JP6441387B2 - Compound mass trajectory for improved haptic effects - Google Patents

Description

  This application claims the benefit of US Provisional Application No. 61 / 938,613, filed February 11, 2014, and US Provisional Application No. 62 / 051,358, filed September 17, 2014. All rights reserved, and the disclosures of these applications are incorporated herein by reference in their entirety.

  The present invention relates to an apparatus and method for generating a signal, and more particularly to an apparatus and method for generating a haptic signal.

  As consumer devices become thinner and thinner, it becomes increasingly difficult to interact effectively with users. Many such devices (eg, including cell phones, smart watches, etc.) rely on tactile feedback to provide users with non-visual cues and warnings. These tactile components use moving mass to convey momentum to the user, most commonly in the form of vibrations. There are many haptic technologies, but those targeting thin (less than 5 mm) package height can be divided into two types. A linear resonant actuator (LRA) and an eccentric rotating mass (ERM).

  ERM uses a small electric motor that, when activated, rotates an eccentric mass about an axis. The rotation axis does not pass through the center of mass of the output mass. Thus, when the ERM is activated, it transmits vibrations through the motor base. ERM is characterized by very large amplitude vibration output compared to package dimensions, but has the disadvantage of long rise and fall times and can only produce a single vibration effect. For example, iPhone (registered trademark) 5 uses ERM.

  LRA uses a linear magnetic actuator that drives a mass that is coupled to a reciprocating spring rather than a rotational motion. A typical LRA has its axis of motion parallel to the thinnest package dimensions. These LRAs are characterized by significantly reduced rise and fall times compared to ERM, but still can typically only produce a single vibration effect.

  One variant of LRA has its axis of motion oriented perpendicular to the thinnest package dimensions. Thanks to the extended range of motion, these forms of LRA can withstand non-resonant operation, allowing much shorter output impulses (“tap”) as opposed to vibration. However, in all cases, the output momentum is also oriented in a direction perpendicular to the thinnest package dimensions. After careful consideration, the inventors of the present invention have realized that this direction is not ideal for most consumer electronics applications.

  LRA and ERM to produce something that approaches a “tap” output that is oriented parallel to the thinnest dimension (ie thickness less than 5 mm) in a package suitable for use in consumer electronics. Not so much. Furthermore, none of the known techniques can create haptic effects along multiple axes in such a package.

  The present invention relates to the use of complex mass trajectories in haptic components. For the purposes of this disclosure, a simple trajectory shall be either continuous rotation or linear reciprocation. A compound mass orbit is an orbit that is not a simple orbit.

  Compound mass trajectories can provide tremendous utility in creating haptic effects that are improved over current state of the art. One useful compound mass trajectory is a “J-type” trajectory, where the majority of the mass trajectories are approximately linear and approximately perpendicular to the thinnest package dimensions, Turn sharply near a range and proceed parallel to the thinnest package dimensions.

  Combining two of these “J-shaped” tracks back to back creates a dual “J-shaped” track, ie, a configuration that allows a multi-functional tactile component. By using only the end region of the stroke, a longitudinal vibration parallel to the thinnest dimension can be created. By using the entire process, you can create a “tap”. By using only flat areas while being driven asymmetrically, a transverse vibration perpendicular to the thinnest dimension can be created.

  An accelerometer built into the haptic component can provide force feedback for active control. Alternatively, an accelerometer that exists elsewhere in a device such as a cellular phone can be used as sensing for active control.

  It will be appreciated that in various embodiments, the mechanism can be extended to include additional J-shaped trajectories, and further augment the set of signals that can be created. In other words, the term “J-shaped trajectory” and the shapes illustrated in the various drawings of this disclosure are merely intended to illustrate a wide variety of trajectories and accelerations. All are intended to be within the scope of the present disclosure with respect to the invention, and also within the scope of the present invention, within the scope of the registered claims. Furthermore, although some of the presented trajectories exhibit de facto mirror symmetry, it should be well understood that these are only examples of a wide variety of trajectories and arrangements. Thus, the various trajectories followed by opposite inertial masses will be configured according to the signaling requirements and other requirements of a particular embodiment, and depending on the requirements of a particular embodiment of the present invention, It may only exhibit symmetry and / or partial symmetry and / or dynamic symmetry and / or asymmetry. In particular, trajectory characteristics, among other possibilities, are modified in certain embodiments as the device is used and / or during the course of a particular signaling operation. Will.

  Similarly, it should not be assumed that the inertial masses used in a particular embodiment of the present invention are equal or otherwise very similar in mass or other characteristics. In certain embodiments of the invention, specific acceleration profiles may be used to dynamically change the effective properties of each inertial mass and the relationship between the properties of each inertial mass. Further, in certain aspects of the invention, a single large mass may be used as opposed to a smaller plurality of masses.

  Furthermore, the characteristics of the inertial mass used will be chosen according to the requirements of the particular embodiment. For example, a somewhat elastic inertial mass would be beneficial in each application of the present invention. Certainly, in some applications, a relatively “dead” or elastic, inertial mass will be used. In some embodiments, such mass would have incorporated a plurality of smaller masses in the enclosure to produce a relatively inelastic response. In other embodiments, the material of inertial mass will be chosen for elasticity and other properties. Thus, for example, metals, polymers, other organic materials, and the like may be used in certain embodiments of the invention.

  In the embodiments presented herein, for clarity of explanation, one or more mechanical links defining the shape of the J-shaped track are used for the most part, but other means are also available: It should be further noted that the shape of the J-shaped track can be defined and is considered within the scope of the present invention. Thus, for example, sliding and rolling guides and / or flexible and / or hinged devices, and combinations thereof, in certain embodiments of the present invention, one or more It will be used to define the shape of one or more trajectories that the inertial mass will follow.

  In this disclosure, the terms “tactile warning device” and “tactile actuator” are used interchangeably and are intended to be used interchangeably. It should be noted.

  The following description is provided to enable any person skilled in the art to make and use the disclosed invention, and is intended for the invention presently contemplated by the inventor. The best mode of implementation is described. In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to avoid unnecessarily obscuring the disclosed points. These and other advantages and features of the invention will be more readily understood in connection with the following detailed description of the invention, which is provided with the accompanying drawings. Is done.

  It should be noted that although the various figures illustrate each aspect of the invention, no single figure is intended to illustrate the entire invention. Rather, the drawings together illustrate the invention in terms of its various aspects and principles. As such, any particular figure should not be presumed to be solely related to a particular aspect or individual species of the present invention. Conversely, those skilled in the art will appreciate that the combined figures reflect various embodiments illustrating the present invention.

  Correspondingly, references to “one embodiment” or “an embodiment” throughout the specification are intended to imply that a particular feature, structure, or property described in connection with that embodiment is at least one of the present invention. It is meant to be included in one embodiment. Thus, the appearances of the phrases “in one embodiment” or “in an embodiment” in various places throughout the specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

