unit 520, the actuation system 500, a display 506, the housing 521, user input elements 510, and a communication unit 512. In additional embodiments, the mobile device 501 may include any actuation systems 100, 200, 300, 800, etc., as described herein.

[0055] The mobile device 501 may include one or more processors 508, one or more memory units 520, and/or other components. The processors 508 may be programmed by one or more computer program instruction stored in the memory unit(s) 520. The functionality of the processor 508, as described herein, may be implemented by software stored in the memory unit(s) 520 or another computer-readable or tangible medium, and executed by the processor 508. As used herein, for convenience, the various instructions may be described as performing an operation, when, in fact, the various instructions program the processors 508 to perform the operation. In other embodiments, the functionality of the processor may be performed by hardware (e.g., through the use of an application specific integrated circuit (“ASIC”), a programmable gate array (“PGA”), a field programmable gate array (“FPGA”), etc.), or any combination of hardware and software. [0056] The various instructions described herein may be stored in the memory unit(s) 520, which may comprise random access memory (RAM), read only memory (ROM), flash memory, and/or any other memory suitable for storing software instructions. The memory unit(s) 520 may store the computer program instructions (e.g., the aforementioned instructions) to be executed by the processor 108 as well as data that may be manipulated by the processor 508.

[0057] The processor 508 is configured to provide the actuation system 500 with an activation control signal. The activation control signal includes one or more signals in a wide-bandwidth frequency range and configured to cause the actuation system 500 to produce kinesthetic haptic outputs, vibration haptic outputs, and audio outputs. The activation control signal may be a single signal configured to cause the actuation system 500 to produce kinesthetic haptic outputs, vibration haptic outputs, and audio outputs simultaneously. The activation control signal may be a combination of signals configured to cause the actuation system 500 to produce kinesthetic haptic outputs, vibration haptic outputs, and audio outputs simultaneously. The activation control signal may be a consecutive series of signals configured to cause the actuation system 500 to produce kinesthetic haptic outputs, vibration haptic outputs, and audio outputs consecutively and in any order.

[0058] For example, the actuation system 500 may be activated at multiple frequencies to provide both a ringing sound and a vibration output when a telephone call is incoming. Similarly, text message alerts may include both a vibration and an alert sound, both produced by the actuation system 500. In another example, the actuation system 500 may be activated at multiple frequencies to provide both kinesthetic outputs and audio outputs when a user engages a user interface. For example, typing on a virtual keyboard may cause the provision of kinesthetic“clicks” and audio tones. In another example, audio output from multimedia content (video, music, etc.) may be produced by the actuation system 500 while associated vibration or haptic output is also produced by the actuation system 500. In further examples, the mobile device 501 may be programmed with audio-to-vibration capabilities and may convert portions of an audio signal that is being output by the actuation system 500 into a vibration or haptic output to be output by the actuation system 500. In such an embodiment, the mobile device 501 may be configured to provide vibration and haptic outputs to multimedia content that does not natively contain such vibration and haptic output information. [0059] The user input elements 510 may include any elements suitable for accepting user input. These may include buttons, switches, dials, levers, touchscreens, and the like. User input elements 510 may further include peripherally connected devices (including wirelessly connected devices), such as mice, joysticks, game controllers, keyboards, and the like.

[0060] The communication unit 512 includes one or more devices or components configured for external communication. The communication unit may include wired communication ports, such as USB ports, HDMI® ports, A/V ports, optical cable ports, and any other component or device configured to receive or send information in a wired fashion. The communication unit 512 may further include wireless communication devices, such as BLUETOOTH® antennas, WI-FI® antennas, cellular antennas, infrared sensors, optical sensors, and any other device configured to receive and/or transmit information wirelessly.

[0061] In additional embodiments, the processor 508 may include multiple interconnected processors, some of which may be located within housing 521 and some of which may be located external to the housing 521. In still further embodiments, the processor 508 may include cloud processors configured to provide the mobile device 501with a haptic control signal.

