Method and apparatus for providing a tactile output signal to a tactile actuator

Abstract

Embodiments described herein relate to methods and devices for providing a tactile output signal to a tactile actuator. A controller includes: an input terminal configured to receive a force sensor signal from at least one force sensor; and a tactile output module configured to generate a tactile output signal for output to the tactile actuator; wherein the tactile output module is configured to: trigger output of the tactile output signal in response to determining that the force sensor signal indicates that the force level applied to the at least one force sensor exceeds a first threshold; and during the output of the tactile output signal, adjust the tactile output signal based on the force sensor signal.

Description

Technical Field

[0001] Embodiments described herein relate to methods and apparatus for controlling tactile output signals based on varying input signals received from a force sensor system. Background Art

[0002] Linear resonant actuators (LRAs) and other vibration actuators (e.g., rotary actuators, vibration motors, etc.) are increasingly used in mobile devices (e.g., mobile phones, personal digital assistants, video game controllers, etc.) or other systems to generate vibration feedback for user interaction with such devices. Typically, a force / pressure sensor detects user interaction with the device (e.g., a finger pressing a virtual button of the device), and in response thereto, the linear resonant actuator vibrates to provide feedback to the user. For example, a linear resonant actuator may vibrate in response to a force to simulate the feel of a mechanical button click to the user.

[0003] One disadvantage of existing haptic systems is that existing methods of processing signals from force sensors and generating haptic responses thereto typically have a longer than desired latency, such that the haptic response may be significantly delayed from a user's interaction with the force sensor. Thus, in applications where the haptic system is used for mechanical button replacement, capacitive sensor feedback, or other applications, the haptic response may not effectively mimic the feel of a mechanical button click. Therefore, systems and methods are desired that minimize the latency between a user's interaction with a force sensor and a haptic response to that interaction.

[0004] Furthermore, the signals driving the linear resonant actuator may need to be carefully designed and generated in order to produce an appropriate and comfortable tactile sensation for the user. In a mechanical button replacement application, the desired tactile response may be one in which the vibration pulse generated by the linear resonant actuator should be strong enough to give the user noticeable notification as a response to his / her finger pressing and / or releasing, and the vibration pulse should be short, fast, and have a clean resonant tail to provide a "sharp" and "crisp" feeling to the user. Optionally, different control algorithms and stimuli may be applied to the linear resonant actuator to vary the performance to provide alternating tactile feedback - perhaps indicative of certain user patterns in the device - to give a more "soft" and "resonant" tactile response. Summary of the invention

[0005] According to some embodiments, a controller for providing a tactile output signal to a tactile actuator is provided. The controller includes: an input terminal configured to receive a force sensor signal from at least one force sensor; and a tactile output module configured to generate a tactile output signal for output to the tactile actuator; wherein the tactile output module is configured to: trigger output of the tactile output signal in response to determining that the force sensor signal indicates that the force level applied to the at least one force sensor exceeds a first threshold; and during the output of the tactile output signal, adjust the tactile output signal based on the force sensor signal.

[0006] According to some embodiments, a method for providing a tactile output signal to a tactile actuator is provided. The method includes: receiving a force sensor signal from at least one force sensor; in response to determining that the force sensor signal indicates that the force level applied to the at least one force sensor exceeds a first threshold, triggering the output of the tactile output signal; and during the output of the tactile output signal, adjusting the tactile output signal based on the force sensor signal.

[0007] According to some embodiments, an integrated circuit is provided. The integrated circuit includes a controller, the controller is used to provide a tactile output signal to a tactile transducer, the controller includes: an input terminal, the input terminal is configured to receive a force sensor signal from at least one force sensor; a tactile output module, the tactile output module is configured to generate a tactile output signal for output to a tactile actuator; wherein the tactile output module is configured to: in response to determining that the force sensor signal indicates that the force level applied to the at least one force sensor exceeds a first threshold, trigger the output of the tactile output signal; and during the output of the tactile output signal, adjust the tactile output signal based on the force sensor signal.

[0008] According to some embodiments, a device is provided. The device includes: at least one force sensor; a tactile transducer; and a controller, the controller is used to provide a tactile output signal to the tactile transducer, the controller includes: an input end, the input end is configured to receive a force sensor signal from the at least one force sensor; a tactile output module, the tactile output module is configured to generate a tactile output signal for output to the tactile transducer; wherein the tactile output module is configured to: in response to determining that the force sensor signal indicates that the force level applied to the at least one force sensor exceeds a first threshold, trigger the output of the tactile output signal; and during the output of the tactile output signal, adjust the tactile output signal based on the force sensor signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] For a better understanding of the embodiments of the present disclosure, and in order to show how the same may be carried into effect, reference will now be made, by way of example only, to the accompanying drawings, in which:

[0010] Figure 1 A block diagram illustrating selected components of an exemplary mobile device according to an embodiment of the present disclosure;

[0011] Figure 2 A block diagram illustrating selected components of an exemplary integrated haptic system according to an embodiment of the present disclosure;

[0012] Figure 3 A controller for providing a tactile output signal to a tactile actuator according to an embodiment of the present disclosure is shown;

[0013] Figure 4 An example of a method performed by a tactile output module for adjusting a tactile output signal according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0014] The following description sets forth exemplary embodiments according to the present disclosure. Other exemplary embodiments and implementations will be apparent to those of ordinary skill in the art. In addition, those of ordinary skill in the art will recognize that various equivalent technologies may be applied in place of or in conjunction with the embodiments discussed below, and all such equivalents shall be deemed to be included in the present disclosure.