A portion of a haptic actuator made in accordance with the principles of the present invention is shown in the form of a schematic block diagram. A portion of a haptic actuator made in accordance with the principles of the present invention is shown in the form of a schematic block diagram. A momentary state of a portion of a haptic actuator made in accordance with the principles of the present invention is shown in the form of a mechanical schematic. Fig. 2 shows in the form of a mechanical schematic diagram another state of a part of a haptic actuator made according to the principles of the present invention. The state of yet another instant of a portion of a haptic actuator made in accordance with the principles of the present invention is shown in the form of a mechanical schematic. FIG. 2 illustrates in a mechanical schematic diagram the state of one instant of a portion of an exemplary haptic actuator made in accordance with the principles of the present invention. A further instantaneous state of a portion of an exemplary haptic actuator made in accordance with the principles of the present invention is shown in the form of a mechanical schematic. A representation of the position of a part of a linear resonant actuator as a function of time is shown in the form of a graph. A representation of the position as a function of time of two parts of a haptic actuator made according to the principles of the present invention is shown in the form of a graph. 2 shows a schematic representation of the instantaneous state of a haptic actuator made according to the principles of the present invention. The state of one moment of a portion of a haptic actuator made according to the principles of the present invention is illustrated in the form of a mechanical schematic. Fig. 4 illustrates in the form of a mechanical schematic diagram the state of another moment of a part of a haptic actuator made according to the principles of the present invention. Fig. 4 illustrates, in the form of a mechanical schematic, the state of yet another instant of a portion of a haptic actuator made in accordance with the principles of the present invention. One configuration of a haptic actuator made according to the principles of the present invention is shown in the form of a perspective block diagram. A portion of a haptic actuator made in accordance with the principles of the present invention is shown in cut-away perspective. A portion of a haptic actuator made in accordance with the principles of the present invention is shown in schematic plan view. A portion of a haptic actuator made in accordance with the principles of the present invention is shown in a mechanical schematic diagram. A manufacturing process for making a haptic actuator according to the principles of the present invention is shown in flow chart form. A portion of the manufacturing process that can be adapted to make a haptic actuator according to the principles of the present invention is shown in schematic perspective form. 1 illustrates in schematic perspective view an exemplary device made by a manufacturing process that is adaptable to make a haptic actuator in accordance with the principles of the present invention. A linear resonant actuator made in accordance with the principles of the present invention is shown schematically. Fig. 3 shows a schematic representation of the instantaneous state of a linear resonant actuator made according to the principles of the present invention.

  The following description is provided to enable any person skilled in the art to make and use the disclosed invention, and is intended for the invention presently contemplated by the inventor. The best mode of implementation is described. In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to avoid unnecessarily obscuring the disclosed points.

  FIG. 1 illustrates, in schematic block diagram form, a portion of one embodiment of a haptic actuator 100 made in accordance with the principles of the present invention. Haptic actuator 100 includes a power supply 102 that is operatively coupled to a motor portion 106 via a control device 104. The motor unit 106 is mechanically coupled 108 to the power transmission unit 110. The power transmission unit 110 is further mechanically coupled 112 to the inertial mass unit 114.

  The power transmission section 110 is configured to receive mechanical energy from the motor section 106 and to accelerate the inertial mass section 114 relative to the position of the motor section 106 along a desired spatial path. . In various embodiments, the inertial mass portion 114 will include one or more individual elements that are accelerated relative to the position of the motor portion along their respective paths according to the particular design and application. Similarly, in each embodiment, the power transmission portion 110 may include several portions that are separated to some extent, and similarly, some embodiments will include one or more motor portions. In fact, in some embodiments, the illustrated haptic actuator 100 will be one of several similar haptic actuator subsystems that together form the haptic actuator system.

  FIG. 2 shows a portion of one such haptic actuator system 200 in the form of a schematic block diagram. Tactile actuator system 200 includes a power source 202 operably coupled to motor portion 206 via controller 204. The motor unit 206 is mechanically coupled 208 to the first power transmission unit 210. The motor unit 206 is also mechanically coupled 212 to the second power transmission unit 214. The first power transmission unit 210 is further mechanically coupled 216 to the first inertial mass unit 218. Similarly, the second power transmission unit 214 is further mechanically coupled 220 to the second inertial mass unit 222.

  It will be appreciated by those skilled in the art that such a system can be arranged such that the first power transmission 210 and the second power transmission 214 receive mechanical energy from the motor section substantially simultaneously. Will be clear. Further, depending on the requirements of the particular application, the first inertial mass 218 and the second inertial mass 222 are symmetrically separated from each other during at least part of their own movement, and As a result, the first power transmission is such that the center of mass of the haptic actuator system 200 receives little or no acceleration due to the movement of the first inertial mass 218 and the second inertial mass 222. The part 210 and the second power transmission part 214 can be arranged.

  In one embodiment of the present invention, as described above, the first inertial mass 218 and the second inertial mass 222 can be driven symmetrically in opposite directions, after which the haptic actuator system 200 To bring about a sudden change in the center of mass, it is possible to accelerate in a common direction. The result of this change in direction is an abrupt mechanical output signal, which in one example is transmitted through motor portion 206. In another example, the output signal is transmitted directly to the case (not shown) of the system via one or both of the power transmission units 210 and 214.

  FIGS. 3A, 3B, and 3C illustrate, in mechanical schematic form, exemplary subsystems of the haptic actuator system in three respective instantaneous states 300, 302, and 304. FIG. The embodiments of FIGS. 3A, 3B, and 3C are notable in that they are implemented as a plurality of mechanical links that include a substantially rigid structural member and a pivot joint.

  A first link 306 forms the mechanical foundation of the illustrated subsystem. For discussion purposes, the first link 306 may be considered to be substantially stationary throughout the instant state shown. In a practical example, the impulse delivered to the link 306 is by a user holding a consumer device case (not shown) or otherwise touching the case happily, The first link 306 may be mechanically coupled to the case so that it can be readily detected.

  The link 306 supports a first pivot point 308 and a second pivot point 310. In practice, these pivot points may be implemented as rotary or flexible hinges, among other alternatives. In certain embodiments, as discussed further below, it may be advantageous to implement these hinges and substantially rigid link elements through the use of μMECS® manufacturing techniques.

  Pivot point 308 supports a further link 312 to allow pivoting movement through 314 as shown. The pivot point 310 supports a link 316 for pivoting movement 318 as shown. Additional pivot points 320 and 322 are located at or near the distal ends of links 312 and 316, respectively. Pivot point 320 supports link 324 and pivot point 322 supports link 326 to allow respective pivoting motions 328 and 330.

  As shown, links 316 and 324 are firmly coupled to each other at an intermediate pivot point 332. The link 324 supports an additional pivot point 334 at its distal end. The link 326 supports a further pivot point 336 at its distal end. A further link 338 is pivotally coupled between pivot points 334 and 336 at or near its ends.

  As described above, FIGS. 3A, 3B, and 3C illustrate three different instantaneous states in the operation of the haptic actuator subsystem. In one embodiment, subsystem operation results in a transition from state 300 to state 302 and then to state 304. The pivot point 334 is driven along the “J-shaped track” 340 while maintaining consistency with this transition. Thus, when the subsystem is in state 300, the pivot point 334 is approximately around the proximal end 342 of the J-shaped track 340. When the subsystem is in state 302, pivot point 334 is located at an intermediate position 344 on J-shaped track 340. When the subsystem is in state 304, the pivot point 334 is approximately around the distal end 349 of the J-shaped track 340.

  That the identified states 300, 302, and 304 are merely exemplary, and that at any intermediate time, the pivot point 334 will be found at a corresponding location along the J-shaped trajectory, Those skilled in the art will appreciate. Furthermore, the movement of the pivot point 334 along the J-shaped trajectory will not have to start in any particular state, but will be chosen to traverse the J-shaped trajectory in any way suitable for the specific application requirements. Those skilled in the art will understand that. Furthermore, the movement along the J-shaped trajectory is, in each embodiment, periodic, continuously moving, or any finite number of periods (one period), depending also on the requirements of the particular application. And any desired multiple of that fractional part).

  It will also be appreciated that the details of the design of a particular subsystem will change the nature of the J-shaped trajectory. Thus, in the illustrated embodiment, the J-shaped track 340 includes a generally straight first portion 346 and a generally arcuate second portion 348, but the nature of these regions including the length and degree of linearity. Will vary from application to application.

  In some practical applications, for example, the generally straight region 346 may in practice be somewhat non-linear (eg, somewhat arcuate). Nevertheless, the generated mechanical signal will be well within the requirements of a particular application, as would be perfectly acceptable and desirable. Similarly, arcuate portion 348 may be substantially circular in some embodiments, and may be provided to follow any curve suitable for the requirements of a particular application in other embodiments.