[0062] FIGS. 8A-8C illustrates a mobile device 801 incorporating an actuation system 800 including an actuator 810, a resonant substrate 820, optionally, a suspension 830, and support portions 850, that together form a resonant structure. FIG. 8A shows a mobile device 801. FIG. 8B is a side view of the actuation system 800. FIG. 8C illustrates the mobile device 801 having the actuation system 800 incorporated therein.

[0063] Actuation system 800 is a single actuator audio haptic system generally consistent with the actuation systems 200, 300 and 500. The actuation system 800 may have a flat form factor. The mobile device 801 includes a housing 821. The housing 821 of the mobile device 801 is configured to house all of the required components of the mobile device 801, including appropriate processors, circuit boards, antennas, memories, and any other suitable mobile device component. The mobile device 801 is consistent with the mobile devices 301 and 501 and may include any or all features and components described with respect to these devices. The actuation system 800 is disposed in the interior of the housing 821. In embodiments, the mobile device 801 includes a display, which may be incorporated into the housing 801 or attached to or disposed on the housing 801. [0064] In the actuation system 800, the actuator 810, which may be an MFC or piezoceramic, is coupled directly or indirectly to the resonant substrate 820. The resonant substrate 820 is formed from a material having a stiffness and size appropriately tuned to provide ultra-wide bandwidth output within the actuation system 800. The resonant substrate 820 may include fiberglass, carbon fiber, steel, metal sheeting, and suitable plastic materials. The actuation system 800 is offset from the housing 821 of the mobile device 801 by support portions 850. Support portions 850 are sized and configured to provide enough clearance between the resonant substrate 820 and the housing 821 to allow the resonant substrate 820 to deform without physically striking the housing 821.

[0065] In operation, the actuation system 800 operates as follows. When activated, the displacement of the actuator 810 is amplified by the resonant substrate 820. Because the actuation system 800 is offset from the housing 821 by the support portions 850, the actuation system 800 is at least partially decoupled from the mass of the housing, and thus resonates at frequencies consistent with the components of the actuation system 800 without a requirement of driving the potentially larger mass of the housing 821. Due to the potential size and mass of housing 821, a dynamic system that directly incorporates it may have a low resonant frequency. Due to the offset from the housing 821, the resonant frequencies of the relatively less massive actuation system 800 may be higher. The support portions 850 provide clearance between the resonant substrate 820 and the housing 821 such that they do not contact each other when the actuation system 800 is activated. The actuation system 800 may include suspension 830 similar to the suspensions described with respect to the actuation systems 200, 300 and 500. Accordingly, the suspension 830 may include one or more structures and materials selected to add appropriate amounts of mass, damping, and stiffness to appropriately tune the actuation system 800 to provide the ultra-wide bandwidth as described herein.

[0066] When activated by activation control signals, the actuator 810 contracts or expands according to the received signal, causing the resonant substrate 820 to flex according the received signal. The resonant substrate 820 and optional suspension 830 provides mass, damping, and stiffness to the actuation system 800 and serves to amplify the output of the actuator 810 in the desired wi de-bandwidth frequency range to produce perceptible haptic effects and audio outputs. Thus, when activated, the actuation system 800 provides a wide bandwidth or ultra-wide bandwidth frequency response to generate both haptic and audio outputs. The haptic and audio outputs of the actuation system 800 may be transferred to the housing 821 via the support portions 850 and then to a user via the housing 821. In embodiments, vibrations associated with the haptic and audio outputs of the actuation system 800 may be transferred to the housing 821 and/or to the user via pressure waves carried through the air.

[0067] The actuation system 800 is similar in structure and function to the actuation systems 200, 300, and 500. The actuation system 800 is a single actuator audio haptic system, may have a flat form factor, and is configured for activation in a wi de-bandwidth upon receiving activation control signals from a processor. The actuation system 800 is a single actuator audio haptic system configured to provide wi de-bandwidth output when the actuator is activated by the activation control signals. The provided wi de-bandwidth output includes output in a kinesthetic haptic effect frequency range (30-400 Hz), a vibration haptic effect frequency range (400-3400 Hz), a voiceband audio output frequency range (400-4000Hz). In embodiments, the actuation system 800 is configured for ultrawi de-bandwidth output.

