U.S. patent application number 16/733843 was filed with the patent office on 2020-05-07 for haptic effects using a high bandwidth thin actuation system.
The applicant listed for this patent is IMMERSION CORPORATION. Invention is credited to Mansoor ALGHOONEH, Juan Manuel CRUZ-HERNANDEZ, Vahid KHOSHKAVA, V, Robert LACROIX, Neil OLIEN.
Application Number | 20200142492 16/733843 |
Document ID | / |
Family ID | 61912927 |
Filed Date | 2020-05-07 |
View All Diagrams
United States Patent
Application |
20200142492 |
Kind Code |
A1 |
ALGHOONEH; Mansoor ; et
al. |
May 7, 2020 |
HAPTIC EFFECTS USING A HIGH BANDWIDTH THIN ACTUATION SYSTEM
Abstract
Haptic feedback is provided by rendering haptic effects on a
haptically-enabled device that includes a front screen, a back
cover coupled to the front screen, and a haptic output device
attached to or formed within the front screen or the back cover.
The haptic output device is configured to render a high-definition
(HD) vibratory haptic effect, a low-frequency vibratory haptic
effect, and a deformation haptic effect.
Inventors: |
ALGHOONEH; Mansoor;
(Toronto, CA) ; LACROIX; Robert; (Saint-Lambert,
CA) ; CRUZ-HERNANDEZ; Juan Manuel; (Montreal, CA)
; OLIEN; Neil; (Montreal, CA) ; KHOSHKAVA, V;
Vahid; (Montreal, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
IMMERSION CORPORATION |
San Jose |
CA |
US |
|
|
Family ID: |
61912927 |
Appl. No.: |
16/733843 |
Filed: |
January 3, 2020 |
Related U.S. Patent Documents
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
|
|
15928010 |
Mar 21, 2018 |
10564725 |
|
|
16733843 |
|
|
|
|
62475544 |
Mar 23, 2017 |
|
|
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G06F 3/016 20130101;
G06F 3/041 20130101; H01L 41/193 20130101; H01L 41/082 20130101;
A61B 5/7455 20130101; G06F 2203/014 20130101; A63F 13/285 20140902;
H01L 41/187 20130101; G06F 2203/04809 20130101; H01H 13/85
20130101; G06F 2203/015 20130101; G06F 2203/013 20130101; H01H
2215/052 20130101 |
International
Class: |
G06F 3/01 20060101
G06F003/01; G06F 3/041 20060101 G06F003/041; A63F 13/285 20060101
A63F013/285; H01L 41/187 20060101 H01L041/187; H01L 41/193 20060101
H01L041/193; H01L 41/08 20060101 H01L041/08 |
Claims
1-20. (canceled)
21. A haptically-enabled device, comprising: a front screen; a back
cover coupled to the front screen; and a haptic output device
attached to or formed within one of the front screen and the back
cover, the haptic output device being configured to render a
high-definition (HD) vibratory haptic effect, a low-frequency
vibratory haptic effect, and a deformation haptic effect based on
the detected contact.
22. The haptically-enabled device of claim 21, wherein the haptic
output device is a Macro Fiber Composite actuator.
23. The haptically-enabled device of claim 22, wherein the haptic
output device comprises a transparent Macro Fiber Composite
actuator.
24. The haptically-enabled device of claim 23, wherein the
transparent Macro Fiber Composite actuator is bonded under the
front screen.
25. The haptically-enabled device of claim 24, wherein the
transparent Macro Fiber Composite actuator is further bonded inside
the back cover.
26. The haptically-enabled device of claim 21, further comprising a
processor coupled to the haptic output device, wherein the haptic
output device is attached to an inner surface of the back cover,
and the processor is configured to generate a haptic signal that is
applied to the haptic output device to cause the high-definition
(HD) vibratory haptic effect, the low-frequency vibratory haptic
effect or the deformation haptic effect to be rendered on an outer
surface of the back cover.
27. The haptically-enabled device of claim 21, wherein a frequency
of the low-frequency vibratory haptic effect is approximately 10
Hz-150 Hz, a frequency of the HD vibratory haptic effect is
approximately 150 Hz-800 Hz, or a frequency of the deformation
haptic effect is approximately 10 Hz or less.
28. The haptically-enabled device of claim 21, wherein the HD
vibratory haptic effect is a narrow HD vibratory haptic effect, and
a frequency of the narrow HI) vibratory haptic effect is
approximately 200 Hz.
29. The haptically-enabled device of claim 21, wherein the haptic
output device is attached to the front screen.
30. The haptically-enabled device of claim 21, wherein a pocket cut
is formed on an inner surface of the back cover, and the haptic
output device is directly bonded within the pocket cut.
31. The haptically-enabled device of claim 21, wherein the back
cover comprises a neutral axis, the haptically-enabled device
further comprising a plurality of actuators directly bonded to an
inner surface of the back cover, wherein a first set of actuators
of the plurality of actuators are disposed on a first side of the
neutral axis, and a second set of actuators of the plurality of
actuators are disposed on a second side of the neutral axis, and
wherein the haptic output device is one of the plurality of
actuators.
32. The haptically-enabled device of claim 21, wherein the haptic
output device is integrally formed with or built in one of the
front screen and the back cover.
33. The haptically-enabled device of claim 21, wherein the haptic
output device is a fiber, a thin sheet or a thread, the haptic
output device expanding and contracting when voltage is applied
thereto, and wherein the back cover is formed of a composite
material including the fiber, the thin sheet or the thread.