  Referring briefly to FIG. 1 again, the subsystem described with respect to FIGS. 3A, 3B, and 3C will correspond to a portion of the power transmission 110 of the haptic actuator 100 in some embodiments. Will be understood. It is further understood that the inertial mass coupled to follow the J-shaped trajectory (generally coincident with pivot point 334) may correspond to inertial mass 114 of haptic actuator 100 in some embodiments. Let's do it. In practice, the exact coupling of the inertial mass (not shown) to the subsystem will depend on the requirements of the particular application and coupling to one or more of the links 324, 338, and pivot point 334. May be included. Once taught the requirements and advantages of the present invention, one of ordinary skill in the art will be able to ascertain that a particular device is useful for a particular application with minimal experimentation.

  Although the systems and devices disclosed herein are new and surprisingly desirable, those skilled in the art will appreciate that the J-type trajectory is suitable for the needs of a particular technical application. The specific properties needed to provide a subsystem that can create (or other trajectories) will quickly be identified with minimal experimentation.

  Notwithstanding the foregoing, nevertheless, in an exemplary embodiment, links 306 and 338 are each approximately 49 units long and links 312 and 326 are each approximately 45 units long and link Note that 316 and 324 are each approximately 89 units long. Further, the exemplary length along link 316 between pivot points 310 and 332 is about 64 units, and thus the exemplary length between pivot points 332 and 322 is about 25 units. . Similarly, an exemplary length between pivot points 334 and 332 is about 64 units, and thus an exemplary length between pivot points 332 and 320 is about 25 units.

  In the exemplary embodiment, the reference line 350 is substantially in the same plane relative to the plane that includes the first generally straight portion 346 of the J-shaped trajectory 340 or is disposed in a plane that is parallel. It should also be noted that it is done. Further, in one exemplary embodiment, during subsystem operation, angle 352 is substantially constant, for example, having a value of about 70 degrees. Further, a subsystem such as that shown in FIGS. 3A, 3B, and 3C can be configured with respect to further subsystems such that each generally straight portion 346 of each J-shaped track 340 is substantially relative to each other. It should also be noted that quick alignment is possible by proper selection of the angle 352 so that it is placed in the exact opposite direction. Thus, the motion of the inertial mass coupled to one subsystem is offset by the corresponding motion of the inertial mass of the other subsystem. As previously stated, this cancellation results in a minimal acceleration of the center of mass of the two subsystems considered together at the corresponding times. As a result, the risk of bothering the user with false signals resulting from movement on the generally linear portion 346 of the J-shaped trajectory is minimized.

  Corresponding illustrations for the exact opposite movement of the subsystems within the haptic actuator are shown in FIGS. 4A and 4B. Furthermore, reference is made to FIG. 2 and the previous description of FIG. FIG. 4A shows a tactile actuator portion 400 made in accordance with the principles of the present invention in the form of a mechanical schematic. The illustrated portion 400 includes a first subsystem 402 and a second subsystem 404. Subsystems 402 and 404 are arranged and configured to produce movement of respective inertial masses (not shown) along respective J-shaped tracks 406 and 408. The reference or “base” links 410 and 412 are arranged in a substantially fixed spatial relationship with respect to each other and both to the shared link 414. Each of links 410 and 412 are disposed at respective angles 416 and 418 with respect to shared link 414. In certain embodiments, each angle 416 and 418 will be equal (although transformed through mirror symmetry) to form an isosceles trapezoid with an additional shared link 420.

  Each of the links discussed is represented schematically as an individual line segment, but can be any arbitrary suitable to support the displayed pivot points in a spatial relationship that is operable relative to each other. The reader will understand that it can be shaped. Further, although links 414 and 420 are shown as forming isosceles trapezoidal sides, they are entirely optional and as required by a particular embodiment. Again, these links merely represent any suitable structure that is intended to keep the operable pivot points in a substantially desired spatial relationship relative to each other for descriptive purposes. It just shows. Thus, for example, if links 410 and 412 are mechanically coupled in a substantially fixed relationship to each other by other methods, link 420 and / or link 414 may be omitted. Good. Such coupling may be accomplished by both of the links being coupled, for example, partially or fully to a motor housing disposed within the periphery of the illustrated trapezoid. In other embodiments, links 410 and 412 are integrally formed as part of a larger structure rather than separate mechanical elements, but the structure is illustrated as such as 420, 422, 424, 426, etc. It is again recognized that it is only necessary to properly support the pivot point.

  In one embodiment, as shown, additional links 428 and 430 are coupled at their proximal ends to pivots 422 and 424, respectively. Additional devices (not shown) are arranged to press the link 428 to pivot 432 about the pivot point 422 and to press the link 430 to pivot 434 about the pivot point 424. Such a force about the pivot axis will cause a pivotal rotation of link 428 about pivot point 422 and a pivotal rotation of link 430 about pivot point 424, and at arrows 440 and 442, respectively. Those skilled in the art will appreciate that, as shown, a corresponding movement of the pivot point 436 along the J-shaped track 406 and a corresponding movement of the pivot point 438 along the J-shaped track 408 will occur. It will be readily understood by considering the drawings and descriptions of 3A, 3B, and 3C.

  Of course, according to Newton, the acceleration of the device at the pivot point 436 along the straight portion 444 of the J-shaped trajectory 406 should produce an equal reaction force in the opposite direction of the arrow 440. Similarly, the acceleration of the device at pivot point 438 should produce an equal reaction force in the opposite direction of arrow 442. As long as the rotations 432 and 434 of the links 428 and 430 proceed substantially synchronously, respectively, and the mass and acceleration per component and the cumulative mass and acceleration of the two subsystems 402 and 404 are substantially As long as they are equal, these reaction forces will tend to be correspondingly equal. Furthermore, as long as the system links are substantially rigid and as a result the pivot points are substantially spatially fixed relative to each other, these forces are effectively balanced. Will offset each other and the result is that the center of mass of the entire system does not move. Of course, a non-ideal system will exhibit some elasticity or some nonlinearity in the component path. Nevertheless, a well-designed system will produce only vibrations that are practically negligible during this reverse movement 440 and 442.

  Similarly, as shown in FIG. 4B, pivoting links 428 and 430 about pivot points 422 and 424, respectively, in opposite directions 450 and 452, respectively, along the straight portions of J-shaped tracks 406 and 408, respectively. In addition, pivot points 436 and 438 provide inward acceleration in the direction of arrows 454 and 456. Again, the accelerations of the devices adjacent to pivot points 436 and 438 produce reaction forces that are substantially equal and opposite to each other. As long as the entire device is substantially rigid, any displacement of the center of mass of the entire system is minimal.

  The pivot points 436 and 438 can vibrate within the straight regions 444 and 446 of the J-shaped tracks 406 and 408 repeatedly and to some extent without substantial output reaching the user. That will be well understood. On the other hand, however, further rotation in the direction 432 of the link 428 and in the direction 434 of the link 430 causes the pivot points 436 and 438 to move out of the straight regions 444 and 446 of the J-shaped tracks 406 and 408 and It will be apparent to those skilled in the art that the respective arcuate regions 458 and 460 will be moved.

  Subject to the stiffness of the link and pivot points, this change will result in a sudden acceleration of the device mass at pivot points 436 and 438 in a direction substantially perpendicular to arrows 440 and 442. Again, according to Newton, there should be an opposite reaction equal to this acceleration, and the centripetal force transmitted through the interlocking assembly of subsystems 402 and 404 is, for example, that of link 414 in the direction of arrow 462. This results in this reaction expressed as acceleration.

  This acceleration feature will generally depend on the mass of the device, and in particular on the mass at pivot points 436 and 438. Of particular importance will be the mechanical energy, as obtained by acceleration of the masses at the pivot points 436 and 438, from end to end of the straight regions 444 and 446 of the J-shaped trajectories 406 and 408, and , Additional energy applied to accelerate their mass during the end-to-end passage of arcuate portions 458 and 460 of J-shaped tracks 406 and 408.