[0068] The optional suspension 830, employed to tune the actuation system 800, may be coupled to the actuator 810 on a side opposite the resonant substrate 820. The suspension 830 is a material with a structure and material properties selected to tune the resonant output of the actuation system 800. The suspension 830 may be flexible or inflexible. The suspension 830 may include a gel or foam material and/or may simply be an appropriately sized mass. In embodiments, the suspension 830 may include one or more masses directly or indirectly coupled to the resonant substrate 820 to provide further tuning to the frequency response characteristics of the actuation system 800. The mass, stiffness, and damping characteristics of the suspension 830, when added to the characteristics of the actuator 810 and resonant substrate 820, provides the actuation system 800 with the appropriate resonant properties to provide a wi de-bandwidth frequency response capable of amplifying haptic signals (kinesthetic and vibration) and audio signals.

[0069] Because audio outputs of the mobile device 801 are provided by the actuation system 800 providing excitation to the housing 821, the housing 821 of the mobile device 801 may form a continuous and sealed surface with none of the penetrations for speaker outputs that are traditional in mobile devices. In some embodiments, the housing 821 of mobile device 801 is an integral housing 821 devoid of openings (e.g. holes, penetrations). In some embodiments, the housing 821 of mobile device 801 includes two or more housing portions (e.g., clamshell halves). Each housing portion, and thus, the entire housing 821 once assembled, may be devoid of openings for audio output. In embodiments, each housing portion may be devoid of any openings. The two or more housing portions may connect to one another to form a waterproof, dustproof, and dirtproof sealed housing 821. Such designs provide both an aesthetically pleasing form factor and a more environmentally protected device (i.e., waterproof, dirtproof, dustproof). Such environmentally protected designs may be employed in mobile devices that include smartphones, laptops, tablets, phablets, wearable devices, and immersive reality devices.

[0070] In embodiments consistent with the use of the actuation system 800 for vehicle dashboard and displays, the actuation system 800 may provide similar advantages. The actuation system 800 may be disposed on (i.e., on a backside) or near a vehicle display to provide haptic actuation of the display and audio output from the display or near the display. In further embodiments the actuation system 800 may be disposed within the vehicle dashboard to provide haptic actuation and audio output from discrete portions of the vehicle dashboard. Such designs may be aesthetically pleasing, resulting in a seamless dashboard.

[0071] In embodiments, various aspects of the mobile device 801 may be flexible. For example, internal componentry may be flexible, the actuator 810, resonant substrate 820, support portions 850, suspension 830, and the entire actuation system 800 may be flexible, and the housing 821 and display may be flexible. In such embodiments, the flexible actuation system 800 facilitates a more flexible overall device, in contrast to traditional LRA and ERM style actuators.

[0072] In embodiments, the actuation system 800 may be configured to output haptic effects, low volume audio outputs, and high volume audio outputs, depending on an activation control signal. Accordingly, the single actuator audio haptic system 800 may replace three actuators (loudspeaker, ear speaker, and haptic actuator) in a conventional mobile device.