[0015] The methods described herein may be implemented in a wide range of devices and systems, such as mobile phones, audio players, video players, mobile computing platforms, gaming devices, remote control devices, toys, machines, or home automation controllers or household appliances. However, for ease of explanation of one embodiment, the present invention will be described in detail in detail in the following sections. Figure 1 An illustrative example is described in , where implementation occurs in mobile device 102 .

[0016] Figure 1 1 is a block diagram showing selected components of an exemplary mobile device 102 according to an embodiment of the present disclosure. Figure 1 As shown, the mobile device 102 may include: an enclosure 101, a controller 103, a memory 104, a force sensor system 105, a microphone 106, a tactile actuator 107 (which in this example includes a linear resonant actuator (LRA)), a radio transmitter / receiver 108, a speaker 110, and an integrated tactile system 112. It should be understood that any suitable vibration actuator (e.g., a rotary actuator (such as an ERM), a vibration motor, etc.) arranged to provide a tactile vibration effect may be used as an alternative or in addition to the LRA 107.

[0017] The enclosure 101 may include any suitable case, housing, or other enclosure for housing the various components of the mobile device 102. The enclosure 101 may be constructed of plastic, metal, and / or any other suitable material. Furthermore, the enclosure 101 may be adapted (e.g., sized and shaped) to allow the mobile device 102 to be easily transported on the person of a user of the mobile device 102. Thus, the mobile device 102 may include, but is not limited to, a smartphone, a tablet computing device, a handheld computing device, a personal digital assistant, a notebook computer, a video game controller, or any other device that may be easily transported on the person of a user of the mobile device 102. Although Figure 1 A mobile device is shown, but it should be understood that the system shown may be used in other device types, such as user-interactive display technology, automotive computing systems, etc.

[0018] The controller 103 may be contained within the enclosure 101 and may include any system, device or apparatus configured to interpret and / or execute program instructions and / or process data, and may include, but is not limited to, a microprocessor, a microcontroller, a digital signal processor (DSP), an application specific integrated circuit (ASIC), or any other digital or analog circuit configured to interpret and / or execute program instructions and / or process data. In some embodiments, the controller 103 interprets and / or executes program instructions and / or processes data stored in the memory 104 and / or other computer-readable media accessible to the controller 103.

[0019] The memory 104 may be housed within the enclosure 101, communicatively coupled to the controller 103, and may include any system, device, or apparatus (e.g., a computer-readable medium) configured to retain program instructions and / or data for a period of time. The memory 104 may include any suitable selection and / or array of random access memory (RAM), electrically erasable programmable read-only memory (EEPROM), a personal computer memory card international association (PCMCIA) card, flash memory, magnetic storage, optical-magnetic storage, or volatile or non-volatile memory (which retains data after power to the mobile device 102 is turned off).

[0020] Microphone 106 may be at least partially housed within enclosure 101, communicatively coupled to controller 103, and may include any system, device, or apparatus configured to convert sound incoming at microphone 106 into electrical signals that may be processed by controller 103, wherein such sound is converted into electrical signals using a diaphragm or membrane having a capacitance that varies according to acoustic vibrations received at the diaphragm or membrane. Microphone 106 may include an electrostatic microphone, a condenser microphone, an electret microphone, a micro-electromechanical system (MEMs) microphone, or any other suitable condenser microphone.

[0021] The radio transmitter / receiver 108 may be housed within the enclosure 101, communicatively coupled to the controller 103, and may include any system, device, or apparatus configured to generate and transmit radio frequency signals with the aid of an antenna, and to receive radio frequency signals and convert information carried by such received signals into a form usable by the controller 103. The radio transmitter / receiver 108 may be configured to transmit and / or receive various types of radio frequency signals, including, but not limited to, cellular communications (e.g., 2G, 3G, 4G, 5G, LTE, etc.), short-range wireless communications (e.g., Bluetooth), commercial radio signals, television signals, satellite radio signals (e.g., GPS), Wi-Fi, etc.

[0022] The speaker 110 may be at least partially contained within the enclosure 101 or may be external to the enclosure 101, communicatively coupled to the controller 103, and may include any system, device, or apparatus configured to produce sound in response to an electrical audio signal input. In some embodiments, the speaker may include a dynamic speaker that employs a lightweight diaphragm mechanically coupled to a rigid frame via a flexible suspension that limits the axial movement of the voice coil through a cylindrical magnetic gap. When an electrical signal is applied to the voice coil, the current in the voice coil generates a magnetic field, making it a variable electromagnet. The magnetic systems of the coil and the driver interact to generate a mechanical force that moves the coil (and therefore the attached cone) back and forth, thereby reproducing sound under the control of the applied electrical signal from the amplifier.

[0023] The force sensor system 105 may be contained within, located on, or forming part of the enclosure 101 and may be communicatively coupled to the controller 103. In this example, the force sensor system 105 includes one or more force sensors, and each force sensor of the force sensor system 105 may include any suitable system, device, or apparatus for sensing force, pressure, or touch (e.g., interaction with a person's finger) and for generating an electrical or electronic signal in response to such force, pressure, or touch. In some embodiments, such an electrical or electronic signal may be a function of the amplitude of the force, pressure, or touch applied to the force sensor. In these and other embodiments, such an electronic or electrical signal may include a general purpose input / output signal (GPIO) associated with an input signal to which tactile feedback is given.