34. A method of providing haptic feedback on a haptically-enabled
device, comprising the steps of: applying a haptic signal to a
haptic output device configured to render to a high-definition (HD)
vibratory haptic effect, a low-frequency vibratory haptic effect
and a deformation haptic effect, the haptic output device being
attached to or formed within one of a front screen and a back cover
of the haptically-enabled device, Wherein the front screen is
coupled to the back cover; and rendering the high-definition (HD)
vibratory haptic effect, the low-frequency vibratory haptic effect
or the deformation haptic effect using the haptic output
device.
35. The method of claim 34, wherein the haptic output device is a
Macro Fiber Composite actuator.
36. The method of claim 34, further comprising the step of
generating the haptic signal using a processor coupled to the
haptic output device, prior to the applying of the haptic signal,
wherein the haptic signal is applied to the haptic output device to
cause the rendering of the high-definition (HD) vibratory haptic
effect, the low-frequency vibratory haptic effect or the
deformation haptic effect on an outer surface of the back cover,
and wherein the haptic output device is attached to an inner
surface of the back cover.
37. The method of claim 34, wherein a frequency of the
low-frequency vibratory haptic effect is approximately 10 Hz-150
Hz, a frequency of the HD vibratory haptic effect is approximately
150 Hz-800 Hz, or a frequency of the deformation haptic effect is
approximately 10 Hz or less.
38. The method of claim 34, wherein the step of rendering of the
haptic effect includes using a plurality of actuators directly
bonded to an inner surface of the back cover, wherein the back
cover comprises a neutral axis, a first set of actuators from the
plurality of actuators being disposed on a first side of the
neutral axis, and a second set of actuators from the plurality of
actuators being disposed on a second side of the neutral axis, the
haptic output device being one of the plurality of actuators.
39. A non-transitory computer readable medium having instructions
stored thereon that, when executed by a processor, cause the
processor to perform a set of operations comprising: applying a
haptic signal to a haptic output device configured to render to a
high-definition (HD) vibratory haptic effect, a low-frequency
vibratory haptic effect and a deformation haptic effect, the haptic
output device being attached to or formed within one of a front
screen and a back cover of a haptically-enabled device, the front
screen being coupled to the back cover; and rendering the
high-definition (HD) vibratory haptic effect, the low-frequency
vibratory haptic effect or the deformation haptic effect using the
haptic output device.
40. The non-transitory computer readable medium of claim 39,
wherein the haptic output device is a Macro Fiber Composite
actuator, the haptic output device is attached to an inner surface
of the back cover, and the HD vibratory haptic effect, the
low-frequency vibratory haptic effect or the deformation haptic
effect is rendered on an outer surface of the back cover.
Description
PRIORITY APPLICATION
[0001] This application claims priority to U.S. Provisional Patent
Application No. 62/475,544, filed on Mar. 23, 2017, the entire
content of which is incorporated herein by reference.
FIELD
[0002] Embodiments are directed to providing haptic feedback using
an actuation system, and more particularly, to providing haptic
feedback by rendering haptic effects using a high bandwidth thin
actuation system.
BACKGROUND INFORMATION
[0003] Portable/mobile electronic devices, such as mobile phones,
smartphones, tablets, game controllers, personal digital assistants
("PDAs"), etc., typically include output mechanisms to alert a user
of certain events that occur with respect to the devices. For
example, a cell phone normally includes a speaker for audibly
notifying the user of an incoming telephone call event. The audible
signal may include specific ringtones, musical ditties, sound
effects, etc. In addition, the cell phone can include a display
screen that can be used to visually notify the user of incoming
phone calls.
[0004] In some mobile devices, kinesthetic feedback (such as active
and resistive force feedback) and/or tactile feedback (such as
vibration, texture, and heat) is also provided to the user, more
generally known collectively as "haptic feedback" or "haptic
effects." Haptic feedback can provide cues that enhance and
simplify the user interface. Specifically, vibration effects, or
vibrotactile haptic effects, can be useful in providing cues to the
user of an electronic device to alert the user to specific events,
or provide realistic feedback to create greater sensory immersion
within a simulated or virtual environment.
SUMMARY
[0005] One embodiment is directed to a haptically-enabled device
that includes a front screen and a back cover coupled to the front
screen of the haptically-enabled device. The device further
includes an actuator attached to or formed within the back cover or
the front screen. The haptic output device is configured to render
a high-definition (HD) vibratory haptic effect, a low-frequency
vibratory haptic effect, and a deformation haptic effect.
BRIEF DESCRIPTION OF THE DRAWINGS
[0006] Embodiments will be more clearly understood from the
following detailed description taken in conjunction with the
accompanying drawings. FIGS. 1-13, 14A, 14B, 15A, 15B, 16A, 16B, 17
and 18 represent non-limiting, example embodiments as described
herein.
[0007] FIG. 1 is a block diagram of a haptically-enabled mobile
device/system used to implement one embodiment.
[0008] FIG. 2 illustrates a disassembled view of a mobile device in
accordance with one embodiment.
[0009] FIG. 3 illustrates an exploded view of a mobile device in
accordance with one embodiment.
[0010] FIG. 4 illustrates a side profile view of a mobile device in
accordance with one embodiment.
[0011] FIG. 5 is a graph of measured peak to peak acceleration on
the top-side of the outer surface of a mobile device in accordance
with one embodiment.