[0073] In embodiments, the actuation system 800 may be configured to provide audio and haptic effects simultaneously. This can be done by adding low frequency (haptic) and high frequency (audio) signals provided to the actuation system 800. Alternatively, signal processing can be used to alternate (e.g. interleave) between two signals (high frequency and low frequency) in a manner that is not perceivable to a user. Actuators consistent with the actuation system 800 include MFC and piezoceramic actuators. Such actuators are capable of being excited at more than one frequency at a time. Accordingly, the single actuator could be excited at 200 Hz to produce a haptic response while also being excited at frequencies between 400 Hz and 3,400 Hz to provide voiceband response. [0074] FIG. 9 illustrates a wearable device 901 incorporating an actuation system 900 consistent with embodiments herein. The actuation system 900 includes an actuator 910 and a resonant substrate 920. The actuation system 900 is a single actuator audio haptic system, consistent with actuation systems 100, 200, 300, 500, and 800. The actuation system 900 is incorporated into a flexible magnetic strap band 940 or any other flexible band. The actuation system is configured to provide wi de-bandwidth output of frequencies consistent with kinesthetic haptic effects, vibration haptic effects, and audio outputs. The wearable device 901, as illustrated in FIG. 9, is configured as a haptically enabled ring, although in further embodiments the wearable device 901 may be configured as a wrist or arm band. The actuation system 900 is incorporated into a flexible magnetic strap band 940. The actuation system is configured to provide wi de-bandwidth output of frequencies consistent with kinesthetic haptic effects, vibration haptic effects, and audio outputs. The wearable device 901 is configured as a haptically enabled ring. The flexible magnetic strap band 940 having a magnet 941 to secure it provides an infinitely adjustable tightness for the wearable device 901. Infinitely adjustable tightness refers to the capability of the magnetic strap band 940 to be adjusted to any specific length or diameter within a range of diameters. The magnetic strap band 940 is not limited to a discrete set of adjustment sizes, as is typical of watch bands and belts, for example. The perceptibility of output from the actuation system 900 is improved when the actuation system 900 is held in close contact to the user’s finger. Accordingly, providing infinitely variable adjustment allows a user to fine tune the contact between the actuation system 900 and their finger.

[0075] The actuation system 900 is similar in structure and functionality to that of actuation systems 100, 200, 300, 500, and 800. The actuation system 900 includes an actuator 910 configured for wi de-bandwidth activation (contraction or expansion) when receiving activation control signals. The actuator 910 may include an MFC, an electroactive polymer, or a piezoceramic. The actuator 910 is secured, directly or indirectly, to a resonant substrate 920. For example, the actuator 910 may be secured directly to the resonant substrate 920 via epoxy. The resonant substrate 920 may comprise a fiberglass/epoxy, carbon fiber/epoxy, metal sheeting, steel, and/or suitable plastic material.

[0076] Due to the requirement that it be incorporated into a wearable device configured to fit on a user’s finger, the resonant substrate 920 may be significantly smaller than the other resonant substrates discussed herein. Smaller structures tend to resonate at higher frequencies. Accordingly, producing perceptible kinesthetic haptic feedback at low frequencies may be a challenge in the resonant substrate 920. To achieve the high displacements and accelerations required for perceptible low frequency kinesthetic haptic feedback, the resonant substrate 920 structure is thin and constructed with a predetermined radius of curvature. Such a structure may provide a wi de-bandwidth response, with perceptible haptic effects (vibration and kinesthetic) throughout the frequency response range.

[0077] Due to the small size of the resonant substrate 820, producing high volume audio output may be a challenge. Instead of attempting to create enough sound pressure in the air for a perceptible audio output, the actuation system 800 may rely on bone conduction to convey an audio signal. To hear the audio output, a user touches the finger wearing the wearable device 801 to a location on their head near to their ear or in their ear. Actuation of the actuation system 800 causes vibration in the resonant substrate 820 which is conducted through the bones of the finger into the bones of the head and thus into the bones of the ear, such that the audio signal is perceptible to the user.

[0078] In embodiments, the wearable device 801 further includes at least one sensor 825. The at least one sensor 825 is configured for touch sensitivity and may be used to receive tactile input from the user of the wearable device 801. In further embodiments, the actuation system 800 is configured to receive tactile input signals from a user.

[0079] FIGS. 10A and 10B illustrate measured output of the wearable device 801 as equipped with the actuation system 800. The charts in FIGS. 10A and 10B show acceleration measurements across a series of frequencies in multiple dimensions. FIG. 10A shows the low bandwidth (i.e. kinesthetic) haptic frequency response. FIG. 10B shows the broad spectrum frequency response, including the voiceband audio frequency response. As illustrated in FIGS. 10A and 10B, the mobile device 801 exhibits a wi de-bandwidth of perceptible (greater than lg acceleration) outputs that are consistent with kinesthetic haptic outputs (30-400Hz), vibration haptic outputs (400-3400 Hz) and voice-band audio outputs (400-3400Hz). In further embodiments, the structural parameters of the actuation system 800 may be selected to provide perceptible ultrawide bandwidth outputs as well.