[0024] An exemplary force sensor may include or comprise:

[0025] Capacitive displacement sensor,

[0026] Inductive force sensor,

[0027] Strain gauges,

[0028] Piezoelectric force sensor,

[0029] Force sensing resistors,

[0030] Piezoresistive force sensor,

[0031] Thin film force sensors, and

[0032] Force sensor based on quantum tunneling composite materials.

[0033] In some arrangements, other types of sensors may be employed.For purposes of clarity and explanation in this disclosure, the term "force" as used herein may refer not only to force, but also to physical quantities indicative of force or similar to force, such as, but not limited to, pressure and touch.

[0034] In this example, the tactile actuator 107 includes a linear resonant actuator 107, which can be contained within the enclosure 101 and can include any suitable system, device or apparatus for generating an oscillating mechanical force on a single axis. It should be understood that in some examples, there can be more than one tactile actuator, which can be controlled together with the tactile output system. For example, in some embodiments, the linear resonant actuator 107 can rely on an AC voltage to drive a voice coil pressed against a moving mass connected to a spring. When the voice coil is driven at the resonant frequency of the spring, the linear resonant actuator 107 can vibrate with a perceptible force. Therefore, the linear resonant actuator 107 can be used for tactile applications within a specific frequency range. Although for the purpose of clarity and explanation, the present disclosure is described with respect to the use of the linear resonant actuator 107, it should be understood that one or more other types of vibration actuators (e.g., eccentric rotating mass actuators) can be used to replace or supplement the linear resonant actuator 107. Furthermore, it should also be understood that an actuator arranged to generate oscillatory mechanical forces in multiple axes may be used in place of or in addition to the linear resonant actuator 107. As described elsewhere in this disclosure, the linear resonant actuator 107 may provide tactile feedback to a user of the mobile device 102 for at least one of mechanical button replacement and capacitive sensor feedback based on signals received from the integrated haptic system 112.

[0035] The integrated haptic system 112 may be housed within the enclosure 101, may be communicatively coupled to the force sensor system 105 and the haptic actuator 107, and may include any system, device, or apparatus configured to receive a signal from the force sensor system 105 indicating a force applied to the mobile device 102 (e.g., a force applied by a human finger to a virtual button of the mobile device 102) and generate an electronic signal for driving the linear resonant actuator 107 in response to the force applied to the mobile device 102.

[0036] Although specific example components are described above as being integrated into mobile device 102 (e.g., controller 103, memory 104, force sensor system 105, microphone 106, radio transmitter / receiver 108, speaker 110), mobile device 102 according to the present disclosure may include one or more components not specifically listed above. Figure 1 Certain user interface components are depicted, but the mobile device 102 may include one or more other user interface components (including but not limited to buttons, touch screens, and displays) in addition to those depicted in the above-mentioned figures, thereby allowing a user to interact with and / or otherwise manipulate the mobile device 102 and its associated components.

[0037] Figure 2 A block diagram of selected components of an exemplary integrated haptic system 112A according to an embodiment of the present disclosure is shown. In some embodiments, the integrated haptic system 112A may be used to implement Figure 1 The integrated tactile system 112. Figure 2 As shown, the integrated haptic system 112A may include a controller (which in this example includes a digital signal processor (DSP)) 202 , a memory 204 , and an amplifier 206 .

[0038] DSP 202 may include any system, device, or apparatus configured to interpret and / or execute program instructions and / or process data. In some embodiments, DSP 202 may interpret and / or execute program instructions and / or process data stored in memory 204 and / or other computer-readable media accessible to DSP 202. DSP 202 functions as a controller for integrated haptic system 112A.

[0039] The memory 204 may be communicatively coupled to the DSP 202 and may include any system, device, or apparatus (e.g., a computer-readable medium) configured to retain program instructions and / or data for a period of time. The memory 204 may include any suitable selection and / or array of random access memory (RAM), electrically erasable programmable read-only memory (EEPROM), a Personal Computer Memory Card International Association (PCMCIA) card, flash memory, magnetic storage, optical-magnetic storage, or volatile or non-volatile memory that retains data after power to the mobile device 102 is turned off.

[0040] Amplifier 206 may be electrically coupled to DSP 202 and may include any suitable electronic system, device, or apparatus configured to increase the power of an input signal VIN (e.g., a time-varying voltage or current) to generate an output signal VOUT. For example, amplifier 206 may use electrical power from a power supply (not explicitly shown) to increase the amplitude of the signal. Amplifier 206 may include any suitable class of amplifier, including, but not limited to, a Class D amplifier.

[0041] In operation, memory 204 can store one or more haptic playback representations. A haptic playback representation can include a waveform. In some examples, a haptic playback representation can include one or more parameters, such as frequency amplitude and duration, thereby allowing a haptic waveform to be determined based on the parameters. In some embodiments, each of the one or more haptic playback representations can define a haptic response a(t) as a desired acceleration of a linear resonant actuator (e.g., linear resonant actuator 107) as a function of time.

[0042] Controller or DSP 202 is configured to receive a force signal VSENSE from force sensor system 105 indicating a force applied to at least one force sensor of force sensor system 105. In response to receiving the force signal VSENSE indicating the sensed force, or independently of such reception, DSP 202 may retrieve a tactile playback representation from memory 104, and may process the tactile playback representation to determine a processed tactile playback signal VIN. In an embodiment where amplifier 206 is a Class D amplifier, the processed tactile playback signal VIN may include a pulse width modulated signal. In response to receiving the force signal VSENSE indicating the sensed force, DSP 202 may cause the processed tactile playback signal VIN to be output to amplifier 206, and amplifier 206 may amplify the processed tactile playback signal VIN to generate a tactile output signal VOUT for driving linear resonant actuator 107.