  In some embodiments of the present invention, the linkage and pivot point configuration of subsystems 402 and 404 may be configured to cause sudden deceleration of pivot point 436 at distal end 464 of J-shaped track 406 and distal end of J-shaped track 408. The pivot point 438 at 466 will result in a corresponding sudden deceleration. Again, depending on the stiffness of the subsystem elements, these sudden decelerations will be transmitted to the rest of the device, in particular to the link 414, and the link 414 will accelerate in the direction opposite to the arrow 462. Let's go.

  Those skilled in the art will appreciate that if the entire device was in free space, the reverse acceleration along arrow 462 would have resulted in the entire device eventually returning to its origin. Will understand. However, as long as the device is part of a consumer electronic device, energy will be transferred to the user via the device case in each of the first and second half of the cycle. As a result, depending on the nature of the system, one or both of the first and second half will be detectable as an output “tap”. As described above with respect to FIG. 1, the size of this tap will increase by coupling pivot points 436 and 438 to the auxiliary inertial mass portion, where the mass of those portions is available It is in harmony with space, drive energy, and structural strength of the entire device. Despite the foregoing, in certain embodiments of the present invention, the J-type trajectory and acceleration profile will be selected to prevent rotation around the center of mass of the entire device.

  While the above description has assumed an initial arrangement, such as the arrangement of FIG. 4A, with an initial motion of the pivot points 436 and 438 outward and along the J-shaped trajectory, in another embodiment, the initial pivot point It should also be understood that the location can be provided anywhere along the J-shaped trajectory according to the requirements of that embodiment.

  Thus, for example, one embodiment of the present invention would include a subsystem with pivot points 436 and 438 at initial positions 468 and 470, respectively, in an initial configuration, such as the configuration of FIG. 4B. In one such embodiment, for example, pivot points 436 and 438 will initially be driven inward in the directions of arrows 454 and 456, respectively, and will store mechanical energy during this portion of the cycle. Let's go. Upon reaching the proximal ends 472 and 474 of the J-shaped tracks 406 and 408, the pivot points 436 and 438 will rapidly decelerate and reverse direction.

  As long as this deceleration and reversal can be performed approximately elastically, the mechanical energy gained during the initial inward movement of pivot points 436 and 438 is returned to the device and then the J-shaped trajectory 406. As the pivot points 436 and 438 move outwardly along the straight portions 444 and 446 of 408 and 408, it is possible to compensate with additional driving forces. When so arranged, the inertial mass connected at or adjacent to the pivot points 436 and 438 has substantially more mechanical energy than in the other methods, It is possible to reach the distal ends 464 and 466 of the J-shaped tracks 406 and 408.

  For example, by placing respective devices 476 and 478, such as mechanical spring devices, adjacent to proximal ends 472 and 474 of J-shaped tracks 406 and 408, respectively, Will be achieved in an embodiment. The appropriate mechanical features of the pivot points 436 and 438 and / or the corresponding inertial mass portion are accelerating in the opposite direction by compressing the spring as it goes to the maximum contraction and then begins to expand. In order to do so, it will be placed against the receiving part of the mechanical spring device.

  In light of the foregoing disclosure, those skilled in the art will appreciate that other resilient devices may be used in corresponding embodiments of the present invention. Thus, in some embodiments of the present invention, devices 476 and 478 will be omitted. Instead, to store mechanical energy and return it to the inertial mass supported at or adjacent to pivot points 436 and 438, the subsystems 402 and 404 Intrinsic elasticity of one or more links and / or pivot points may be used.

  In certain further embodiments of the present invention, attracting and / or repelling magnetic forces are used to store and release the kinetic energy of the inertial mass near the endpoints 472 and 474 of the J-shaped tracks 406 and 408. Permanent magnet devices will be applied. In yet another embodiment of the present invention, active energy storage is achieved by applying an electromagnetic device that receives mechanical energy during deceleration of the inertial mass portion, for example, with a solenoid or rotary generator. Will be done. For example, mechanical energy is converted into electrical energy that is stored capacitively and / or stored in an electrochemical cell. The stored energy is then returned to the moving mass by using a solenoid or rotary generator as an electric motor.

  Such an active device provides the advantage that it can be placed at both ends of straight portions 444 and 446, ie, ends 472 and 474, and initial positions 468 and 470, respectively. In operation, the inertial mass at the pivot points 436 and 438 can be repeatedly driven back and forth (preferably at the resonant frequency) of the straight portions 444 and 446, with additional additions at each cycle. Has acquired a lot of energy. The elastic device at the initial positions 468 and 470 is then desired to allow the inertial mass, including the total accumulated energy, to move to the arcuate portions 458 and 460 of the J-shaped tracks 406 and 408, respectively. And / or in response to a control signal.

  The benefits of this resonant accumulation of energy will be apparent to those skilled in the art. Thus, in some embodiments of the present invention, the inherent elasticity of the system will be used without active control to accumulate energy in the moving inertial mass portion. In addition, the movement along the straight section is substantially symmetric and balanced in the opposite direction, so if there is any, if any, mechanical energy is resonantly accumulated in the moving mass. It should be noted that only a small amount of energy will leak into the external acceleration of the entire system.

  FIG. 5A shows a general graphical representation 500 of an exemplary LRA mass movement 502 over time 504. As is apparent from the graph, the LRA benefits from system resonances, and the moving mass gradually accumulates energy, producing a maximum signal at approximately time T. However, the overall duration 506 of the vibration signal must be quite long so as to overcome the system inertia and accumulate a significant amount of resonance energy. Thus, the user detects a significant duration of beat. The system cannot generate a sharp tap.

  In contrast, FIG. 5B shows characteristic signals 520 and 522 of two subsystems of a haptic actuator according to the principles of the present invention. Similar to the LRA, the haptic actuator subsystem accumulates energy through mechanical vibration throughout the period 524. However, the two subsystems vibrate out of phase with each other by 180 degrees. Therefore, no external signal is generated during the period 524. When an external signal is desired, at time 526 the mass of both subsystems is redirected to a new spatial dimension 528. Since both masses move in the same direction in this new dimension 528, their reaction forces are no longer facing each other. Rather, they combine to produce a high energy signal with a short duration 530. At the end 532 of the short duration 530, the mass of the two subsystems resumes antiphase oscillations in a common dimension, thereby again suppressing any appreciable external signal.

  The optimum frequency for an oscillating LRA is approximately 40 Hz. The high-energy, broad-spectrum tap signal of the haptic actuator according to the present invention is significantly superior to the optimal LRA limited 40 Hz signal in that it draws the user's attention.

  FIG. 6 further schematically illustrates 600 output signals associated with various phases in an operating cycle of a haptic actuator made in accordance with the principles of the present invention. As shown, 602 when the two inertial mass portions 604 and 606 of the haptic actuator system are stationary relative to each other at the proximal ends 608 and 610 of the J-shaped tracks 612 and 614, respectively. No output signal is produced.

  Similarly, no output signal is produced 616 when the two inertial mass portions 604 and 606 are moving symmetrically away from each other along the respective straight portions 618 and 620 of the J-shaped tracks 612 and 614, respectively. I can't. It should be noted that this is true whether the mass movement is constant or accelerated as long as both masses exhibit symmetrically opposite acceleration profiles. .

  Inertial mass portions 604 and 606 generate a tap signal 626 as the mass advances beyond the straight regions 618 and 620 of the J-shaped tracks 612 and 614 to the respective arcuate regions 622 and 624, respectively. Finally, when the inertial mass portions 604 and 606 reenter the straight regions 618 and 620 and return to a symmetrically reversed motion profile, no further signal is produced.

  In some embodiments of the invention, the length of each of the straight regions 618 and 620 of the J-shaped tracks 612 and 614 will be considerably longer than the length of the arcuate regions 622 and 624 of the J-shaped track. Thus, the inertial mass portions 604 and 606 can obtain significant mechanical energy over a relatively long period of time after which the inertial mass portions 604 and 606 travel back and forth between the arcuate regions 622 and 624. In the meantime, it can be quickly released to the rest of the system. This rapid release of energy creates a tap signal that is characteristic of the haptic actuators of the present invention when operated in tap mode.