[0012] FIG. 6 is a graph of measured peak to peak acceleration on
the bottom-side of the outer surface of a mobile device in
accordance with one embodiment.
[0013] FIG. 7 illustrates reference points on a front screen for
the measurements in FIGS. 8 and 9 in accordance with
embodiments.
[0014] FIG. 8 is a graph of measured peak to peak acceleration vs.
frequency at different reference points on a front screen of a
haptically-enabled device in accordance with one embodiment.
[0015] FIG. 9 is a graph of measured output frequency vs. frequency
at different reference points on a front screen of a
haptically-enabled device in accordance with one embodiment.
[0016] FIGS. 10 and 11 illustrate touch input systems within an
automobile dashboard in accordance with embodiments.
[0017] FIG. 12 illustrates a user touching/tapping on a touch
surface in accordance with one embodiment.
[0018] FIG. 13 is a graph of the voltage generated by the MFC
actuator(s) on a touch screen vs. time in accordance with one
embodiment.
[0019] FIG. 14A illustrates a single-cantilever configuration of a
MFC actuator and a substrate in accordance with one embodiment.
[0020] FIG. 14B is a graph of total displacement vs. thickness of
substrates with different Young's moduli.
[0021] FIGS. 15A and 16A illustrate an inner surface/underside of a
touch surface in accordance with embodiments.
[0022] FIGS. 15B and 16B illustrate an outer surface/outside of a
touch surface in accordance with embodiments.
[0023] FIG. 17 is a flow diagram of providing haptic feedback on a
haptically-enabled device according to one embodiment.
[0024] FIG. 18 is a block diagram of a haptic system in a
haptically-enabled device according to one embodiment.
DETAILED DESCRIPTION
[0025] Embodiments are directed to providing haptic feedback using
an actuation system, and more particularly, to providing haptic
feedback by rendering haptic effects using a high bandwidth thin
actuation system
[0026] Haptics is a tactile and/or kinesthetic feedback technology
that generates haptic feedback effects (also known as "haptic
feedback" or "haptic effects"), such as forces, vibrations, and
motions, for an individual using the individual's sense of touch. A
haptically-enabled device can include embedded hardware (e.g., an
actuation system or other output mechanisms) configured to apply
the haptic effects. The embedded hardware is, generally, programmed
to apply (or playback) a particular set of haptic effects. When a
signal specifying which haptic effect(s) to play is generated or
received by a processor of the haptically-enabled device, the
embedded hardware of the haptically-enabled device renders the
specified haptic effect. For example, when an individual is
intended to experience a haptic event, the embedded hardware of the
haptically-enabled device receives a play command through control
circuitry. The embedded hardware then applies the appropriate
haptic effect.
[0027] One embodiment uses a thin actuation system, such as a Macro
Fiber Composite ("MFC") actuator attached to an internal surface
(or inside) of a back cover of a smartphone or other mobile device
to provide deformation haptic effects, low-frequency vibratory
haptic effects, and/or high definition vibratory haptic effects on
the back cover of the mobile device. The actuation system can be
attached by an adhesive such as an epoxy or suspension, in one
embodiment. In other embodiments, the back cover itself is used as
a thin actuation system to provide the haptic effects by co-molding
the actuation system and the back cover.
[0028] FIG. 1 is a block diagram of a haptically-enabled mobile
device/system used to implement one embodiment.
[0029] Referring to FIG. 1, a haptically-enabled mobile
device/system 10 includes a touch sensitive surface 11 or other
type of user interface mounted within a housing 15, and may include
mechanical or "soft" keys/buttons 13. Housing 15 may include two or
more separate portions/parts, including a front cover or front
screen, and a back cover (not shown). Internal to system 10 is a
thin haptic feedback system that generates haptic effects on system
10. In one embodiment, the haptic effects are generated on the back
cover of system 10. However, embodiments are not limited thereto,
and therefore, the haptic effects can be generated on any other
part of system 10.
[0030] The haptic feedback system includes a processor or
controller 12. Coupled to processor 12 is a memory 20 and a drive
circuit 16, which is coupled to a thin haptic output device 18.
Processor 12 may be any type of general purpose processor, or could
be a processor specifically designed to provide haptic effects,
such as an application-specific integrated circuit ("ASIC").
Processor 12 may be the same processor that operates the entire
system 10, or may be a separate processor. Processor 12 can decide
what haptic effects are to be played and the order in which the
effects are played based on high level parameters. In general, the
high level parameters that define a particular haptic effect
include magnitude, frequency and duration. Low level parameters
such as streaming motor commands could also be used to determine a
particular haptic effect. A haptic effect may be considered
"dynamic" if it includes some variation of these parameters when
the haptic effect is generated or a variation of these parameters
based on a user's interaction.
[0031] Processor 12 outputs the control signals to drive circuit
16, which includes electronic components and circuitry used to
supply thin haptic output device 18 with the required electrical
current and voltage (i.e., "motor signals") to cause the desired
haptic effects to be generated. System 10 can include more than one
haptic output device 18, and each haptic output device 18 can
include a separate drive circuit 16, all coupled to a common
processor 12. Memory 20 can be any type of storage device or
computer-readable medium, such as random access memory ("RAM"),
read-only memory ("ROM"), flash memory or solid state memory.