[0043] In some embodiments, the integrated haptic system 112A can be formed on a single integrated circuit, thereby achieving lower latency than existing haptic feedback control methods. By providing the integrated haptic system 112A as part of a single monolithic integrated circuit, latency between various interfaces and system components of the integrated haptic system 112A can be reduced or eliminated.

[0044] Figure 3 FIG. 3 shows a controller 300 for providing a tactile output signal to a tactile actuator according to some embodiments of the present disclosure. The controller 300 may be Figure 2 The controller 202 is implemented.

[0045] The controller 300 includes an input terminal 301 configured to receive a force sensor signal V from at least one force sensor. 感测For example, the controller 300 may be configured to Figure 1 The force sensor system 105 receives the force sensor signal V 感测 .

[0046] The controller 300 may further include a tactile output module 302 configured to generate a tactile output signal V 输入 For output to the tactile actuator. For example, the controller 300 may be configured to generate a reference signal Figure 2 The tactile output signal V 输入 For output to the amplifier 206. Then, the amplifier 206 can use the tactile output signal V 输入 The derived signal V 输出 The haptic actuator 107 is driven.

[0047] The tactile output module 302 may be configured to determine the force sensor signal V in response to 感测 Indicates that the force level applied to at least one force sensor exceeds a first threshold, triggering the output of a tactile output signal. For example, the force sensor signal V 感测 The amplitude of V may represent the level of force that the user is applying to the at least one sensor signal. In these examples, the tactile output module 302 may be configured to monitor the received force sensor signal V 感测 , and the force sensor signal V 感测 The amplitude of the force sensor signal V is compared to a threshold value, where the threshold value indicates a user touch event, such as a force level that is considered to represent a button press. 感测 exceeds the threshold, the controller 300 may determine that a user touch event has occurred, and thus may start triggering a tactile output signal V 输入 The haptic feedback effect is processed to the output of the haptic actuator 107 (eg, to the amplifier 206) in order to generate a haptic feedback effect to be output by the haptic actuator 107. The haptic feedback effect may be designed to notify the user that it has caused a user touch event to occur.

[0048] For example, the tactile output module can be configured to read from a memory (e.g., Figure 2 The stored tactile signal representation can include a tactile waveform (e.g., a pulse width modulation (PWM) waveform). In some examples, the stored tactile signal representation can include one or more parameters that can be used to construct a tactile output signal, such as frequency, amplitude, and time.

[0049] Therefore, in some examples, the tactile output module 302 may be configured to trigger the tactile output signal V by the following operations: 输入output of: in response to determining that the force sensor signal indicates that the force level applied to at least one force sensor exceeds a first threshold, selecting a first stored tactile signal representation from a plurality of stored tactile signal representations based on the first threshold; and generating a tactile output signal based on the first stored tactile signal representation.

[0050] In other words, the first threshold value may represent a first level of force applied to the at least one force sensor. This first level of force may, for example, be associated with a "nudge" user event. Thus, the first stored haptic signal representation may be selected as a haptic signal representation that may be used to generate a haptic effect associated with the "nudge" user event.

[0051] It should be understood that in some cases, the received force sensor signal V 感测 The amplitude of the force sensor signal V may not be proportional to the level of force applied by the user. In these cases, the force sensor signal V 感测 The force sensor signal may be processed prior to comparison to the threshold, or the threshold may be designed to reflect the force sensor signal representing the force level that defines the user touch event.

[0052] The tactile output module 302 may also be configured to adjust the tactile output signal based on the force sensor signal during the output of the tactile output signal. 输入 During the process and when the tactile playback signal V 输出 The controller 302 may be configured to continuously monitor the received force sensor signal V received from the force sensor system 105 when output by the amplifier 206. 感测 The controller 302 may be configured to continuously monitor the received force sensor signal V 感测 Dynamically adjust the tactile output signal V 输入 For example, the controller 302 may be configured to respond to the received force signal V 感测 The change of tactile output signal V 输入 .

[0053] For example, haptic output module 302 may be configured to adjust one or more of the amplitude, acceleration, or duration of the haptic output signal based on the force sensor signal.

[0054] For example, the tactile output module can be configured to adjust the tactile output signal by selecting a second stored tactile signal representation and adjusting the tactile output signal based on the second stored tactile signal representation so as to generate a tactile output signal. Thus, the second stored tactile signal representation can produce a tactile output signal having a different amplitude, acceleration, and / or duration than the tactile output signal produced by the first stored tactile signal representation.

[0055] Generally, the tactile output module 302 can be configured to generate a signal based on the received force sensor signal V during the driving of the tactile actuator 107 by the amplifier 206. 感测 Adjust the tactile output signal V 输入 For example, the tactile output module 202 may be configured to receive a force signal V based on the received force signal V. 感测 The change selects different tactile signal representations from the memory 104 .

[0056] For example, in response to changes in the amplitude, rate of change, and / or duration of the force sensor signal, the tactile output module 302 can be configured to adjust the tactile output signal V 输入 . In some instances, the tactile output signal may be selected based on the current application or usage environment of the device. In other words, if the device includes a smartphone, the tactile output signal may differ depending on whether the smartphone is in gaming mode or is being used to make a call. For example, more tactile feedback may be required in gaming mode than when the device is being used to make a call. Therefore, in some instances, where the controller forms part of the device, and the controller may be configured to receive an indication of an application running on the device, and the tactile output module may be configured to adjust the tactile output signal based on the indication.

