Haptic feedback actuation via open loop / closed loop control system

Abstract

Haptic feedback actuation via open loop / closed loop control system. A method of countering residual resonance experienced by an electronic communication device due to activation of an actuator within a housing of the electronic communication device. The method includes determining an effective vibrational behavior of the electronic communication device when the actuator is activated according to a predetermined pattern, determining a desired counter-actuation signal based on the effective vibrational behavior, activating the actuator according to the predetermined pattern for a predetermined period of time, and activating the actuator according to the desired counter-actuation signal to counter the residual resonance experienced by the electronic communication device upon expiration of the predetermined period of time.

Description

Tactile feedback actuation via open-loop / closed-loop control system Background Technology

[0001] Some electronic communication devices, such as mobile phones and two-way radios, include one or more actuators to provide haptic feedback to the user. While most systems include a single actuator for providing feedback, some systems may include more than one actuator. Attached Figure Description

[0002] The accompanying drawings, together with the detailed description below, are incorporated in and form part of this specification, and serve to further illustrate embodiments incorporating the concepts of the claimed invention, and to explain the various principles and advantages of those embodiments. In the drawings, the same reference numerals refer to the same or functionally similar elements throughout separate views.

[0003] Figure 1 is an illustration of an electronic communication device according to some embodiments.

[0004] Figure 2 is a free-body diagram of the output force of the actuator of the electronic communication device of Figure 1 according to some embodiments.

[0005] Figure 3A is a free-body diagram of the output force of the actuator of the electronic communication device of Figure 1 according to some embodiments.

[0006] Figure 3B is a free-body diagram of the output force of the actuator of the electronic communication device of Figure 1 according to some embodiments.

[0007] Figure 3C is a free-body diagram of the output force of the actuator of the electronic communication device of Figure 1 according to some embodiments.

[0008] Figure 3D is a free-body diagram of the output force of the actuator of the electronic communication device of Figure 1 according to some embodiments.

[0009] Figure 3E is a free-body diagram of the output force of the actuator of the electronic communication device of Figure 1 according to some embodiments.

[0010] Figure 3F is a free-body diagram of the output force of the actuator of the electronic communication device of Figure 1 according to some embodiments.

[0011] Figure 3G is a free-body diagram of the output force of the actuator of the electronic communication device of Figure 1 according to some embodiments.

[0012] Figure 4 is a flowchart of a method for countering residual resonance experienced by the electronic communication device of Figure 1, according to some embodiments.

[0013] Figure 5 is a signal diagram of the residual resonance experienced by the electronic communication device of Figure 1 before and after applying the method of Figure 4, according to some embodiments.

[0014] Figure 6 is a schematic diagram of a control system for determining the transfer function of the residual resonance experienced by the electronic communication device of Figure 1, according to some embodiments.

[0015] Those skilled in the art will appreciate that the elements in the figures are illustrated for simplicity and clarity and are not necessarily drawn to scale. For example, the size of some elements in the figures may be enlarged relative to other elements to aid in understanding the embodiments of the invention.

[0016] In the accompanying drawings, apparatus and method components have been indicated by conventional symbols where appropriate, and only those specific details relevant to understanding embodiments of the invention are shown so as not to obscure this disclosure with the use of details which will be readily apparent to those skilled in the art as described herein. Detailed Implementation

[0017] As previously mentioned, electronic communication devices may include one or more actuators to provide tactile feedback to a user. For example, in a communication device that includes a touchscreen user interface display, the device may be configured to vibrate via one or more actuators in response to a user touching the display. However, such feedback may not reflect a particular type of touch (e.g., the amount of pressure or duration of the touch). Therefore, the embodiments presented herein provide, among other things, particularly improved tactile feedback from one or more actuators in an electronic communication device.

[0018] One example embodiment provides an electronic communication device. The electronic communication device includes an actuator positioned within a housing of the device and an electronic processor communicatively coupled to the actuator. The electronic processor is configured to determine effective vibrational behavior of the electronic communication device when the actuator is activated according to a predetermined pattern, determine a desired counteracting actuation signal based on the effective vibrational behavior, and activate the actuator according to the predetermined pattern for a predetermined time period. The electronic processor is further configured to activate the actuator according to the desired counteracting actuation signal at the end of the predetermined time period to counteract residual resonance experienced by the electronic communication device.