Memory 20 stores instructions executed by processor 12, such as
operating system instructions. Among the instructions, memory 20
includes a haptic effect generation module 14 which is instructions
that, when executed by processor 12, generate haptic effects based
in conjunction with an application that requires haptic effects to
be generated (e.g., in response to any type of events generated by
an application executing on system 10). Memory 20 may also be
located internal to processor 12, or any combination of internal
and external memory.
[0032] In embodiments with a touch surface 11, the touchscreen
recognizes touches, and may also recognize the position and
magnitude of touches on the surface. The data corresponding to the
touches is sent to processor 12, or another processor within system
10, and processor 12 interprets the touches and in response
generates haptic effect signals. Touch surface 11 may sense touches
using any sensing technology, including capacitive sensing,
resistive sensing, surface acoustic wave sensing, pressure sensing,
optical sensing, etc. Touch surface 11 may sense multi-touch
contacts and may be capable of distinguishing multiple touches that
occur at the same time. Touch surface 11 may be a touchscreen that
generates and displays images for the user to interact with, such
as keys, buttons, dials, etc., or may be a touchpad with minimal or
no images.
[0033] System 10 may be a handheld device, or mobile device, such a
cellular telephone, personal digital assistant ("PDA"), smartphone,
computer tablet, gaming controller, etc., or may be any other type
of device that provides a user interface and includes a haptic
effect system that includes one or more haptic output devices. The
user interface may be a touch sensitive surface, or can be any
other type of user interface such as a physical button, mouse,
touchpad, mini-joystick, scroll wheel, trackball, door knob, game
pads or game controllers, etc. System 10 may be a flexible/bendable
device that generates haptic effects when physically manipulated,
in which case the "user interface" is the flexible/bendable portion
of the device itself.
[0034] Thin haptic output device 18, disclosed in more detail
below, is "thin" relative to the side profile of system 10, and is
able to generate or render deformation type haptic effects (e.g.,
deforming the back cover of mobile device 10) and/or vibratory type
haptic effects (e.g., vibrating the back cover in addition to other
portions of mobile device 10). Specifically, embodiments can
generate vibratory haptic effects with a strong low-frequency
content (e.g., approximately 10 Hz-150 Hz) and deformation haptic
effects (e.g., approximately 10 Hz or less, or 2 Hz-10 Hz). The
vibratory frequency of strong low-frequency vibratory haptic
effects in embodiments is approximately 10 Hz-150 Hz. The
deformation haptic effects can be considered a low frequency
(slower) version of a vibratory haptic effect, or it can be
considered a single cycle of an expansion/movement outwards and
then returning. The frequency of deformation haptic effects in
embodiments is approximately 10 Hz or less. Further, embodiments
can generate "high definition" ("HD") haptic effects that control
thin haptic output device 18 with a haptic signal that varies the
intensity of the haptic effect according to a signal encoded with a
value of +/-127 for each sample of the high definition haptic
signal supplied typically at 8 kHz. The vibratory frequency of HD
vibratory haptic effects in embodiments is approximately 150 Hz-800
Hz. In one embodiment, narrow HD vibratory haptic effects are
generated. A vibratory frequency of the narrow HD vibratory haptic
effects is approximately 200 Hz.
[0035] In one embodiment, the thin haptic output device 18 can be
configured to generate strong low-frequency vibratory haptic
effects and HD vibratory haptic effects. In one embodiment, the
thin haptic output device 18 can be configured to generate
deformation haptic effects and strong-low frequency vibratory
haptic effects. In one embodiment, the thin haptic output device 18
can be configured to generate deformation haptic effects, strong
low-frequency vibratory haptic effects and HD vibratory haptic
effects.
[0036] Some known actuators used to generate haptic effects
generally cannot provide the range of haptic effects disclosed
above. For example, a Linear Resonant Actuator ("LRA") or a
Solenoid Resonant Actuator ("SRA") generally have a narrow band HD
effect of approximately 200 Hz and an acceleration of 1 G, peak to
peak ("pp"). Further, an LRA generally cannot provide low frequency
content and deformation haptics. Further, the thickness of an LRA
is approximately 3 mm (i.e., not "thin"), and it is not flexible.
Likewise, an Eccentric Rotating Mass ("ERM") vibration motor cannot
generally provide HD haptic effects content and the thickness of an
ERM bar is also approximately 3 mm.
[0037] In accordance with embodiments, processor 12, memory 20,
drive circuit 16 and haptic output device 18 can all be contained
within the housing 15.
[0038] FIG. 2 illustrates a disassembled view of a mobile device in
accordance with one embodiment.
[0039] Referring to FIG. 2, a mobile device 200 includes a front
screen/panel 26 and a back cover/panel or back-side frame 22. Back
cover 22 is a flat or generally flat surface. A Macro Fiber
Composite ("MFC") actuator 21 that functions as a thin actuation
system is attached to the inner surface of back cover 22 (i.e., a
substrate). In one embodiment, MFC actuator 21 can be bonded to the
inner surface of back cover 22 using a chemical substance such as
an epoxy or an adhesive, or using a process such as soldering,
brazing or welding. In one embodiment, MFC actuator 21 can be
attached to the inner surface of back cover 22 using a mechanical
device such as fasteners or magnets. MFC actuator 21 can be fixedly
attached or removably attached to back cover 22.
[0040] In one embodiment, a pocket cut 23 of approximately 0.050''
on the inside of back cover 22 allows MFC actuator 21 to be
positioned substantially flush to the inside of back cover 22 and
allows the overall case of device 10 to tightly fit together.