[0057] In some examples, the haptic output signal may be dynamically adjusted based on a combination of the factors listed above.

[0058] In some examples, multiple thresholds may be compared to the force sensor signal (e.g., the amplitude, duration, or rate of change of the force sensor signal) to determine when to adjust the tactile output signal. For example, the tactile output module may be configured to compare the force level being applied to at least one force sensor indicated by the force sensor signal to multiple thresholds, and may adjust the tactile output signal based on the comparison. Figure 4 An example of a method of adjusting a tactile output signal using two thresholds is shown.

[0059] Figure 4 The tactile output module 302 performs the steps for adjusting the tactile output signal V 输入 Instance of the method.

[0060] In this example, the tactile output module 302 is configured to convert the force sensor signal V 感测 The signal level is compared with multiple thresholds.

[0061] In step 401, the tactile output module receives a force sensor signal V from at least one force sensor. 感测 .

[0062] In step 402, the tactile output module compares the amplitude of the force sensor signal with the first threshold value TLO It should be understood that the amplitude exceeds the first threshold T LO The force sensor signal may indicate that a force level being applied to the at least one force sensor is above a threshold force level, for example, a threshold force level considered to indicate user activation of the at least one force sensor.

[0063] If the tactile output module 302 determines in step 402 that the amplitude of the force sensor signal does not exceed the first threshold value T LO , the method returns to step 402, and the force sensor signal V 感测 is continuously monitored and compared with the first threshold T LO In other words, when the force sensor signal V 感测 The amplitude does not exceed the first threshold T LO When the tactile output module is configured to determine that no user touch event occurs (ie, no pushing or pressing of the virtual button occurs).

[0064] If the tactile output module 302 determines in step 402 that the amplitude of the force sensor signal exceeds the first threshold value T LO , the method proceeds to step 403. In step 403, the tactile output module 302 may trigger the tactile output signal V 输入 For example, as described above, the tactile output module 302 may retrieve a stored tactile signal representation from a memory and may generate a tactile output signal V based on the first tactile signal representation. 输入 The selection of which tactile signal representation to use as the first tactile signal representation may be based on a number of factors. For example, the selection of the first tactile signal representation may be based on the force sensor signal V 感测 In other words, the tactile output signal may differ depending on whether the user presses the at least one force sensor quickly or slowly.

[0065] The method may then include adjusting the tactile output signal based on the force sensor signal during output of the tactile output signal. In this example, adjusting the tactile output signal during output of the tactile output signal may include Figure 4 Steps 404 to 411 of the method shown.

[0066] In step 403, the tactile output signal V is triggered. 输入 After the output of the force sensor signal V , the method proceeds to step 404, in which the tactile output module 302 continues to monitor the force sensor signal V 感测 In this example, the tactile output module 302 compares the force sensor signal with the second threshold value T HI Compare to continue monitoring the force sensor signal V 感测 The second threshold T HI Can be higher than the first threshold T LO.

[0067] If in step 404, the tactile output module 302 determines that the force sensor signal V 感测 The amplitude is greater than the second threshold T HI , the method proceeds to step 405, in which the tactile output module determines whether the amplitude of the force sensor signal is greater than T HI For example, the tactile output module can be configured to adjust the tactile output signal in response to the force sensor signal indicating that the force level applied to at least one force sensor exceeds a first threshold and exceeds a second threshold that is higher than the first threshold.

[0068] For example, since V 感测 The amplitude is now greater than T HI , so the tactile output module can determine that a user touch event with increased force (ie, a strong push) has occurred, and thus the tactile output module can be configured to dynamically adjust the tactile output signal V 输入 , to increase the tactile vibration output V to be generated by the amplifier 206 输出 As previously described, the adjustment may be performed by selecting a new haptic signal representation from a memory.

[0069] If in step 404, the tactile output module 302 determines that the force sensor signal V 感测 The amplitude is not greater than the second threshold T HI , the method proceeds to step 406, in which the tactile output module 302 checks that the amplitude of the force sensor signal is still greater than the first threshold value T LO If the amplitude of the force sensor signal has dropped below T LO , the method may proceed to step 407, in which the tactile output module may be configured to stop the tactile output signal. For example, when the amplitude of the force sensor signal falls below the threshold value T LO When the haptic output module is configured to determine that the force applied to the at least one force sensor is no longer high enough to be considered a user touch event, and thus the haptic output signal may be turned off. The method may then return to step 402.

[0070] In some examples, to avoid ping-ponging between turning the haptic output signal on and off, the threshold used in step 406 may be slightly lower than the threshold used in step 402. In other words, some hysteresis may be used.

[0071] If in step 406 the tactile output module 302 determines that the force sensor signal V 感测 The amplitude is still greater than the first threshold T LO, the method may proceed to step 408, in which the tactile output module may adjust the tactile output signal. For example, step 408 may include: based on, for example, the amplitude of the force sensor signal remains above the first threshold T LO The tactile output module may be configured to adjust the tactile output signal based on whether the user event is classified as a quick press of the virtual button or a press and hold of the virtual button to provide different feedback to the user. The method may then return to step 404, where the tactile output module continues to monitor the force sensor signal V 感测 Is the amplitude greater than the second threshold T HI In some examples, the haptic output module can be configured to adjust the haptic output signal based on a length of time between a force sensor signal indicating that the force level exceeds a first threshold and a force sensor signal indicating that the force level exceeds a second threshold.