  When the spring constant is large, an electromagnet or other motor portion can pull both inertial mass portions 604 and 606 against the spring to the proximal ends 608 and 610 of J-shaped tracks 612 and 614, respectively. The electromagnet or other motor part can then be released to ensure that both the spring and the magnet / motor part are working together to accelerate the mass. This mode of operation results in a good single period tap.

  Alternatively, a straight, in-plane tremor can be built, but this will have minimal impact on the outside world due to equal and opposite movement. Thereafter, an additional action is taken to cause both inertial masses to turn a “J-shaped” turn toward their respective arcuate regions 622 and 624. In some embodiments, the additional action includes reconfiguring the connection or simply increasing the current to increase the amplitude.

  In another mode of operation, tremors are built in the vibrations in the straight regions 612 and 614. Then, similar to the operation of the compound bow, the surge of current causes the inertial masses 604 and 606 to move beyond the bistable point so that the inertial masses 604 and 606 can be hooked and held in an upward bent position. To reach. This state is maintained until tap signal output is desired, and a reverse current surge is applied to the system when tap signal output is desired. This surge of current overcomes the force to be hung and causes inertial mass portions 604 and 606 to exit the hold state. Inertial mass portions 604 and 606 travel through arcuate regions 622 and 624 at a great speed to produce the desired tap signal.

  It should further be noted that the tap mode is only one of the available modes of operation of the systems and devices made in accordance with the present invention. Indeed, one of the advantages of the present invention is that a single device can be used to produce a wide variety of differently characterized output signals. For example, various resonant vibration modes of operation are beneficially utilized in each embodiment of the present invention, while in certain other embodiments, one period or half period to produce the desired tap signal. It should be clear that is sufficient. In addition, other modes of operation can be used to produce a variety of other signals.

  In yet another embodiment, a haptic actuator according to the principles of the present invention is arranged to create a tap in the first mode by stopping a weight, such as 606, just before the distal end of the J-shaped track. It will be. In the second mode, a weight such as 606 would be allowed to travel past the stop point so that the weight collides with a drum, iron bed, or other sounding device or part of the device, thereby It will create an additional audible output that accompanies the tap signal.

  FIG. 7A illustrates aspects of one embodiment of a haptic actuator 700 made in accordance with the principles of the present invention in the form of a mechanical schematic. The haptic actuator 700 is shown operating in a mode to produce a single tap or multiple taps 701 as described above. That is, the mode of operation shown is a straight line of the respective J-shaped trajectories 706 and 708 at the pivot points 702 and 704 while maintaining speed profiles 710 and 712 and 714 and 716 that are symmetrically reversed. Including moving back and forth between the part and the arcuate part.

  FIG. 7B shows another mode of operation 718 in which pivot points 702 and 704 traverse only the straight portions 720 and 722 of J-shaped tracks 706 and 708. In addition, pivot points 702 and 704 move in the same direction synchronously. That is, both move together in the first direction 724 and 726, and then both move together in the second direction 728 and 730. Repeating these movements periodically produces a system-wide lateral vibration 732 similar to that created by a conventional LRA.

  FIG. 7C shows yet another mode of operation 740 in which pivot points 702 and 704 traverse only arcuate portions 742 and 744 of J-shaped tracks 706 and 708. In addition, pivot points 702 and 704 move in the same direction synchronously. That is, both move together in the first direction 746 and 748, and then both move together in the second direction 750 and 752. By periodically repeating these movements, a transverse vibration 754 that is substantially perpendicular to the vibration 732 is generated. In a typical application, transverse vibration 754 will be directed across the smaller dimension of the entire device, while vibration 732 will be directed across the larger dimension of the entire device.

  FIG. 8 depicts a block diagram illustrating a further haptic actuator 800 made in accordance with the principles of the present invention in the form of a schematic perspective view. The haptic actuator 800 is configured to provide a J-shaped trajectory disposed in two planes oriented substantially perpendicular to each other. Thus, for example, the motor unit 802 is mechanically coupled 804 to the first power transmission unit 806, and is mechanically coupled 804 to the first inertial mass portion 808 via the power transmission unit 806. The first power transmission unit 806 receives mechanical energy from the motor unit 802 and drives the inertial mass portion 808 through part or all of the first J-shaped track 810.

  The motor unit 802 is also mechanically coupled 812 to the second power transmission unit 814 and is also mechanically coupled 812 to the second inertial mass portion 816 via the second power transmission unit 814. . The second power transmission unit 814 receives the mechanical energy from the motor unit 802 and drives the second inertial mass portion through part or all of the second J-shaped track 818. Yes. In some embodiments, as shown, the first J-shaped trajectory 810 and the second J-shaped trajectory 818 are both in a common geometric plane 820.

  The motor unit 802 is also mechanically coupled 822 to the third power transmission unit 824 and is also mechanically coupled 822 to the third inertial mass portion 826 via the third power transmission unit 824. . The third power transmission unit 824 receives mechanical energy from the motor unit 802, and drives the third inertial mass portion through part or all of the third J-shaped track 828. Yes.

The motor unit 802 is also mechanically coupled 830 to the fourth power transmission unit 832, and is also mechanically coupled 830 to the fourth inertial mass portion 834 via the fourth power transmission unit 832. . The fourth power transmission unit 832 receives mechanical energy from the motor unit 802, and drives the fourth inertial mass portion through part or all of the fourth J-shaped track 836. Yes. In some embodiments, as shown, the third J-shaped track 828 and the fourth J-shaped track 836 are both in a common geometric plane 838. In some embodiments, as shown, the planes 820 and 838 are disposed substantially perpendicular to each other.

  In some embodiments, the velocity and acceleration of masses 808 and 816 are symmetrically reversed on each straight portion of the J-shaped trajectory, and the velocity and acceleration of masses 826 and 834 are also symmetrical. As such, the motor portion 802 will drive the inertial masses 808, 816, 826, and 834 synchronously through their respective J-shaped tracks. In this mode of operation, the reaction accelerations will cancel out, and if the inertial masses 808, 816, 826, and 834 are allowed to travel through the arcuate regions of their respective J-shaped trajectories, then , System 800 will generate a tap signal.

  In such a case, the generated signal will reflect the cumulative effect of sudden acceleration of all four masses around the arcuate region of the J-shaped trajectory. This arrangement allows for a wider spatial distribution of inertial mass than a system with only two inertial masses, which may be beneficially utilized in certain applications.

  Further, by changing the relationship between the amplitude and phase of the dynamic signals transmitted from the motor unit 802 to the four power transmission units 806, 814, 824, and 832, various output signals can be added to the entire system. Can do. For example, periodic elliptical displacement of the center of mass of the haptic actuator 800 is achieved by appropriately adjusting the phase of the signal and limiting the path of inertial mass to each linear portion of each J-shaped trajectory. be able to. If the power transmission is configured symmetrically with respect to the motor as shown, this elliptical motion will occur in a plane perpendicular to both plane 820 and plane 838.

  This is not limited to one or two axes, but devices with hexagonal symmetry, octagonal symmetry, or other symmetry will also provide corresponding advantages. Those skilled in the art will understand well. Similarly, in certain applications, it may be desirable to produce a device having an odd number of subsystems with an odd number of each J-shaped track. Of course, such a system would also not enjoy the cancellation of several reaction forces available in a system with an even number of subsystems. Nevertheless, in certain applications, the ones just described may be beneficial. To create many acceleration components, various trajectories and their parts can be used in whole and also partly and in various combinations. In light of the foregoing, it will be apparent to those skilled in the art that these acceleration components can be combined with appropriate synchronization and / or time delay. Such a combination will produce far more signals within a small form factor than those available with conventional signal emitting devices.

