Computer mouse, input device, and method of operating an input device

Abstract

The present invention discloses a computer mouse, an input device, and a method of operating an input device. Aspects of the present invention include a computer peripheral device that includes: an input element that operates based on performance characteristics; an electro-permanent magnet (EPM) assembly that includes a permanent magnet configured to generate a magnetic field and a magnetization assembly configured to set the strength of the magnetic field generated by the permanent magnet; and a magneto-rheological (MR) material coupled to the input element. The MR material has a viscosity that changes based on the magnetic field and affects the performance characteristics of the input element.

Description

[0001] This application is a divisional application of a Chinese patent application filed on August 31, 2021, with application number 202111012806.9 and invention

[0002] title "Combining Electromagnetic Permanent Magnets and Magnetorheological Fluids to Modify the Operation of an Input Device". Technical Field

[0003] Aspects of the present disclosure generally relate to electronic devices, and more particularly to computer peripheral devices that utilize electromagnetic permanent magnets and magnetorheological fluids to control the characteristics of certain components (e.g., input elements) on a computer peripheral device. Background Art

[0004] Input devices are common in modern society and are typically used to convert human-induced analog inputs (e.g., touch, click, motion, touch gestures, button presses, scroll wheel rotations, etc.) performed in conjunction with the input device into digital signals for computer processing. An input device can include any device that can provide data and control signals to a computing system. Some non-limiting examples of input devices include computer mice, keyboards, virtual reality and / or augmented reality controllers, touchpads, remote controls, game controllers, joysticks, trackballs, etc. Some non-limiting examples of computing systems include desktop computers, laptop computers, game consoles, tablet computers and "tablet" computers, smart phones, personal digital assistants, wearable devices (e.g., smart watches, smart glasses), virtual reality (VR) and / or augmented reality (AR) headsets and systems, etc.

[0005] Input devices have undergone significant improvements in terms of quality, functionality, accuracy, ergonomics, and versatility. Earlier designs of computer mice, for example, included various mechanically-based input elements such as scroll wheels, buttons, etc., and the mechanically-based input elements used various spring types to provide a restoring force for the buttons or magnets to create a rotational resistance distribution to increase functionality, but these designs had limited applications, reliability issues, and performance was typically greatly affected by manufacturing tolerances. More modern designs incorporate electromagnets to achieve certain functions, but have not been widely adopted due to manufacturing costs and very high power requirements, which particularly affect wireless input devices. Despite these developments and advantages, there is still a need for more improvements to obtain better performance and greater control of input devices.

[0006] Unless otherwise indicated herein, the materials described in this section are not prior art to the claims of this application and are not considered prior art by virtue of being included in this section. Summary of the Invention

[0007] In some embodiments, a computer peripheral device includes: one or more processors; an input element that operates based on performance characteristics; a permanent magnet (EPM) assembly including a permanent magnet configured to generate a magnetic field and a magnetization assembly controlled by the one or more processors and configured to control the magnetic field generated by the permanent magnet; and a magnetorheological (MR) material coupled to the input element, the MR material having a viscosity, wherein the viscosity of the MR material changes based on the magnetic field MR, and the MR material affects the performance characteristics of the input element based on the viscosity of the MR material. In some aspects, the magnetization assembly is configured to set the strength of the magnetic field of the permanent magnet, and the viscosity of the MR material is also based on the strength of the magnetic field. In some embodiments, the magnetization assembly further includes a coil and a circuit coupled to the coil, wherein the magnetization assembly changes the strength of the magnetic field of the permanent magnet by changing at least one of the amplitude or duration of a current pulse passing through the coil and the circuit, and the coil is configured to generate a magnetic field and magnetize the permanent magnet.

[0008] In some embodiments, once the strength of the magnetic field of the permanent magnet is set by a current pulse through the coil, after the current through the coil is turned off, the magnetic field of the permanent magnet permanently remains at the set strength until the magnetization assembly re - energizes the coil and sets the strength of the magnetic field of the permanent magnet to a new strength. In further embodiments, one or more processors may be configured to operate an input element according to at least two operating modes including: a first operating mode, in which the magnetic field of the permanent magnet is set to change the viscosity of the MR material to a first viscosity that provides a first resistance to the operation of the input element; and a second operating mode, in which the magnetic field of the permanent magnet is set to change the viscosity of the MR material to a second viscosity that provides a second resistance to the operation of the input element, and the second resistance is greater than the first resistance. The input element may also operate according to a third operating mode, in which the magnetic field of the permanent magnet is set to change the viscosity of the MR material to a third viscosity that provides a third resistance to the operation of the input element, and the third resistance prevents the input element from being operated, and the third resistance is greater than the second resistance and the first resistance. In some cases, the performance characteristic of the input element is the translational movement of the input element along a range of motion, and one or more processors cause the magnetization assembly to change the magnetic field of the permanent magnet such that the viscosity of the MR material causes the input element to operate according to the following operating modes: a first operating mode, in which the viscosity of the MR material is set by the magnetic field to provide a minimum resistance to the translational movement of the input element along the range of motion; and a second operating mode, in which the viscosity of the MR material is set by the magnetic field to provide a maximum resistance to the translational movement of the input element along the range of motion. In some cases, one or more processors also cause the magnetization assembly to change the magnetic field of the permanent magnet such that the viscosity of the MR material causes the input element to operate according to a third operating mode, in which the viscosity of the MR material is set by the magnetic field to provide a resistance to the translational movement of the input element along the range of motion that is between the minimum resistance and the maximum resistance.