[0072] After step 405, the method may proceed to step 409, in which the tactile output module continues to monitor the force sensor signal V 感测 Whether the amplitude remains above the second threshold T HI If the force sensor signal V 感测 Still greater than the second threshold T HI , the tactile output module may adjust the tactile output signal in step 410. For example, similar to step 408, step 410 may include adjusting the tactile output signal based on, for example, the amplitude of the force sensor signal remains above the second threshold T HI How long to adjust the haptic output signal.

[0073] If in step 409 the force sensor signal drops below the second threshold value T HI , the tactile output module can be configured to adjust the tactile output signal in step 411 based on the force applied to the force sensor signal is no longer high enough to be considered a user touch event with increased force (i.e., a strong push). The method can then return to step 406, in which the tactile output module monitors whether the force sensor signal is greater than the first threshold T LO .

[0074] Similar to step 406, in order to avoid the ping-pong effect between the adjustment in step 405 and the adjustment in step 411, the second threshold T used in step 409 is HI may be slightly lower than the second threshold T used in step 404 HI .

[0075] It should be understood that Figure 4is an exemplary illustration of how a tactile output signal may be dynamically adjusted using multiple thresholds. In practice, there may be many different button press interactions that may result in different tactile output signals. For example, the following are examples of different button press interactions that may produce different tactile feedback responses based on changes in the level of user force applied to the device:

[0076] The button is fully pressed (strong push), released halfway (light push), briefly held (push and press continuously) and then fully released;

[0077] The button is fully pressed (strong push), released halfway (light push), and held for a long time (push and press continuously) and then fully released;

[0078] The button is fully pressed (force push), released halfway (light push), and then fully pressed again (force push); or

[0079] · Press the button halfway (light push), hold (push and press continuously), press it fully (force push).

[0080] On the other hand, it should be understood that the threshold for dynamic adjustment of the tactile output signal may be different based on whether the force sensor signal is determined to represent a button press or a button release, because the system can generate different tactile feedback for a button press or a button release. Additionally or alternatively, the tactile output signal or the amplitude of the tactile output signal can be adjusted differently depending on whether the force sensor signal represents a button press or a button release. For example, the tactile output module can be configured to determine a user action based on the force sensor signal and adjust the tactile output signal based on the user action. The user action may include one or more of the following: a button press, a button release, and a button hold.

[0081] It will be appreciated that the above method may be implemented in a dedicated control module, such as a processing module or DSP as shown in the above figures. The control module may be provided as an integrated part of the sensor system, or may be provided as part of a centralized controller such as a central processing unit (CPU) or an application processor (AP). It will be appreciated that the control module may be provided with a suitable memory storage module for storing the measured and calculated data used in the process.

[0082] The skilled person will recognize that some aspects of the above-described apparatus and methods may be embodied as, for example, processor control code on a non-volatile carrier medium such as a disk, CD- or DVD-ROM, a program memory such as a read-only memory (firmware) or a data carrier such as an optical or electrical signal carrier. For many applications, embodiments of the present invention will be implemented on a DSP (digital signal processor), an ASIC (application specific integrated circuit) or an FPGA (field programmable gate array). Thus, the code may comprise conventional program code or microcode, or, for example, code for setting up or controlling an ASIC or FPGA. The code may also comprise code for dynamically configuring a reconfigurable device such as a reprogrammable logic gate array. Similarly, the code may comprise code for a hardware description language such as Verilog TM or VHDL (very high speed integrated circuit hardware description language). As the skilled person will appreciate, the code may be distributed between multiple coupled components that communicate with each other. Where appropriate, embodiments may also be implemented using code running on a field (re)programmable analog array or similar device to configure analog hardware.

[0083] It should be noted that as used herein, the term "module" or the term "block" will be used to refer to a functional unit or block that may be implemented at least in part by dedicated hardware components (such as custom circuits) and / or at least in part by one or more software processors or appropriate code running on a suitable general-purpose processor. A module may itself include other modules or functional units. A module may be provided by multiple components or sub-modules that need not be co-located and may be provided on different integrated circuits and / or run on different processors.

[0084] Embodiments may be implemented in a host device, particularly a portable and / or battery-powered host device, such as a mobile computing device (e.g., a laptop or tablet computer), a game console, a remote control device, a home automation controller including a home temperature or lighting control system or a home appliance, a toy, a machine (such as a robot), an audio player, a video player, or a mobile phone (e.g., a smartphone). A host device incorporating the above system is also provided.

[0085] It should be understood, especially by those of ordinary skill in the art given the benefit of this disclosure, that the various operations described herein (particularly in conjunction with the accompanying drawings) may be implemented by other circuits or other hardware components. The order in which each operation of a given method is performed may be changed, and the various elements of the systems shown herein may be added, reordered, combined, omitted, modified, etc. This disclosure is intended to encompass all such modifications and changes, and therefore, the above description should be regarded in an illustrative rather than a restrictive sense.

[0086] Similarly, although the present disclosure refers to specific embodiments, certain modifications and changes may be made to these embodiments without departing from the scope and coverage of the present disclosure. In addition, any benefits, advantages, or solutions to problems described herein with respect to specific embodiments are not intended to be interpreted as critical, required, or essential features or elements.

[0087] Likewise, other embodiments will be apparent to those of ordinary skill in the art having the benefit of this disclosure, and such embodiments are deemed to be included herein.