Pocket cut 23 further changes the thickness of back cover 22.
Further, pocket cut 23 may allow the haptic effect to be generally
isolated on the back cover to the thinner portion necessitated by
the pocket cut. The device driver and/or processor of device 10 is
electrically coupled to MFC actuator 21.
[0041] In one embodiment, MFC actuator 21 is the "MFC M5628 P1"
from Smart Material Corp. An MFC actuator, in general, is formed by
rectangular piezo ceramic rods sandwiched between layers of
adhesive, electrodes and polyimide film. The electrodes are
attached to the film in an interdigitated pattern which transfers
the applied voltage directly to and from the ribbon shaped rods. In
one embodiment, the thickness of MFC actuator 21 is approximately
0.5 mm. However, embodiments are not limited thereto, and the
thickness of MFC actuator 21 can be less than 0.5 mm such as 10
.mu.m to 100 .mu.m, approximately 10 .mu.m or approximately 100
.mu.m. In other embodiments, the thickness of MFC actuator 21 can
be about 2 to 3 mm, about 1 to 2 mm, or less than 1 mm.
[0042] In other embodiments, a thin smart material alternative to
MFC actuator 21 can be used as the actuation system.
[0043] FIG. 3 illustrates an exploded view of a mobile device in
accordance with one embodiment.
[0044] Referring to FIG. 3, the positioning of actuation system 31
(e.g., one or more MFC actuators) relative to a battery 34 and the
other components between a front screen 36 and a back panel 32 of a
mobile device 300 are shown.
[0045] As shown in FIG. 2, in one embodiment, an MFC actuator 21 is
bonded to the back cover 22 of mobile device 200. In this
embodiment, the back cover 22 functions as a substrate to generate
three types of haptic effects as previously described: (1)
wide-band HD; (2) Low-Frequency; and (3) Deformation. In other
embodiments, instead of an MFC actuator, actuation system 31 as
shown in FIG. 3 can be a multi-layer Electroactive Polymers
("EAP"), a polyvinylidene difluoride ("PVDF") or dielectric
elastomer. In one embodiment, the front screen 26 can be formed of
EAPs, PVDF or dielectric elastomers due to their flexibility. For
instance, when the bend radius of the haptically-enabled device is
more than 50 mm, MFC actuator 21 can be used as the actuation
system 31. When the bend radius of the haptically-enabled device is
less than 50 mm, EAPs, PVDF and dielectric elastomers can be used
as the actuation system 31. The bend radius, which is measured to
the inside curvature, is the minimum radius the haptically-enable
device can be bent without kinking, damaging, or breaking. In other
embodiments, actuation system 31 can be formed from smart gels or
materials (such as magnetorheological fluid ("MRF")), or photo
sensitive materials that respond to light or temperature.
[0046] FIG. 4 illustrates a side profile view of a mobile device in
accordance with one embodiment.
[0047] As shown in FIG. 4, even with the addition of a thin
actuator system, back cover 42 and front screen 46 of a mobile
device 400 are coupled together without any extra space required.
FIG. 4 further illustrates the "z-axis" of mobile device 400, which
extends perpendicular from the front screen surface and back cover
surface.
[0048] FIG. 5 is a graph of measured peak to peak acceleration on
the top-side of the outer surface of a mobile device in accordance
with one embodiment.
[0049] In FIG. 5, a frequency sweep for input voltage of 1500 V for
3 cycles is applied. The MFC actuator needs an electrical field to
be actuated. Depending on the type of MFC actuator, in one
embodiment -60 to 360 V is applied, and in another embodiment -500
to 1500 V is applied. In one embodiment, a sine wave is applied
instead of a square wave since a square wave generates a
substantially high audible noise. However, if audible noise is not
an issue, a square wave can produce a stronger force or
acceleration. Further, an arbitrary signal can be sent to the MFC
actuator or other type of thin actuator, such as in a waveform
containing a signal with multiple frequencies (e.g., a sound signal
but with frequencies below 1000 Hz or 500 Hz). Other wave shapes
are triangular, ramp up/down, frequency limited noise, white noise,
pink noise, etc. The aforementioned signals, or other signals, can
also be combined or superimposed to create new signals that can
drive the MFC actuator. The signals can also be generated by a
variety of algorithms, for instance, granular synthesis.
[0050] As shown, the acceleration (above 0.5 G peak-to-peak ("pp"))
starts from 30 Hz and continues even after 800 Hz. Below 30 Hz, a
user can feel deformation haptic effects to about 2 Hz. The maximum
acceleration for the front side of device 10 is approximately 12 G
pp.
[0051] FIG. 6 is a graph of measured peak to peak acceleration on
the bottom-side of the outer surface of the mobile device used to
obtain the data shown in FIG. 5 in accordance with one
embodiment.
[0052] In FIG. 6, similar to FIG. 5, a frequency sweep for input
voltage of 1500 V for 3 cycles is applied. As shown, the
acceleration (above 0.5 G pp) starts from 5 Hz and continues even
after 800 Hz. The maximum acceleration on the bottom cover is
approximately 40 G pp. Based on FIGS. 5 and 6, the input voltage
can be dropped down to 500 V because the acceleration at 1500 V may
be considered too strong for generating acceptable haptic effects.