  Furthermore, while the above discussion implies that the straight portion of the J-shaped trajectory is substantially straight and the arcuate portion is substantially arcuate, to what extent these mechanical ideals are approached. One skilled in the art will also appreciate that the requirements for a particular application will determine whether the system must be designed. In many practical systems, substantial deviations from these characteristics will be completely acceptable.

  In some embodiments, a plurality of individually controllable motors and / or a plurality of individually controllable powers so that a desired signal can be coupled to each power transmission 806, 814, 824, and 832. Those skilled in the art will also appreciate that the motor element 802 will include a transmission element. Having obtained the foregoing disclosure, practitioners of ordinary skill in the art can implement individual embodiments of the present invention to produce any of a great variety of signals that can be achieved in a corresponding arrangement. Would be easy to configure.

  As described above, the motor unit 802 can include any of a variety of rotary and / or solenoid electromagnetic motors. In addition, capacitive, piezoelectric, pneumatic motors, hydraulic motors, electroactive polymer fibers and other artificial muscle devices, and any other known or becoming known in the art A power plant will also be used in each embodiment and is considered to fall within the scope of the invention as defined in the claims.

  FIG. 9 illustrates a portion of a typical motor section 900 in accordance with the principles of the present invention in the form of a cutaway perspective view. The motor unit 900 includes a Sarrus linkage unit 902 and a voice coil unit 904. Sarrus linkage is a known mechanical mechanism that includes an upper member 906, a lower member 908, and peripheral hinges such as 910, 912, 914, for example. Perimeter hinge to keep the upper and lower members substantially parallel to each other while allowing the upper and lower members to move toward and away from each other This is a feature of Sarrus linkage. It will be appreciated that the Sarrus linkage shown is one of many possible configurations, including a configuration in which the hinge is folded inward.

  The voice coil 904 includes, for example, a permanent magnet part 916 and a coil part 918. The magnet portion 916 includes an outer electrode component 920 and an inner electrode component 922 that are discs of magnetic material at one end so as to provide a cylindrical slot 926 about the axis between the outer electrode component 920 and the inner electrode component 922. 924 are connected to each other. In general, the outer electrode part, the disk and the inner electrode part are formed as an integrated part.

  The magnetization of the permanent magnet portion creates magnetic flux lines inside the cylindrical slot 926. The coil portion 918 includes a coil including a thin wire having a large number of turns, which is wound so as to fit in the slot 926. When the coil is energized by passing current through the coil, the direction of current flow and the permanent magnet portion 916 are such that the coil portion 918 is either ejected from or drawn into the slot 926. The solenoidal magnetic force acts on the coil in the axial direction 928 according to the polarity of the coil. The electrical energy is thus converted into mechanical energy for use within the mechanical system.

  Those skilled in the art will appreciate that a motor portion, such as exemplary motor portion 900, can be positioned adjacent to the support structure. For example, between the upper member 906 of the Sarrus linkage and the support structure so as to transfer the mechanical energy generated by the motor portion 900 to the linkage of the power transmission portion, such as 700 shown in FIG. 7A above. Appropriate linkage can be provided. In this way, the motor portion 900 can be used to energize the pivot points 702 and 704 and drive them through their respective J-shaped tracks 706 and 708.

  FIG. 10A shows a portion of an exemplary Sarrus linkage and a further linkage 1000 in accordance with the principles of the present invention. The first member 1002 forms a substantially flat plate corresponding to the upper member of the Sarrus linkage, but the remainder of the Sarrus linkage is omitted for clarity. This first member 1002 serves as a driven input to the rest of the linkage subsystem. In the illustrated embodiment, this would be substantially fixedly coupled to a mechanical power source such as, for example, a moving coil such as the voice coil 904 described above.

  The second member functions as the link base member 1004. The member 1004 is in space in the exemplary embodiment, for example for the magnet portion of the voice coil 904, and typically for the case of a wider system such as consumer electronics. Will be substantially fixed. During operation of the haptic actuator, there is a relative movement between the first member 1002 and the linkage base member 1004. This movement is substantially perpendicular to the visible plane of both the first member 1002 and the linkage base member 1004 (ie, toward the outside of the page). As discussed above, this vertical relationship is maintained by the characteristics of the Sarrus linkage.

  Third power transmission link member 1006 is coupled to each other between first member 1002 and linkage base member 1004 through fourth input member 1008. Accordingly, the power transmission link member 1006 is pivotally coupled to the first member 1002 at the first pivot point 1010 and pivotally coupled to the fourth input member 1008 at the second pivot point 1012. Has been. The fourth input member 1008 is also coupled to the link base member 1004 at a further pivot point 1014 and is also coupled to a further link member 1016 at a further pivot point 1018 near its opposite end. Link member 1016 is further coupled at a further pivot point 1020 and to the proximal end of further link member 1022.

  Link member 1022 is an inertial mass (or coupled to the inertial mass) and is also pivotally coupled to a further link member 1024 at pivot point 1028. The opposite end of link member 1024 is pivotally coupled to the distal end of further link member 1032 at pivot point 1030.

  The proximal end of the link member 1032 is pivotally coupled to the base link member 1004 at a pivot point 1034. Further, the link member 1032 is pivotally coupled to the link member 1016 (although not noticeable) at a mutual intermediate pivot point 1036.

  FIG. 10B shows the same structure as FIG. 10A in the form of a schematic diagram of a mechanical link, using the same element numbers. Note that the pivot point 1012 in FIG. 10B appears to be placed in tension under normal operation. As will be apparent to those skilled in the art in view of FIG. 10A, this is merely a side effect of the schematic representation and is easily avoided in practice.

  Tactile actuators require effective and repetitive interaction between small components according to the principles of the present invention. As such, it is well suited for being manufactured using a new manufacturing technique known as μMECS®.

  The μMECS® manufacturing technology has already been described in detail in PCT Patent Application No. PCT / US2014 / 018096, whose international filing date is February 24, 2013, the disclosure of which is incorporated herein in its entirety. . As disclosed and described herein in that application, the μMECS® process includes, among other things, a patterned layer of generally flexible material and generally rigid material that is integrated into an integrated assembly. Laminating within allows the creation of complex, passive and active mechanical, electromechanical and optical components.

  FIG. 11 shows a block diagram corresponding to the steps of an exemplary manufacturing process 1100 that can be used to form a device in accordance with the principles of the present invention. The process begins at step 1102 and includes forming 1104 a pattern in one or more generally flat sheets of generally rigid material. In typical applications, at least one of the sheets will be substantially rigid. In some applications, the generally rigid material may be anisotropic so that the stiffness along one axis is higher or lower than the stiffness along the other axis.

  In various applications, the sheet will include materials such as, for example, glass fiber reinforced polyester, carbon reinforced polyester, or any other filled or reinforced polymer material. Alternatively or in combination, the generally rigid material may comprise a metallic material, such as any suitable metal or metal alloy. Forming a pattern in a sheet of such material may, in certain exemplary applications, remove the material by photolithography etching, remove the material by laser processing, pattern the material by applying a die, and / or Would include removal of material by applying a cutting tool. In addition, additional processes may be used in forming the patterned sheet.

  In step 1106, a pattern is formed in one or more sheets of generally flat flexible component material. In various applications, the generally flexible material may be substantially flexible. In some applications, the flexible material may be anisotropic, such that the flexibility along one axis is higher or lower than the flexibility along the other axis. Good. Patterning of the generally flexible material will proceed in any manner suitable for that material, including, among other things, any of the steps specified above for rigid materials.

  In step 1108, a pattern is formed in one or more sheets of adhesive component material. In various cases, the adhesive material may be substantially flexible. In other cases, the adhesive material will be substantially rigid. In certain cases, the adhesive material may be different so that the flexibility or stiffness along one axis is higher or lower than the flexibility or stiffness along the other axis. There may be a direction. The patterning of the adhesive material will proceed in any manner suitable for the adhesive material, including, among other things, any of the steps specified above for rigid and flexible materials.