[0088] It should be noted that the above embodiments illustrate rather than limit the present invention, and that those skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. The word "comprising" does not exclude the presence of elements or steps other than those listed in the claims, "a" or "an" does not exclude a plurality, and a single feature or other unit may perform the functions of several units described in the claims. Any reference signs or numbers in the claims should not be construed as limiting the scope of the claims.

[0089] Aspects of the system can be defined by the following statements:

[0090] A control method for a combined force sensor and tactile system, the method comprising the following steps:

[0091] a. Monitoring force sensing input;

[0092] b. triggering actuation of a tactile vibration output if the monitored force sensing input exceeds a defined threshold level;

[0093] c. continuously monitoring the force sensing input during the driving of the tactile vibration output; and

[0094] d. Dynamically changing the tactile vibration output based on the continuously monitored force sensing input.

[0095] A combined force sensor and tactile system, the system comprising:

[0096] a force sensing module for providing force sensing input based on an input signal from at least one force sensor;

[0097] a haptic module, preferably a haptic amplifier, to generate a haptic drive signal to drive a haptic actuator, such as a linear resonant actuator (LRA); and

[0098] A controller or digital signal processor (DSP) arranged to:

[0099] (i) monitoring the force sensing input, and

[0100] (ii) if the force sensing input exceeds a trigger threshold, controlling the haptic module to generate a haptic drive signal;

[0101] The controller is further configured to:

[0102] (iii) continuously monitoring the force sensing input after the force sensing input exceeds the trigger threshold; and

[0103] (iv) dynamically adjusting the tactile drive signal based on continuously monitored force sensing input.

[0104] Preferably, the system includes a memory storage device, wherein the controller retrieves a tactile output waveform from the memory storage device to provide the tactile drive signal, wherein the tactile drive signal based on the retrieved tactile output waveform is adjusted based on the continuously monitored force sensing input.

[0105] In one aspect, the controller is configured to select a first tactile output waveform from a plurality of stored tactile output waveforms if the force sensing input exceeds a trigger threshold, wherein the controller is configured to select a different tactile output waveform from the plurality of stored tactile output waveforms based on changes in the continuously monitored force sensing input.

[0106] Additionally or alternatively, the haptic module is arranged to dynamically generate a haptic waveform to provide the haptic drive signal, wherein the haptic drive signal is adjusted based on the continuously monitored force sensing input.

[0107] Preferably, the controller is configured to adjust at least one of an amplitude, an acceleration and / or a duration of the haptic drive signal based on the continuously monitored force sensing input.

[0108] Preferably, the controller is configured to adjust the haptic drive signal based on at least one of an amplitude, an acceleration and / or a duration of the continuously monitored force sensing input.

[0109] Preferably, the controller is configured to compare the continuously monitored force sensing input to a plurality of defined thresholds, wherein the controller is configured to adjust the haptic drive signal based on the comparison.

[0110] In one aspect, the controller is arranged to receive data related to a use case or context of operation of the system, wherein the controller is configured to adjust the haptic drive signal based at least in part on the received data.

[0111] In yet another aspect, the controller is arranged to determine whether the force sensing input indicates a user action representing a button press or a button release, and wherein the controller is configured to adjust the haptic drive signal based at least in part on the determined user action.

[0112] A host device is also provided, comprising: the force sensor / tactile system as described above; and at least one force sensor coupled to the force sensor / tactile system.

[0113] Preferably, the at least one force sensor comprises one or more of the following:

[0114] Capacitive displacement sensor,

[0115] Inductive force sensor,

[0116] Strain gauges,

[0117] Piezoelectric force sensor,

[0118] Force sensing resistors,

[0119] Piezoresistive force sensor,

[0120] Thin film force sensors, and / or

[0121] Force sensors based on quantum tunneling composite materials.

Claims

1. A controller for providing a tactile output signal to a tactile actuator, the controller comprising: an input configured to receive a force sensor signal from at least one force sensor; as well as A tactile output module, the tactile output module being configured to generate a tactile output signal for outputting to a tactile actuator; wherein the tactile output module is configured to: triggering output of the tactile output signal in response to determining that the force sensor signal indicates that the level of force applied to the at least one force sensor exceeds a first threshold; During output of the tactile output signal, adjusting the tactile output signal based on the force sensor signal; comparing the force level being applied to the at least one force sensor indicated by the force sensor signal to a plurality of threshold values; adjusting the tactile output signal based on the comparison; adjusting the tactile output signal in response to the force sensor signal indicating that the level of force applied to the at least one force sensor exceeds the first threshold and exceeds a second threshold that is higher than the first threshold; as well as The haptic output signal is adjusted based on a length of time between when the force sensor signal indicates that the force level exceeds the first threshold and when the force sensor signal indicates that the force level exceeds the second threshold.

2. The controller of claim 1, wherein the tactile output module is configured to: In response to determining that the force sensor signal indicates that the level of force applied to the at least one force sensor exceeds a first threshold, selecting a first stored haptic signal representation from a plurality of stored haptic signal representations based on the first threshold; and The haptic output signal is generated based on the first stored haptic signal representation.

3. The controller of claim 2, wherein the tactile output module is configured to adjust the tactile output signal by: selecting a second stored haptic signal representation, and The tactile output signal is adjusted based on the second stored tactile signal representation such that the tactile output signal is generated. 4 . The controller of any preceding claim, wherein the tactile output module is configured to adjust one or more of an amplitude, an acceleration, or a duration of the tactile output signal based on the force sensor signal.

5. The controller of one of claims 1 to 3, wherein the tactile output module is configured to adjust the tactile output signal based on at least one of an amplitude, a rate of change, and / or a duration of the force sensor signal.