[0009] In some embodiments, the performance characteristic of the input element is a linear translation of the input element along a linear motion range. In such cases, the input element can be one of the following: a button that can be depressed along the linear motion range; a key that can be depressed along the linear motion range; a trigger that can be depressed along the linear motion range; or a support structure configured to support a computer peripheral device on a underlying surface, the support structure being configured to raise and lower along the linear motion range. In some aspects, the performance characteristic of the input element is a rotational translation along a circular motion range, and the input element can be one of the following: a roller that can rotate along the circular motion range; a trackball that can rotate along the circular motion range; a knob that can rotate along the circular motion range; a hinge that can rotate along the circular motion range; a shifter and gimbal along the circular motion range; a steering wheel that can rotate along the circular motion range; or a pedal that can be depressed along the circular motion range.

[0010] In some embodiments, a computer-implemented method can include: receiving, by one or more processors, input data indicative of a selection of one of a plurality of operation modes of an input device. In some cases, the input device includes: an input element; an EPM assembly including a permanent magnet and a magnetization assembly configured to set a magnetic field generated by the permanent magnet; and an MR material coupled to the input element, the MR material having a viscosity that changes based on the magnetic field and affects the performance characteristic of the input element. Responsive to the received input data corresponding to a selection of a first operation mode of the plurality of operation modes, the method can further include setting, by the magnetization assembly, the magnetic field generated by the permanent magnet to a first intensity, the first intensity causing the MR material to have a first viscosity that affects the performance characteristic of the input device. Responsive to the received input data corresponding to a selection of a second operation mode of the plurality of operation modes, the method can include setting, by the magnetization assembly, the magnetic field generated by the permanent magnet to a second intensity, the second intensity causing the MR material to have a second viscosity that affects the performance characteristic of the input device.

[0011] In some embodiments, setting the magnetic field generated by the permanent magnet includes changing at least one of the amplitude or duration of the current pulse passing through the coil, and the current pulse of the coil generates a corresponding magnetization field that magnetizes the permanent magnet. The performance characteristic of the input element can be the translational movement of the input element along the movement range, wherein, in a first operating mode, a first viscosity of the MR material is set by the magnetic field to provide a minimum resistance to the translational movement of the input element along the movement range, and wherein, in a second operating mode, a second viscosity of the MR material is set by the magnetic field to provide a maximum resistance to the translational movement of the input element along the movement range. In response to received input data corresponding to a selection of a third operating mode among multiple operating modes, the method may further include setting the magnetic field generated by the permanent magnet to a third intensity by the magnetization assembly, the third intensity causing the MR material to have a third viscosity that affects the performance characteristic of the input device, wherein, in the third operating mode, the third viscosity of the MR material is set by the magnetic field to provide a resistance to the translational movement of the input element along the movement range, the resistance being between the minimum resistance and the maximum resistance. In some cases, the performance characteristic of the input element is the linear translation of the input element along a linear movement range, wherein the input element can be one of the following: a button that can be depressed along the linear movement range; a key that can be depressed along the linear movement range; a trigger that can be depressed along the linear movement range; or a support structure configured to support a computer peripheral device on a underlying surface and configured to raise and lower along a linear range. In some cases, the performance characteristic of the input element is the rotational translation along a circular movement range, wherein the input element can be one of the following: a roller that can rotate along the circular movement range; a trackball that can rotate along the circular movement range; a knob that can rotate along the circular movement range; a hinge that can rotate along the circular movement range; a shifter and gimbal along the circular movement range; a steering wheel that can rotate along the circular movement range; a pedal that can be depressed along the circular movement range, etc.