[0019] Another exemplary embodiment provides a method for counteracting residual resonance experienced by an electronic communication device due to activation of an actuator within the device's housing. The method includes determining effective vibrational behavior of the electronic communication device when the actuator is activated according to a predetermined pattern, determining a desired counteracting actuation signal based on the effective vibrational behavior, activating the actuator according to the predetermined pattern for a predetermined time period, and activating the actuator according to the desired counteracting actuation signal at the end of the predetermined time period to counteract the residual resonance experienced by the electronic communication device.

[0020] Another example embodiment provides an electronic communication system. The electronic communication system includes an actuator positioned within a housing of the electronic communication system and an electronic processor communicatively coupled to the actuator. The electronic processor is configured to determine the effective vibrational behavior of the electronic communication system when the actuator is activated according to a predetermined pattern, determine a desired counteracting actuation signal based on the effective vibrational behavior, and activate the actuator according to the predetermined pattern for a predetermined time period. The electronic processor is further configured to activate the actuator according to the desired counteracting actuation signal at the end of the predetermined time period to counteract residual resonance experienced by the electronic communication system.

[0021] For ease of description, some or all of the example systems presented herein are illustrated using a single example of each of their components. Some examples may not describe or illustrate all the components of the system. Other example embodiments may include more or fewer of each illustrated component, may combine some components, or may include additional or alternative components.

[0022] Figure 1 is an illustration of an example of an electronic communication device 100. In the illustrated embodiment, the electronic communication device 100 includes an electronic processor 105, a memory 110, an input / output interface 115, a transceiver 120, a touchscreen display 125, one or more actuators 130, and an accelerometer 135. The illustrated components, along with various other modules and components, are coupled to each other via one or more control or data buses that enable communication between them. Given the description provided herein, the use of control and data buses for interconnecting various modules and components and for exchanging information among them will be apparent to those skilled in the art. The electronic communication device 100 further includes a housing 140, within which one or more actuators 130 and some or all of the components of the electronic communication device 100 are located.

[0023] Electronic processor 105 acquires and provides information (e.g., from memory 110 and / or input / output interface 115) and processes the information by executing one or more software instructions or modules, which can be stored, for example, in a random access memory (“RAM”) area of ​​memory 110 or a read-only memory (“ROM”) of memory 110 or another non-transitory computer-readable medium (not shown). The software may include firmware, one or more applications, program data, filters, rules, one or more program modules, and other executable instructions. Electronic processor 105 is configured to retrieve and execute software from memory 110 that is particularly relevant to, among other things, the control processes and methods described herein.

[0024] Memory 110 may include one or more non-transitory computer-readable media and includes a program storage area and a data storage area. As described herein, the program storage area and the data storage area may include combinations of different types of memory. In the illustrated embodiment, memory 110 stores data and instructions, among other things, particularly for generating a graphical user interface (GUI) 112 (described in detail below).

[0025] Input / output interface 115 is configured to receive input and provide output to peripheral devices. Input / output interface 115 obtains and provides information and signals from and to devices both inside and outside the electronic communication device 100 (e.g., via one or more wired and / or wireless connections).

[0026] Electronic processor 105 is configured to control transceiver 120 to transmit and receive voice and other data to and from electronic communication device 100. Electronic processor 105 encodes and decodes digital data, including audio communications, transmitted and received by transceiver 120. Transceiver 120 transmits and receives radio signals to and from various wireless communication networks. Electronic processor 105 and transceiver 120 may include various digital and analog components, which are not described herein for brevity, and which may be implemented in hardware, software, or a combination of both. Some embodiments include separate transmitting and receiving components, such as a transmitter and a receiver, instead of a combined transceiver 120.

[0027] Electronic communication device 100 implements a graphical user interface 112 generated by electronic processor 105 according to instructions and data stored in memory 110 and presented on touch screen display 125. Touch screen display 125 is a suitable touch-sensitive interface display, such as, for example, a liquid crystal display (LCD) touch screen or an organic light-emitting diode (OLED) touch screen. Touch screen display 125 uses detected physical contact (e.g., via detected capacitance or resistance) to display output and receive user input.

[0028] One or more actuators 130 are configured to provide vibration / haptic output to a user of the electronic communication device 100. The actuators 130 can be any suitable component configured to provide vibration when activated (e.g., electroactive polymer elements, piezoelectric actuators, ultrasonic actuators, etc.). An electronic processor 105 is communicatively coupled to each of the actuators 130 and configured to activate the actuators 130 to vibrate one or more areas of the electronic communication device 100. The processor 105 can activate the actuators 130 to generate one or more predetermined vibration patterns within a predetermined time period. Such patterns can be generated in response to user input (e.g., a touch on the display 125) or to alarm the user (e.g., in response to receiving an incoming audio call).