  As shown in step 1110, an attachment device is provided for alignment of the various sheets of rigid material, flexible material, and adhesive material produced in steps 1104-1108. In certain embodiments, the attachment device will include alignment pins such as those known in the art. In other embodiments, the attachment device will include an active alignment actuator and / or an optical alignment device.

  As shown in step 1112, the assembly is then made by applying previously made and patterned (and possibly unpatterned material sheets) to the attachment device. It will be appreciated that in certain embodiments, the pattern and material will vary from sheet to sheet according to the requirements of a particular application. Further, in certain cases, one or more sheets of adhesive material may be omitted by choosing to apply adhesive to individual sheets and / or surface areas. The adhesive material may be applied in any manner known in the art or becoming known. By way of example only, the adhesive material may be applied in liquid, powder, aerosol, or gas form as individual sheets are added to the assembly.

  As will be appreciated by those skilled in the art in light of this entire description, the nature of the various layers and patterns will be chosen and applied according to the requirements of the particular assembly being fabricated. Thus, for example, when articulation features are required, some of the flexible layer in between remains exposed by pre-made holes in the substantially rigid sheet above and below the flexible layer. Eventually, it will be possible to flexibly support adjacent, more rigid materials.

  As shown in step 1114, the cured state is then applied to the assembled material and / or attachment device. In certain embodiments, the cured state will include heating and / or pressing on the assembly made of layers. In other embodiments, the cured state ensures that, for example, catalytic chemicals, low temperatures, gaseous chemical components, or various layers are desirably integrated into an integrated assembly. It may include the application of physical or chemical additives, such as any other conditions that are suitable.

  In accordance with step 1116, in certain embodiments, the integrated assembly is then removed from the attachment device. In certain embodiments, the integrated assembly is then transferred to additional mounting equipment. In other embodiments, the integrated assembly remains on the mounting device for further processing, as would be understood by one skilled in the art.

  In step 1118, a method according to an embodiment of the invention will include the removal of a portion of one or more of the rigid and / or flexible layers. These parts (referred to as “scaffolds”) would have helped support specific areas of the corresponding layer during the preceding processing steps. Their removal allows one or more remaining parts to translate, rotate, or otherwise reorient with respect to any additional parts of the assembly. It will be. This step may include removing individual assemblies from a larger sheet / assembly that has multiple assemblies of similar or different configurations on the surface.

  In certain embodiments, removal of specific support areas may be accomplished by laser machining. In other various embodiments, removal of the support region may be accomplished by, among other things, machining, wet chemical etching, chemical vapor etching, scribing, cutting, die cutting, punching, and / or tearing. Any combination of these methods (or other methods known or become known in the art) will be beneficially applied and are within the scope of the present invention. Those skilled in the art will understand that there will be.

  Once the removal of the specified portion of the one or more rigid and / or flexible layers is complete, the assembly is activated according to step 1120 and the activated configuration from the existing state. Transition to. This validation may, in some embodiments, include redirection of a portion of one or more of the sheets of material and one or more of the regions. Thus, for example, in one embodiment, a portion of the assembly will fold out of the plane of its initial plane and form a three-dimensional assembly in the manner of a picture book that pops out.

  Validation will capture various movements in corresponding embodiments of the present invention, including various translations along one or more axes and various rotations around one or more axes. In each embodiment, the activation is accomplished by active attachment devices, by individual worker actions, or by robotic devices, eg, springs, motors, piezoelectric actuators, bimetal / bimorph devices. Achieved by devices integrated into the assembly itself, such as, magnetic actuators, electromagnetic actuators, thermal expansion or contraction devices, etc., eg gas generation process, crystallization process, dehydration process, polymerization It may be accomplished by chemical reactions including processes, etc., or by any other processing equipment suitable for the requirements of a particular application.

  In certain embodiments, and as shown in step 1122, further processing steps will lock the device in its enabled configuration. Among other methods that will be apparent to those of ordinary skill in the art in light of this disclosure, this step of securing the device to its enabled configuration may in some embodiments be point soldering, wave soldering, , Tip soldering, reflow soldering, wire bonding, electric welding, laser welding, ultrasonic welding, thermal bonding, chemical adhesive bonding, start-up of nail wheel and pawl device, Activation of a spiral unidirectional gripping device, snapping, hook-and-loop fasteners, rivets, or the application of any other fastener or fastening technique known or made known to those skilled in the art, Would include.

  Of course, in certain embodiments, the process or mechanism that redirects the device to its enabled configuration will help maintain that configuration without any additional step 1122 processes or operations. The deaf will be understood by the reader. Furthermore, although the fixation shown in step 1122 is generally expected to be permanent, in certain applications it may be temporary and / or repeatable for convenience.

  At step 1124, additional scaffold elements will be removed or cut to remove the activated device and separate it from any remaining scaffold. Those skilled in the art will appreciate that this step may not be necessary if the device is completely removed from any associated scaffold prior to activation. Furthermore, in other embodiments and applications, the enabled device will remain coupled to the surrounding scaffold for additional processing steps. To the extent that step 1124 is applied, any of the techniques and procedures already identified in step 1118, for example, will be advantageously applied according to the current situation.

  Thereafter, depending on the requirements of the particular device or embodiment, the various inspection steps, packaging steps, system integrations, as shown in step 1126, where work is then terminated in step 1128 Steps, and other manufacturing or application steps will be applied.

  FIG. 12A shows an element 1200 of an assembly that is consistent with, for example, process 1100. The element includes a first patterned substantially rigid layer 1202, a second patterned substantially rigid layer 1204, a patterned substantially flexible layer 1206, a first A patterned adhesive layer 1208 and a second patterned adhesive layer 1210.

  As shown, each exemplary layer pattern includes openings, eg, 1212, 1214, for receiving corresponding mounting pins or dowels, eg, 1216, 1218. These mounting dowels help to maintain the desired alignment of the various patterns while the assembly is compressed and curing of the adhesive layers 1208 and 1210 is accomplished. It will be appreciated that in certain applications and embodiments of the invention, other alignment methods and techniques (eg, optical alignment) may be used.

  The result is an exemplary assembly 1232 that is hinged and removed from the surrounding scaffold material 1234 by cutting various support sites, such as 1236, as illustrated 1230 in FIG. 12B. As is readily apparent, the removed assembly includes a hinge feature 1238 that is coupled between a first substantially rigid member 1240 and a second substantially rigid member 1242. As further illustrated in the enlarged region 1244, each substantially rigid member is a flexible portion with a respective layer of adhesive material 1252 and 1254 that has been cured or otherwise activated. An upper rigid portion 1246 and a lower rigid portion 1248 are coupled to each side of 1250. It will be further understood that although no fastening steps are apparent with respect to the hinged assembly 1232, other assemblies will benefit from such further processing.

  Although the μMECS® manufacturing process has been described in some detail, it should be noted that the above description of various embodiments of haptic actuators according to the principles of the present invention should not be considered in any limiting manner. Is worth it. Other novel configurations of actuators are envisioned and are described as follows:

  In one such embodiment, as shown in FIG. 13, fixed thin permanent magnets 1306 and 1308 and a closed magnetic circuit with a soft magnetic structure in the narrow and transverse gap 1302 of the haptic actuator device 1304, A magnetic field is created. A flat energizing coil 1312 is placed in a magnetic field and constrained to move in a transverse linear trajectory 1314. Since the current in the coil is equal in current density and has a reverse feedback path, the direction of the magnetic field in half of the air gap must be reversed to ensure that the resultant force on the coil is unidirectional. Don't be.

  Flexure-based mechanisms and linkages are used to maintain a linear trajectory, and are also used to prevent the coils in the air gap from contacting the inside of the surrounding structure. The actuation output is taken from the moving slider element on which the coil is mounted. The slider is also attached to the flex linkage. By ensuring that the superior off-axis stiffness is in the flexure element, the coil can maintain a constant distance from the interior of the air gap by directing the rotational axis of the mechanism perpendicular to the plane of the device. A mechanical spring is attached to the slider and is based on the device structure to increase the resonant frequency of the actuator. The electrical connection to the coil can be via a conductive spring. Alternatively, an electrical connection can be achieved via a flexible cable to the coil slider assembly.