[0080] FIG. 11 illustrates a process 1000 of delivering wi de-bandwidth outputs, including kinesthetic and vibration haptic effects as well as audio outputs to an actuator. The process 1000 may be implemented using any of the single actuator audio haptic systems described herein. [0081] In an operation 1002, a control system including at least one processor sends an activation control signal to a wi de-bandwidth single actuator audio haptic systems configured to output kinesthetic and vibration haptic effects and audio outputs. The activation control signal may have a frequency content ranging between 30 Hz and 3400 Hz (wi de-bandwidth) or may have a frequency content ranging between 30 Hz and 20000 Hz (ultrawide-bandwidth). The activation control signal may include one or more sub-signals combined to produce the activation control signal.

[0082] In an operation 1004, a single actuator audio haptic systems consistent with embodiments herein receives the activation control signal and produces a wi de-bandwidth output consistent with the activation control signal. The wide-bandwidth output includes low frequency kinesthetic haptic outputs between 30-400 Hz, vibration haptic outputs between 400 and 3400 Hz, and audio outputs between 400 Hz and 3400 Hz. Each of these outputs is produced by the one actuator of the single actuator audio haptic system. In further embodiments, the single actuator audio haptic system produces ultrawide-bandwidth outputs.

[0083] FIG. 12 illustrates a process 1100 of delivering wide-bandwidth outputs, including kinesthetic and vibration haptic effects as well as audio outputs to via a single actuator audio haptic system. The process 1100 may be implemented using any of the single actuator audio haptic actuation systems described herein. The process 1100 may be implemented via a mobile device or other system consistent with those described herein.

[0084] In an operation 1102, a control system including at least one processor receives a trigger indicating that a haptic effect and/or an audio effect should be output. The trigger may indicate that the haptic effect and audio effect should be output simultaneously or separately. Such a trigger may be caused by or indicative of an incoming phone call, text message, app notification, interaction with an interface, or any other input/output operation of the device or system. In further embodiments, the trigger may be associated with or caused by playback of multimedia content, such as a video (movie, tv show, etc.), music, and/or video game.

[0085] In an operation 1104, the control system generates an activation control signal configured to cause a single actuator audio haptic system to output haptic effects (kinesthetic and/or vibration) and/or audio outputs. The activation control signal is generated to cause the single actuator audio haptic system to provide controlled and deliberate haptic output effects and audio output effects. This is done by controlling the strength (Vmax), frequency, and duration of the activation control signal (drive signal). In other words, the audio and/or haptic output effects are not merely by products of each other but are deliberately generated as a result of an actuation control signal within a desired frequency range. The activation control signal may be configured to cause the simultaneous output of both audio and haptic effects. The activation control signal may have a frequency content ranging between 30 Hz and 3400 Hz (wi de-bandwidth) or may have a frequency content ranging between 30 Hz and 20000 Hz (ultrawi de-bandwidth). The activation control signal may include one or more sub-signals combined to produce the activation control signal.

[0086] In an operation 1106, the control system sends the activation control signal to the single actuator audio haptic system. The activation control signal may be sent to the single actuator audio haptic system via wired or wireless means.

[0087] In an operation 1108, a single actuator audio haptic actuation system consistent with embodiments herein receives the activation control signal and produces an output consistent with the activation control signal. The output may include low frequency kinesthetic haptic outputs between 30-400 Hz, vibration haptic outputs between 400 and 3400 Hz, and audio outputs between 400 Hz and 3400 Hz. As such, the single actuator audio haptic actuation system is operable to provide outputs within a wi de-bandwidth frequency range. Each of these outputs is produced by the one actuator of the actuation system. In further embodiments, the actuation system produces ultrawi de-bandwidth outputs consistent with the activation control signal. The wi de-bandwidth or ultrawi de-bandwidth outputs of the single actuator audio haptic actuation system may include haptic (vibration and/or kinesthetic) outputs and audio outputs produced simultaneously and/or in any order or pattern.