[0029] Accelerometer 135 is configured to measure the acceleration (direction of motion and velocity) experienced by device 100. Electronic processor 105 may be configured to determine the amount of tactile feedback experienced by device 100 (including that generated or caused by activation of actuator(s) 130) based on one or more measurements from accelerometer 135. As explained in more detail below, electronic processor 105 may be configured to determine the damping effect of a surface environment experienced by electronic communication device 100. The surface environment experienced by electronic communication device 100 may be any kind of physical object, force, and / or surface that comes into contact with device 100 (e.g., the surface on which device 100 rests or when device 100 is held by a user).

[0030] In some embodiments, the electronic communication device 100 is a smartphone. In other embodiments, the electronic communication device 100 may be a tablet computer, a smartwatch, a portable radio, a combination of the foregoing, or another portable or mobile electronic device that includes software and hardware enabling it to operate as described herein.

[0031] As mentioned above, the electronic processor 105 is configured to activate one or more actuators 130 to provide haptic output. The type of haptic output may depend on the number, type, and placement of the actuators 130. In the embodiment illustrated in Figures 2 and 3A-3G, the electronic communication device 100 includes four pairs of actuators 205A-D. Each pair of actuators 205A-D includes two vertically positioned actuators 130. Each pair of actuators 205A-D is located in a corresponding corner within the housing 140 of the electronic communication device 100. Each actuator 130 in 205A-D is communicatively coupled to the electronic processor 105. Alternatively, in some embodiments, the electronic communication device 100 includes four multidimensional actuators (3D haptic actuators), each of which may be located in a corner within the housing 140 of the electronic communication device 100. For ease of description, Figures 2 and 3A-G describe 205A-D according to the actuators. However, it should be understood that additional types / configurations of actuators (including the single multidimensional actuator embodiment described above) and / or actuator positions can be used in similar processes described below.

[0032] As mentioned above, the electronic processor 105 can activate one or more actuators 130 to generate one or more predetermined modes. For example, diagram 300A of Figure 3A illustrates a linear vibration mode in which the device 100 vibrates in a specific linear direction (in the X or Y direction). Such a mode can be generated, for example, by activating one of the corresponding pairs 205A-D actuators 130 on the same axis (X-axis or Y-axis) with similar frequencies, amplitudes, and phases. By adjusting the frequency, amplitude, and / or phase, the controller 105 may be able to adjust the angular direction. The upper vibration device 100 is shown in diagram 300B of Figure 3B.

[0033] When the electronic processor 105 activates all actuators 130 at the same frequency, and their corresponding phase pairs 205A and 205C are 0°, and pairs 205B and 205D are 180°, the resulting pattern is circular vibration as shown in diagram 300C of Figure 3C. As shown in diagram 300D of Figure 3D, the center of the circular vibration can be adjusted by changing the amplitude supplied to one or more actuator pairs. For example, by controlling pairs 205A and 205B with approximately the same amplitude, the center of vibration can be shifted downwards, by an amplitude greater than that controlled for pairs 205C and 205D with approximately the same amplitude. The center of the circular vibration can be located outside the housing 140 of the device 100.

[0034] As shown correspondingly in diagrams 300E and 300F of Figures 3E and 3F, processor 105 can provide sliding vibrations (frictional motions) by controlling one or more actuators 130 of 205A-D as described above, wherein certain points of device 100 generate push feedback. In some embodiments, processor 105 can operate actuators 130 at different frequencies while dynamically changing the phase of operation of one or more actuators to produce edge-wave vibrations as shown in diagram 300G of Figure 3G. In some embodiments, electronic processor 105 is configured to control actuator(s) 130(s) to provide predetermined vibration modes of additional types.

[0035] After the tactile output (including vibration modes) is deactivated, the device 100 may experience residual resonances / vibrations (depending on the materials and / or layout of the electronic communication device 100). This may be an undesirable effect when the desired tactile output is a brief but high-amplitude and / or high-frequency vibration. Therefore, an effect that counteracts residual vibrations is likely desirable.

[0036] Figure 4 is a flowchart illustrating a method 400 according to some embodiments for counteracting residual resonance experienced by an electronic communication device due to activation of an actuator within the device housing. Method 400 is described as being performed by the electronic communication device 100 and, in particular, by an electronic processor 105 and based on a single actuator 130. However, the method described herein is applicable to different numbers, types, and / or configurations of actuators 130 and can be implemented on or using multiple electronic processors.