The deformation effect can be at frequencies below 5 Hz, 10 Hz,
etc. The displacement of the back cover is in the order of
millimeters, 1, 2, 3, or 4 mm.
[0053] FIGS. 5 and 6 demonstrate the benefits and viability of
using a MFC actuator attached to the cover of a mobile device
compared to other types of actuators and/or other configurations of
actuators.
[0054] In another embodiment, a transparent MFC actuator is bonded
under the front screen of mobile device 10 instead of, or in
addition to, being bonded inside the back cover.
[0055] FIG. 7 illustrates reference points on a front screen for
the measurements in FIGS. 8 and 9 in accordance with
embodiments.
[0056] FIG. 8 is a graph of measured peak to peak acceleration vs.
frequency at different reference points on a front screen of a
haptically-enabled device in accordance with one embodiment.
[0057] In FIG. 8, the acceleration (above 0.5 G pp) starts from 5
Hz and continues even after 500 Hz. The maximum acceleration
(approximately 10 G pp) is near the center of the front screen.
[0058] FIG. 9 is a graph of measured output frequency vs. frequency
at different reference points on a front screen of a
haptically-enabled device in accordance with one embodiment.
[0059] As shown in FIG. 9, the output frequency is proportional to
the frequency of the haptic effect for all of the indicated
reference points on the front screen, except for near the center of
the front screen where the output frequency remains fairly constant
for haptic effects having a frequency of about 230 Hz or
greater.
[0060] In another embodiment, multiple MFC actuators (see FIGS. 16A
and 16B) are bonded to mobile device 200 at multiple locations. For
examples, an MFC actuator bonded inside the back cover, another MFC
actuator bonded under the screen, and third one is bonded on the
edges of mobile device 200. In one embodiment, the MFC actuators
are placed on different sides of a neutral axis of mobile device
200 as shown in FIGS. 16A and 16B. In other embodiments, all MFC
actuators are placed on the same side of the neutral axis as shown
in FIGS. 15A and 15B. The neutral axis is the geometric center of
mobile device 200 when mobile device 200 is symmetric, isotropic
and not curved before bending occurs. For a mobile device, in one
embodiment MFC actuators are placed on the sides of the device and
on the back of the device.
[0061] In another embodiment, instead of using an MFC actuator or
other separate thin actuator system bonded to the inert plastic of
back cover 22 or front screen 26, an actuation system can be formed
within the back cover 22 or front screen 26, so that when energy is
applied to back cover 22, back cover 22 or front screen 26 vibrates
and/or deforms. For instance, an actuation system can be
integrally-formed with back cover 22 or front screen 26 by
co-molding the actuation system and back cover 22. In one
embodiment, back cover 22 or front screen 26 is formed of composite
materials formed through co-molding, using inert and active
materials. In one embodiment, back cover 22 or front screen 26
itself can have built-in or embedded actuation capability. Back
cover 22 or front screen 26 can be a composite material that is
impregnated with fibers or thin sheets of material that can
expand/contract, causing vibration and deformation, through back
cover 22. In another embodiment, back cover 22 or front screen 26
can be formed from a co-molded woven fabric that includes threads
in a certain orientation. Any other substance that expands or
contracts when energized (for instance, by applying voltage) can be
used in embodiments as back cover 22 or front screen 26.
[0062] In another embodiment, MFC actuator 21 or similar actuator
is attached to an add-on cover that houses mobile device 200. In
one embodiment, MFC actuators 21 are added to the side and the back
of the add-on cover.
[0063] A suspension can be used to attach the add-on cover to the
mobile device 200 to tune the dynamic behavior of the haptic
feedback provided by the entire system. The suspension can be foam,
gel, or smart materials such as MRF. Attaching a suspension can
help reduce the highest natural frequency from 450 Hz to 300 Hz, as
shown in FIG. 5.
[0064] As disclosed, an embodiment uses a high bandwidth thin
actuator bonded to the cover of a mobile device to generate
multiple types of haptic effects. Using the cover itself as a
substrate allows for the high bandwidth.
[0065] In other embodiments, there is a need to generate haptic
effects in conjunction with larger display structures (i.e., larger
than on a typical mobile device). These displays may need to
conform to the substrate that they are attached to. For example, in
an automobile dashboard, a display maybe be curved and may fit
within a curved dashboard, which can function as a substrate. One
known way to provide haptic effects to this type of display is to
shake/vibrate the whole display system, using a large mass, which
is not very efficient.
[0066] FIG. 10 illustrates a touch input system within an
automobile dashboard in accordance with one embodiment.
[0067] In FIG. 10, a touch input system 1000 may be part of an
in-vehicle user interface system, such as a central console system
and/or vehicle dashboard system used to provide user interaction
for various functionality, such as viewing and/or controlling
vehicle status, cabin temperature, navigation, radio, calls and
text, or other functionality. In an embodiment, the touch input
system 1000 may include a touch input device 1011. The touch input
device 1011 may have a front side that is a touch surface
configured to receive a touch input. In an embodiment, the touch
input device 1011 may include a display screen, with a surface of
the screen being the touch surface. The display screen may have
internal touch sensors, such as capacitive touch sensors disposed
near a front side of the display screen, that configure the display
screen as a touch screen, or may have no such internal sensors. In
an embodiment, the touch input device 1011 may have no display
screen or other display functionality, and may function as a touch
pad.
[0068] In contrast, embodiments use a designed thin actuator (with
a small width and a long length), such as an MFC actuator, bonded
directly to a substrate in contact with the user to provide strong
haptic feedback.