  As shown in FIG. 14, a further embodiment 1400 is similar to a linear actuator, except that the moving coil trajectory is limited to an arcuate portion. Coils and magnets would also ideally be reshaped into arcuate shapes to increase the energy density of the device. Mechanical springs 1402 and 1404 may also be reworked to provide an equivalent torsional stiffness about the slider's axis of rotation. Flexure-based mechanisms 1406 and 1408 serve as mechanical constraints on slider movement.

  In yet another embodiment, it would be possible to build a coil slider in a linear actuator using high density material or adding a large mass to the moving slider element, and the slider movement is more A large vibration will be created in the device. Alternatively, by using a high density material or adding a large mass to the moving slider element to build a coil slider in the rotary actuator, the slider movement will create greater vibrations in the device. Let's go.

  Another approach is to use a linear actuator or rotary as an input to a linkage or mechanism that has mechanical gain or amplifies movement to increase acceleration for larger masses during vibration to create larger vibrations. The movement of any coil slider of the actuator can work. In its simplest form, the rotary actuator's axis of rotation acts as a simple lever fulcrum (the distance from the coil to the fulcrum is the length of the arm on the force point side) and is larger during vibration Mass is attached to the leverage output. If the mass is attached to the leverage on the same side of the coil as the fulcrum, the mass of the coil contributes to the total oscillating mass in the device. The output motion of the linear actuator can also serve as an input to the lever mechanism, resulting in a larger oscillating mass rotational motion.

  Piezoelectric actuators drive a simple lever mechanism that amplifies the movement of the actuator output, resulting in a large output sweep angle for large, rotating and moving masses. The piezoelectric actuator need only give the mechanism a small displacement input with a large force.

  Two rotationally oscillating masses that are coupled to a single linear actuator or separated and driven by two separate (linear or rotary, piezoelectric or electromagnetic) actuators The mass that is moving in the same plane and driven in phase is strongly vibrated in one direction while canceling the vibration in the other direction due to the symmetry of the moving mass. Amplitude can be given, effectively creating a one-way vibration motor. If separated from two separate actuators and driven out of phase, the moving mass can also produce torque.

  Linkage can also be added to extend the trajectory of the oscillating mass that would otherwise stay in-plane. The centripetal force required to move the moving mass out of plane will create an out-of-plane vibration.

  Although the exemplary embodiments described above have been selected primarily from the field of consumer electronics user interfaces, the principles of the present invention, for example, in a wide variety of other systems including, inter alia, robotic systems. Those of ordinary skill in the art will appreciate that they apply equally well and that the benefits of the present invention are equally well realized. Moreover, while the invention has been described in detail in connection with presently preferred embodiments, it should be readily understood that the invention is not limited to such disclosed embodiments. . Rather, the invention can be modified to incorporate any number of variations, alterations, alternatives, or equivalent arrangements not heretofore described, but which are commensurate with the spirit and scope of the invention. Accordingly, the invention is not to be seen as limited by the foregoing description, but is only limited by the scope of the appended claims.

Claims (22)

A tactile actuator,
A first plurality of mechanical links defining a first J-shaped track;
A second plurality of mechanical links defining a shape of the second J-shaped track;
A first mass;
A second mass;
In response to an input signal received by the haptic actuator, the first and second masses are accelerated on the first and second J-shaped trajectories, respectively, thereby creating a haptic output. A motor portion comprising an output feature operably coupled to the first and second plurality of mechanical links;
A tactile actuator comprising:   The haptic actuator according to claim 1, wherein the first and second J-shaped tracks are coaxial over at least a part of their lengths.   A control device is further provided, wherein the control device is adapted to create an oscillating motion of the first and second masses on the coaxial portion of the J-shaped track. A tactile actuator according to claim 1.   The haptic actuator according to claim 3, wherein the oscillating motion results in a resonant accumulation of energy by the first and second masses.   The haptic actuator according to claim 1, characterized in that the first and second J-shaped tracks are non-coaxial over at least a portion of their length.   A control device is further provided, wherein the control device is adapted to create an oscillating motion of the first and second masses on the non-coaxial portion of the J-shaped track. 5. A tactile actuator according to 5.   The haptic actuator according to claim 6, wherein the vibration motion generates a haptic vibration that can be detected externally.   The haptic actuator according to claim 1, wherein the haptic output includes a single tap.   The haptic actuator according to claim 1, wherein the haptic output includes a series of taps that can be easily perceived, and the series of taps can be easily perceived by a user as separate taps.   Further comprising an elastic device, the elastic device being adapted to receive mechanical energy from the first mass and subsequently returning the mechanical energy to the first mass; The haptic actuator according to claim 1, characterized in that immediately as a result, the velocity of the first mass on a part of the J-shaped trajectory increases. A method for transmitting a signal to a signal receiver,
Accelerating the first inertial mass and the second inertial mass coaxially during the same first period, and during the same second period, the first inertial mass and the second inertial mass are: Accelerating non-coaxially to produce a detectable tap signal during the second period by the receiver. Accelerating the first inertial mass and the second inertial mass non-coaxially includes accelerating the first inertial mass on a first arcuate trajectory during the second period; and 12. A method for transmitting a signal to a signal receiver according to claim 11, comprising accelerating the second inertial mass on a second arcuate trajectory during a period of two.   13. The method of transmitting a signal to a signal receiver according to claim 12, wherein the first arcuate track and the second arcuate track are substantially coplanar.   Accelerating the first inertial mass and the second inertial mass coaxially during the first period reverses the first inertial mass and the second inertial mass during the first period. 12. A method for transmitting a signal to a signal receiver according to claim 11, comprising accelerating in a direction.   Accelerating the first inertial mass and the second inertial mass coaxially during the first period synchronizes the first inertial mass and the second inertial mass during the first period. The method of transmitting a signal to a signal receiver according to claim 11, further comprising vibrating in the same direction.   Accelerating the first inertial mass and the second inertial mass coaxially during the first period synchronizes the first inertial mass and the second inertial mass during the first period. The method of transmitting a signal to a signal receiver according to claim 11, further comprising: oscillating in a reverse direction. A device for producing tactile signals,
A first inertial mass;
A second inertial mass;
An acceleration device,
The accelerator is configured and adapted to symmetrically accelerate the first and second masses relative to each other during a first time period;
During the second period, the accelerator device generates a primary haptic signal that is significantly more easily detected than the secondary haptic signal generated during the first period. An apparatus characterized in that it is constructed and adapted to asymmetrically accelerate the first and second masses relative to each other.   18. The device for producing a haptic signal according to claim 17, wherein the primary haptic signal conveys mechanical energy at least about twice as large as the secondary haptic signal.   18. The device for producing a haptic signal according to claim 17, wherein the primary haptic signal conveys mechanical energy that is at least about five times as large as the secondary haptic signal.   18. A device for producing a haptic signal according to claim 17, wherein the primary haptic signal carries mechanical energy that is at least about ten times as large as the secondary haptic signal.   18. The device for producing a haptic signal according to claim 17, wherein the primary haptic signal conveys mechanical energy that is at least about 100 times as large as the secondary haptic signal. A first plurality of mechanical links defining a first J-shaped track;
A second plurality of mechanical links defining a shape of the second J-shaped track;
A motor unit,
During the first period, the reaction force of the first mass being accelerated is substantially balanced with the reaction force of the second mass being accelerated, and during the second period, The first mass is changed to the first J-type synchronously according to an input signal so that the reaction force of the first mass is not substantially balanced with the reaction force of the second mass being accelerated. The motor unit is coupled to the first and second mechanical links so as to accelerate on the track and accelerate the second mass on the second J-shaped track. And
Tactile actuator.