[0037] At box 405, when actuator 130 is activated according to a predetermined pattern, electronic processor 105 determines the effective vibrational behavior of electronic communication device 100. In one example, the effective vibrational behavior of electronic communication device 100 includes residual acceleration / deceleration (vibration) experienced by electronic communication device 100 after providing tactile output. Effective vibrational behavior includes residual resonance from tactile output and may further include any kind of damping effect (due to the physical construction of device 100 and / or the surface environment experienced by device 100). Figure 5 is a diagram 500A illustrating an example vibration function 505A, which illustrates the effective vibrational behavior of device 100 according to some embodiments.

[0038] The effective vibration behavior of device 100 can be determined based on a predetermined function. In some embodiments, the effective vibration behavior is determined via a closed-loop control method. For example, FIG6 illustrates a control system 600 for determining the effective vibration behavior of an electronic communication device 100 according to some embodiments. At block 605, a desired tactile output level (acceleration) of device 100 is requested (e.g., automatically by a processor or set by a user of device 100) and provided via actuator 130. The difference between the desired tactile output level of device 100 and / or actuator 130 and the actual tactile output level is determined via one or more measurements from accelerometer 135. The resulting error is calculated, for example, by a proportional-integral-derivative (PID) controller 610. PID controller 610 can be implemented in processor 105. Controller 610 can then provide the resulting error to actuator 130 to adjust the actual tactile output. The illustrated system 600 can be utilized in determining the effective vibration behavior of a single axis. To determine additional behavior for additional axes, additional closed-loop systems can be implemented and / or fused.

[0039] As mentioned above, the electronic processor 105 can be configured to determine the damping effect of the surface environment experienced by the electronic communication device 100 when determining the transfer function. When the determined damping effect is activated, the magnitude of the tactile output of the actuator 130 can be adjusted accordingly.

[0040] Returning to Figure 4, at box 410, the electronic processor 105 determines the desired counteracting actuation signal based on the transfer function, and at box 415, the processor 105 activates the actuator 130 according to a predetermined pattern within a predetermined time period. At box 420, at the end of the predetermined time period, the electronic processor 105 activates the actuator 130 according to the desired counteracting actuation signal to counteract the residual resonance experienced by the electronic communication device 100. Therefore, any residual vibration caused by the activation of the actuator 130 is reduced and / or eliminated. For example, returning to Figure 5, diagram 500B illustrates the effective vibration behavior experienced by the device 100 under the application of the desired counteracting actuation signal (function 505B). As illustrated, in order to counteract the residual resonance experienced by the electronic communication device 100 via the counteracting actuation signal, the user of the device 100 experiences an improved, shorter tactile output.

[0041] Specific embodiments have been described in the foregoing specification. However, those skilled in the art will appreciate that various modifications and changes can be made without departing from the scope of the invention as set forth in the following claims. Therefore, the specification and figures are to be regarded as illustrative rather than restrictive, and all such modifications are intended to be included within the scope of this teaching.

[0042] Benefits, advantages, solutions to problems, and any one or more elements that may cause any benefit, advantage, or solution to appear or become more significant should not be construed as key, essential, or necessary features or elements of any or all claims. The invention is defined solely by the appended claims, including any modifications made during the pending period of this application and all equivalents as stated in those claims.

[0043] Furthermore, in this document, related terms such as first and second, top and bottom, etc., may be used only to distinguish one entity or action from another, and do not necessarily require or imply any actual such relationship or order between these entities or actions. The terms “comprising,” “containing,” “having,” “including,” “comprise,” “containing,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises, has, includes, or contains a list of elements includes not only those elements but may also include other elements not expressly listed or inherent to such a process, method, article, or apparatus. An element following “comprising…a,” “having…a,” “including…a,” or “containing…a” does not exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises, has, includes, or contains that element, unless otherwise expressly stated herein. The terms “a” and “an” are defined as one or more unless otherwise expressly stated herein. The terms “substantially,” “essentially,” “approximately,” “about,” or any other version thereof are defined as close to what is understood by one of ordinary skill in the art, and in one non-limiting embodiment, the term is defined as within 10%, in another within 5%, in yet another within 1%, and in yet another within 0.5%. The term “coupling,” as used herein, is defined as a connection, although not necessarily a direct connection and not necessarily a mechanical connection. A device or structure that is “configured” in a certain way is at least configured in this way, but may also be configured in ways not listed.