6. A controller as described in one of claims 1 to 3, wherein the controller forms part of a device, and wherein the controller is configured to receive an indication of an application running on the device, and wherein the tactile output module is configured to adjust the tactile output signal based on the indication.

7. The controller of one of claims 1 to 3, wherein the tactile output module is configured to: determining a user action based on the force sensor signal, and The tactile output signal is adjusted based on the user action.

8. The controller of claim 7, wherein the user action comprises one or more of: a button press, a button release, and a button hold.

9. The controller of one of claims 1 to 3, wherein the tactile output signal comprises a pulse width modulated signal.

10. A method for providing a tactile output signal to a tactile actuator, the method comprising: receiving a force sensor signal from at least one force sensor, triggering output of a tactile output signal in response to determining that the force sensor signal indicates that the level of force applied to the at least one force sensor exceeds a first threshold; During output of the tactile output signal, adjusting the tactile output signal based on the force sensor signal; comparing the force level being applied to the at least one force sensor indicated by the force sensor signal to a plurality of threshold values; adjusting the tactile output signal based on the comparison; Adjusting the tactile output signal based on the comparison includes: adjusting the tactile output signal in response to the force sensor signal indicating that the force level applied to the at least one force sensor exceeds the first threshold and exceeds a second threshold that is higher than the first threshold; and Adjusting the tactile output signal based on the comparison includes adjusting the tactile output signal based on a length of time between when the force sensor signal indicates that the force level exceeds the first threshold and when the force sensor signal indicates that the force level exceeds the second threshold.

11. The method of claim 10, further comprising: in response to determining that the force sensor signal indicates that the level of force applied to the at least one force sensor exceeds a first threshold, selecting a first stored haptic signal representation from a plurality of stored haptic signal representations based on the first threshold; as well as The haptic output signal is generated based on the first stored haptic signal representation.

12. The method of claim 11, wherein the step of adjusting the tactile output signal comprises: selecting a second stored haptic signal representation, and The tactile output signal is adjusted based on the second stored tactile signal representation such that the tactile output signal is generated.

13. The method of one of claims 10 to 12, wherein the adjusting step comprises: One or more of an amplitude, an acceleration, or a duration of the tactile output signal is adjusted based on the force sensor signal.

14. The method of one of claims 10 to 12, wherein the adjusting step comprises: The tactile output signal is adjusted based on at least one of an amplitude, a rate of change, and / or a duration of the force sensor signal.

15. The method of one of claims 10 to 12, further comprising: An indication of an application running on a device is received, and the haptic output signal is adjusted based on the indication.

16. The method of one of claims 10 to 12, further comprising: determining a user action based on the force sensor signal, and The tactile output signal is adjusted based on the user action.

17. The method of claim 16, wherein the user action comprises one or more of: a button press, a button release, and a button hold.

18. The method of one of claims 10 to 12, wherein the tactile output signal comprises a pulse width modulated signal.

19. An integrated circuit, the integrated circuit comprising a controller, the controller being configured to provide a tactile output signal to a tactile transducer, the controller comprising: an input configured to receive a force sensor signal from at least one force sensor, A tactile output module, the tactile output module being configured to generate a tactile output signal for outputting to a tactile actuator; wherein the tactile output module is configured to: triggering output of the tactile output signal in response to determining that the force sensor signal indicates that the level of force applied to the at least one force sensor exceeds a first threshold; During output of the tactile output signal, adjusting the tactile output signal based on the force sensor signal; comparing the force level being applied to the at least one force sensor indicated by the force sensor signal to a plurality of threshold values; adjusting the tactile output signal based on the comparison; adjusting the tactile output signal in response to the force sensor signal indicating that the level of force applied to the at least one force sensor exceeds the first threshold and exceeds a second threshold that is higher than the first threshold; as well as The haptic output signal is adjusted based on a length of time between when the force sensor signal indicates that the force level exceeds the first threshold and when the force sensor signal indicates that the force level exceeds the second threshold.

20. A device comprising at least one force sensor and a tactile transducer, wherein the device further comprises: A controller, the controller is used to provide a tactile output signal to the tactile transducer, the controller comprising: an input configured to receive a force sensor signal from the at least one force sensor, A tactile output module, wherein the tactile output module is configured to generate a tactile output signal for outputting to the tactile transducer; wherein the tactile output module is configured to: triggering output of the tactile output signal in response to determining that the force sensor signal indicates that the level of force applied to the at least one force sensor exceeds a first threshold; During output of the tactile output signal, adjusting the tactile output signal based on the force sensor signal; comparing the force level being applied to the at least one force sensor indicated by the force sensor signal to a plurality of threshold values; adjusting the tactile output signal based on the comparison; adjusting the tactile output signal in response to the force sensor signal indicating that the level of force applied to the at least one force sensor exceeds the first threshold and exceeds a second threshold that is higher than the first threshold; and The haptic output signal is adjusted based on a length of time between when the force sensor signal indicates that the force level exceeds the first threshold and when the force sensor signal indicates that the force level exceeds the second threshold.

21. The apparatus of claim 20, wherein the at least one force sensor comprises one or more of: Capacitive displacement sensors, inductive force sensors, strain gauges, piezoelectric force sensors, force sensing resistors, piezoresistive force sensors, thin film force sensors and / or force sensors based on quantum tunneling composite materials.

22. The device of claim 20 or 21, wherein the tactile transducer comprises a linear resonant actuator (LRA).

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