[0069] FIG. 11 illustrates a touch input system within an
automobile dashboard in accordance with one embodiment.
[0070] Referring to FIG. 11, a touch input system 1100 includes a
touchscreen 1101 and a surrounding substrate 1102 that may be a
portion of an automobile dashboard. As shown in FIG. 11, both
touchscreen 1101 and substrate 1102 are curved. System 1100
includes one or more thin actuation systems (not shown) formed from
MFC actuators in one embodiment.
[0071] Referring to both FIGS. 3 and 11, in one embodiment,
designed thin actuators (with a small width and a long length),
such as MFC actuators, are bonded directly to a substrate, such as
substrate 1102 in FIG. 11 or back panel 32 in FIG. 3, in contact
with the user and provide strong haptic feedback. In other
embodiments, the thin actuators are bonded on the back of a
display, such as a LCD or front screen 36 in FIG. 3, or touchscreen
1101 in FIG. 11. However, the final haptic feedback or the
perceived acceleration/force may be attenuated due to the
multilayered structure of the LCD. Alternatively, in one
embodiment, only the last element of the display structure in touch
with the user actuates, which could be a glass (LCD or OLED) or
plastic (OLED), without shaking/vibrating the other elements of the
display. The actuator can cover the entire area or just be
positioned in some locations, depending on the requirement of the
haptic feedback as well as the stiffness of the substrate. In other
embodiments, one or more actuators can be located at a specific
location to provide localized haptic effects in the respective
area.
[0072] The MFC actuator(s) directly on the front cover or the back
panel of a touch screen in accordance with embodiments can function
as both an actuator and a pressure sensor. The MFC actuators
generate voltage as a result of being deformed. The generated
voltage can be used to sense pressure applied to the front cover or
the back panel to realize 3D haptic effects.
[0073] FIG. 12 illustrates a user touching/tapping on a touch
surface in accordance with one embodiment.
[0074] FIG. 13 is a graph of the voltage generated by the MFC
actuator(s) on a touch screen vs. time in accordance with one
embodiment.
[0075] As shown in FIG. 13, voltage is generated when the user
applies pressure to the touch screen with the MFC actuator(s) in
accordance with one embodiment.
[0076] In order to optimize haptic feedback generated using a front
screen or back panel with MFC actuators in accordance with
embodiments, the amplifying force (e.g., from vibratory haptic
effect) or the deformation force (e.g., from a deformation haptic
effect) that will be rendered by the haptic effects should be taken
into consideration when determining the design and stiffness
distribution of the front screen or back cover. If the amplifying
forces are important, the front screen or back panel should be
relatively thin, and formed of a material having a high Young's
modulus such as glass fiber composite or carbon fiber
composite.
[0077] FIG. 14A illustrates a single-cantilever configuration of a
MFC actuator and a substrate in accordance with one embodiment.
[0078] FIG. 14B is a graph of total displacement vs. thickness of
substrates with different Young's moduli.
[0079] Referring to FIG. 14B, the smallest total displacement (less
than 0.2 mm) was observed for substrate (A) having the lowest
Young's modulus. The largest total displacement (2.8 mm) was
observed for substrate (E) having the highest Young's modulus.
[0080] FIG. 15A illustrates an inner surface/underside of a touch
surface in accordance with one embodiment.
[0081] FIG. 15B illustrates an outer surface/outside of a touch
surface in accordance with one embodiment.
[0082] Referring to FIG. 15A, a touch surface 1500 in accordance
with one embodiment includes a curved LCD or OLED touchscreen 1501,
and a glass or plastic substrate 1502 implemented in an automobile
dashboard. Bonded to substrate 1502 are two thin actuators/patches
(e.g., MFC actuators) 1510, 1511. Actuators/patches 1510, 1511 can
be on the same side of a neutral axis of touch surface 1500, as
shown.
[0083] Alternatively, or in addition to the actuators/patches 1510,
1511, two additional thin actuators (e.g., MFC actuators) 1530,
1531 can be located on an outer surface of touch surface 1500, as
shown in FIG. 15B.
[0084] FIG. 16A illustrates an inner surface/underside of a touch
surface in accordance with one embodiment.
[0085] FIG. 16B illustrates an outer surface/outside of a touch
surface in accordance with one embodiment.
[0086] Referring to FIG. 16A, an inner surface/underside of a touch
surface 1600 in accordance with one embodiment includes a curved
touchscreen 1601 and substrate 1602 implemented in an automobile
dashboard. Bonded to substrate 1602 are four thin actuators (e.g.,
MFC actuators) 1610-1613. MFC actuators 1610, 1611, 1612 and 1613
are smaller than MFC actuators 1510, 1511 shown in FIG. 15A. MFC
actuators 1610 and 1611 can be on a first side of a neutral axis of
touch surface 1600, and MFC actuators 1612 and 1613 can be on a
second side of the neutral axis of touch surface 1600.
[0087] Alternatively, or in addition to the actuators 1610, 1611,
1612 and 1613, four additional thin actuators (e.g., MFC actuators)
1630, 1631, 1632 and 1633 can be located on an outer surface of
touch surface 1600, as shown in FIG. 16B.
[0088] FIG. 17 is a flow diagram of providing haptic feedback on a
haptically-enabled device according to one embodiment.