[0044] As will be appreciated, some embodiments may include one or more general-purpose or special-purpose processors (or "processing devices") such as microprocessors, digital signal processors, custom processors, and field-programmable gate arrays (FPGAs), as well as uniquely stored program instructions (including both software and firmware), which control one or more processors in combination with certain non-processor circuitry to implement some, most, or all of the functions in the methods and / or apparatuses described herein. Alternatively, some or all of the functions may be implemented by a state machine without stored program instructions, or in one or more application-specific integrated circuits (ASICs), wherein each function or some combinations of certain functions is implemented as custom logic. Of course, a combination of these two approaches may be used.

[0045] Furthermore, embodiments can be implemented as computer-readable storage media storing computer-readable code thereon for programming a computer (e.g., including a processor) to perform the methods described and claimed herein. Examples of such computer-readable storage media include, but are not limited to, hard disks, CD-ROMs, optical storage devices, magnetic storage devices, ROMs (read-only memories), PROMs (programmable read-only memories), EPROMs (erasable programmable read-only memories), EEPROMs (electrically erasable programmable read-only memories), and flash memory. Moreover, it is anticipated that those skilled in the art—despite potentially considerable effort and numerous design choices motivated by factors such as available time, current technology, and economic considerations—will be able to readily generate such software instructions and programs, as well as ICs, with minimal experimentation when guided by the concepts and principles disclosed herein.

[0046] This abstract of the disclosure is provided to allow the reader to quickly understand the nature of the technical disclosure. This abstract is submitted under the understanding that it is not intended to interpret or limit the scope or meaning of the claims. Furthermore, as can be seen in the foregoing detailed description, various features are grouped together in various embodiments for the purpose of simplifying the disclosure. This method of disclosure should not be construed as reflecting an intention that the claimed embodiments require more features than expressly recited in each claim. Rather, as reflected in the following claims, the inventive subject matter lies in fewer than all features of a single disclosed embodiment. Therefore, the following claims are hereby incorporated into the detailed description, wherein each claim is independently claimed as a separate subject matter.

Claims

1. An electronic communication device, comprising: An actuator positioned inside the casing of an electronic communication device; An electronic processor communicatively coupled to the actuator is configured to determine the effective vibration behavior of the electronic communication device when the actuator is activated according to a predetermined mode, including determining the damping effect of the surface environment experienced by the electronic communication device, wherein the magnitude of the tactile output of the actuator can be adjusted when activated based on the determined damping effect; determining a desired counteracting actuation signal based on the effective vibration behavior; and activating the actuator according to the predetermined mode within a predetermined time period. And at the end of the predetermined time period, the actuator is activated according to the desired counteracting actuation signal to counteract the residual resonance experienced by the electronic communication device.

2. The electronic communication device according to claim 1, wherein, The electronic communication device further includes an accelerometer, and wherein the electronic processor is further configured to determine the effective vibration behavior of the electronic communication device based on measurements from the accelerometer.

3. The electronic communication device according to claim 1, wherein, The electronic communication device further includes four pairs of vertically placed actuators, each pair of actuators being positioned in a corner within the housing of the electronic communication device.

4. The electronic communication device according to claim 1, wherein, The electronic communication device further includes four multi-dimensional actuators, each of which is positioned in a corner within the housing of the electronic communication device.

5. The electronic communication device according to claim 1, wherein, The predetermined mode is selected from at least one of the group consisting of linear vibration, angular vibration, circular vibration, sliding vibration and wave vibration.

6. A method for counteracting residual resonance experienced by an electronic communication device due to activation of an actuator within the casing of the electronic communication device, the method comprising: When the actuator is activated according to a predetermined pattern, the effective vibration behavior of the electronic communication device is determined, including determining the damping effect of the surface environment experienced by the electronic communication device, wherein when the actuator is activated based on the determined damping effect, the magnitude of the tactile output of the actuator can be adjusted; a desired counteracting actuation signal is determined based on the effective vibration behavior; and the actuator is activated according to the predetermined pattern within a predetermined time period. And at the end of the predetermined time period, the actuator is activated according to the desired counteracting actuation signal to counteract the residual resonance experienced by the electronic communication equipment.

7. The method according to claim 6, wherein, The electronic communication device further includes an accelerometer, and wherein the effective vibration behavior of the electronic communication device is determined based on measurements from the accelerometer.

8. The method according to claim 6, wherein, The electronic communication device further includes four pairs of vertically placed actuators, each pair of actuators being positioned in a corner within the housing of the electronic communication device.

9. The method according to claim 6, wherein, The electronic communication device further includes four multi-dimensional actuators, each of which is positioned in a corner within the housing of the electronic communication device.

10. The method according to claim 6, wherein, The predetermined mode is selected from at least one of the group consisting of linear vibration, angular vibration, circular vibration, sliding vibration and wave vibration.

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