[0088] Thus, there are provided systems, devices, and methods of providing both perceptible haptic and perceptible audio outputs with a single actuator configured to produce wide-bandwidth and ultrawi de-bandwidth perceptible outputs. While various embodiments according to the present invention have been described above, it should be understood that they have been presented by way of illustration and example only, and not limitation. It will be apparent to persons skilled in the relevant art that various changes in form and detail can be made therein without departing from the spirit and scope of the invention. It will also be understood that each feature of each embodiment discussed herein, and of each reference cited herein, can be used in combination with the features of any other embodiment. Aspects of the above methods of rendering haptic effects may be used in any combination with other methods described herein or the methods can be used separately. All patents and publications discussed herein are incorporated by reference herein in their entirety. Further aspects of the invention are described below in the numbered claims.

Claims

CLAIMS:

1. An actuation system comprising

an actuator configured for activation in a wi de-bandwidth frequency range upon receiving activation control signals from a processor;

a resonant substrate to which the actuator is attached, the resonant substrate configured to provide wi de-bandwidth output when the actuator is activated to provide audio output and haptic effect output.

2. The actuation system of claim 1, wherein the wi de-bandwidth includes frequencies consistent with kinesthetic haptic effects, frequencies consistent with vibration haptic effects, and frequencies consistent with voiceband audio outputs.

3. The actuation system of claim 2, wherein frequencies consistent with kinesthetic haptic effects include frequencies in a range from 30-400 Hz.

4. The actuation system of claim 2, wherein frequencies consistent with voiceband audio outputs include frequencies in a range from 400 Hz to 3400 Hz.

5. The actuation system of claim 2, wherein the resonant substrate is further configured to provide ultrawi de-bandwidth output when the actuator is activated.

6. The actuation system of claim 1, wherein the actuation system further comprises a suspension selected to tune the output of the actuator.

7. The actuation system of claim 1, wherein the actuator has a flat form factor.

8. The actuation system of claim 1, wherein the actuator is selected from macrofiber composite and piezoceramic actuators.

10. The actuation system of claim 1, wherein the audio output and haptic effect output are provided simultaneously.

11. The actuation system of claim 1,

wherein the resonant substrate includes a housing of a mobile device, and wherein the actuator causes the wi de-bandwidth output from the housing when the actuator is activated.

12. The actuation system of claim 1,

further comprising a mobile device housing, wherein the actuator and the resonant substrate are disposed within the mobile device housing.

13. A wearable device comprising:

an infinitely adjustable band; and

an actuator system disposed on the infinitely adjustable band, the actuator system comprising:

an actuator configured for activation in a wide bandwidth frequency range upon receiving activation control signals from a processor, the actuator coupled to a resonant substrate so as to cause a wi de-bandwidth output of audio output and haptic effect output from the resonant substrate when the actuator is activated.

14. The wearable device of claim 13, wherein the infinitely adjustable band is magnetic and includes a magnet for securing the infinitely adjustable band.

15. The wearable device of claim 13, further comprising a sensor configured to receive user inputs.

16. The wearable device of claim 13, wherein the actuator is configured to sense user inputs.

17. A method of delivering audio effects and haptic effects via a single actuator audio haptic system, the method comprising: receiving a trigger indicating a requirement for output of a haptic effect and an audio effect;

generating, via at least one processor, an activation control signal configured to cause the generation of the haptic effect and the audio effect;

sending, by the at least one processor, the activation control signal to the single actuator audio haptic system;

outputting the haptic effect and the audio effect by the single actuator audio haptic system.

18. The method of claim 17, wherein the audio effect and the haptic effect are output by the single actuator audio haptic system simultaneously.

19. The method of claim 17, wherein the single actuator audio haptic system is configured to provide a wide-bandwidth output.

20. The method of claim 17, wherein the audio effect includes multiple frequencies in a voiceband frequency range and the haptic effect includes multiple frequencies consistent with kinesthetic haptic effects and vibration haptic effects.