[0089] Referring to FIG. 17, providing haptic feedback on a
haptically-enabled device according to one embodiment includes
applying a haptic signal to a haptic output device, at step 1710.
The haptic output device is attached to or formed within a front
screen or a back cover of the haptically-enabled device. The front
screen is coupled to the back cover.
[0090] At step 1720, a high-definition (HD) vibratory haptic
effect, a low-frequency vibratory haptic effect or a deformation
haptic effect is rendered using the haptic output device.
[0091] In one embodiment, the method further includes generating
the haptic signal using a processor coupled to the haptic output
device, prior to the applying of the haptic signal. The haptic
output device is attached to or formed within an inner surface of
the back cover. The haptic signal is applied to the haptic output
device to cause the high-definition (HD) vibratory haptic effect,
the low-frequency vibratory haptic effect or the deformation haptic
effect to be rendered on an outer surface of the back cover.
[0092] In one embodiment, a frequency of the low-frequency
vibratory haptic effect is approximately 10 Hz to-150 Hz, and a
frequency of the HD vibratory haptic effect is 150 Hz-800 Hz.
[0093] In one embodiment, a frequency of the deformation haptic
effect is 10 Hz or less.
[0094] In one embodiment, the haptic output device can be a Macro
Fiber Composite actuator. However, as discussed above, embodiments
are not limited thereto.
[0095] In one embodiment, the rendering of the haptic effect
includes using a plurality of actuators directly bonded to an inner
surface of the back cover. A first set of the plurality of
actuators can be on a first side of a neutral axis of the back
cover, and a second set of the plurality of actuators can be on a
second side of the neutral axis of the back cover.
[0096] The method can optionally include, at step 1730, sensing, at
the haptic output device, pressure applied to the front screen or
the back cover using voltage generated from user contact to
generate pressure information. The pressure information could be
used to render the high-definition (HD) vibratory haptic effect,
the low-frequency vibratory haptic effect and/or the deformation
haptic effect as a 3D haptic effect.
[0097] FIG. 18 is a block diagram of a haptic system in a
haptically-enabled device according to one embodiment.
[0098] Referring to FIG. 18, a system 1800 in a haptically-enabled
device according to an example embodiment provides haptic
functionality for the device.
[0099] Although shown as a single system, the functionality of
system 1800 can be implemented as a distributed system. System 1800
includes a bus 1804 or other communication mechanism for
communicating information, and a processor 1814 coupled to bus 1804
for processing information. Processor 1814 can be any type of
general or specific purpose processor. System 1800 further includes
a memory 1802 for storing information and instructions to be
executed by processor 1814. Memory 1802 can be comprised of any
combination of random access memory ("RAM"), read only memory
("ROM"), flash memory, solid state memory, static storage such as a
magnetic or optical disk, or any other type of non-transitory
computer-readable medium.
[0100] A non-transitory computer-readable medium can be any
available medium that can be accessed by processor 1814, and can
include both a volatile and nonvolatile medium, a removable and
non-removable medium, and a storage medium. A storage medium can
include RAM, flash memory, ROM, solid state memory, erasable
programmable read-only memory ("EPROM"), electrically erasable
programmable read-only memory ("EEPROM"), registers, hard disk, a
removable disk, a compact disk read-only memory ("CD-ROM"), or any
other form of a storage medium known in the art.
[0101] According to an example embodiment, memory 1802 stores
software modules that provide functionality when executed by
processor 1814. The software modules include an operating system
1806 that provides operating system functionality for system 1800,
as well as the rest of the haptically-enabled device. The software
modules can also include a haptic system 1805 that provides haptic
functionality (as described above). However, example embodiments
are not limited thereto. For instance, haptic system 1805 can be
external to the haptically-enabled device, for example, in a
central gaming console in communication with the haptically-enabled
device. The software modules further include other applications
1808, such as, a video-to-haptic conversion algorithm.
[0102] System 1800 can further include a communication device 1812
(e.g., a network interface card) that provides wireless network
communication for infrared, radio, Wi-Fi, or cellular network
communications. Alternatively, communication device 1812 can
provide a wired network connection (e.g., a
cable/Ethernet/fiber-optic connection, or a modem).
[0103] Processor 1814 is further coupled via bus 1804 to a visual
display 1820 for displaying a graphical representation or a user
interface to an end-user. Visual display 1820 can be a
touch-sensitive input device (i.e., a touch screen) configured to
send and receive signals from processor 1814, and can be a
multi-touch touch screen.
[0104] System 1800 further includes a haptic output device 1835.
Processor 1814 can transmit a haptic signal associated with a
haptic effect to haptic output device 1835, which in turn outputs
haptic effects (e.g., vibratory haptic effects and/or deformation
haptic effects).
[0105] While example embodiments have been described in an
automobile dashboard and a mobile device, the haptically-enable
device is not limited thereto. For example, the haptically-enabled
device may be a device used in a virtual reality ("VR") or
augmented reality ("AR") system or in a gaming system such as a
computer, a game pad or a tablet.
[0106] According to example embodiments, example embodiments use a
high bandwidth thin actuator bonded to the cover of a
haptically-enabled device to generate multiple types of haptic
effects. Using the device itself as a substrate allows for the high
bandwidth.
[0107] Several embodiments are specifically illustrated and/or
described herein. However, it will be appreciated that
modifications and variations of the disclosed embodiments are
covered by the above teachings and within the purview of the
appended claims without departing from the spirit and intended
scope of the invention.
* * * * *