[0012] In some embodiments, a key for an input device may include: a key frame; a key plunger configured to linearly traverse along a stroke path within the key frame with a single degree of freedom of movement; an electro-permanent magnet (EPM) assembly coupled to the key frame and including a permanent magnet configured to generate a magnetic field and a magnetization assembly configured to set the magnetic field generated by the permanent magnet; and a magnetorheological (MR) material disposed within the key frame and coupled to the key plunger, the MR material having a viscosity that changes based on the magnetic field, wherein the MR material is configured to provide a resistance to the linear traversal of the key plunger along the stroke path within the key frame, the resistance being based on the viscosity of the MR material. In some cases, the key frame may include ferrite and be configured to conduct and couple the magnetic field generated by the permanent magnet to the MR material. The key plunger may include ferrite and may be configured to conduct and couple the magnetic field generated by the permanent magnet to the MR material. In certain cases, the profile of the ferrite key frame and / or key plunger is designed such that when the key is pressed, the conduction of the magnetic field through the MR material can change, which can create a dynamic resistance distribution that varies as the key moves relative to the key frame.

[0013] In some embodiments, the key may further include a biasing mechanism, wherein the stroke path of the key plunger includes a first position corresponding to the key plunger being in an unpressed state and a second position corresponding to the key plunger being in a fully pressed state, and wherein the biasing mechanism provides a restoring force to the key plunger to return the key plunger to the second position. The key may include a plurality of O-rings configured to form a sealed reservoir between the key frame and the key plunger, wherein the MR material is a fluid contained within the sealed reservoir. The key may be configured to operate in multiple operating modes, the multiple operating modes including: a first operating mode in which the magnetization assembly sets the magnetic field of the permanent magnet such that the MR material has a first viscosity that provides a first resistance to the linear traversal of the key plunger along the stroke path; and a second operating mode in which the magnetization assembly sets the magnetic field of the permanent magnet such that the MR material has a second viscosity that provides a second resistance to the linear traversal of the key plunger along the stroke path, wherein the second resistance is greater than the first resistance. In some cases, the key may further include a second permanent magnet configured to generate a second magnetic field, wherein in the first operating mode, the permanent magnet and the second permanent magnet are magnetized such that the magnetic conduction paths of their corresponding magnetic fields are contained by the permanent magnet and the second permanent magnet and do not pass through the MR material, and wherein in the second operating mode, the permanent magnet and the second permanent magnet are magnetized such that the magnetic conduction paths of their corresponding magnetic fields pass through the MR material.

[0014] In some aspects, the key may further include: one or more processors; and a sensor configured to detect the position of the key plunger along a travel path within the key frame, the sensor being controlled by the one or more processors, wherein the one or more processors are configured to dynamically set the magnetic field generated by the permanent magnet of the magnetization assembly so that the viscosity of the MR material changes according to a resistance distribution based on the position of the key plunger along the travel path. The key may further include a switch configured to generate input data indicating a key press event when the key plunger is depressed along the travel path beyond a threshold position. The input device may be a keyboard or other suitable input device, and the key may be one of a plurality of keys on the keyboard.

[0015] In some embodiments, the pedal assembly includes: a base platform; a pedal arm rotatably coupled to the base platform at a first position such that the pedal arm moves relative to the base platform along a rotation axis; a piston assembly coupling the pedal arm to the base platform at a second position and including a piston housing and a piston configured to linearly traverse along a longitudinal path within the piston housing when the pedal arm rotates along the rotation axis; an EPM assembly; a permanent magnet configured to generate a magnetic field; a magnetization assembly configured to set the magnetic field generated by the permanent magnet; and an MR material having a viscosity, the MR material being contained within the piston assembly and configured such that the piston traverses through the MR material as it linearly traverses along the longitudinal path within the piston housing, wherein the MR material is configured to provide a resistance to the linear traversal of the piston along the longitudinal path based on the viscosity of the MR material. In some aspects, the pedal assembly may further include a plurality of O-rings configured to form a sealed storage cavity between the piston housing and the piston, wherein the MR material is a fluid contained within the sealed storage cavity. The pedal assembly may be configured to operate in a plurality of operating modes, the plurality of operating modes including: a first operating mode in which the magnetization assembly sets the magnetic field of the permanent magnet such that the MR material has a first viscosity that provides a first resistance to the linear traversal of the piston along the longitudinal path; and a second operating mode in which the magnetization assembly sets the magnetic field of the permanent magnet such that the MR material has a second viscosity that provides a second resistance to the linear traversal of the piston along the longitudinal path, wherein the second resistance is greater than the first resistance. The pedal assembly may include a second permanent magnet configured to generate a second magnetic field, wherein in the first operating mode, the permanent magnet and the second permanent magnet are magnetized such that the paths of magnetic conduction of their corresponding magnetic fields do not pass through the MR material, and in the second operating mode, the permanent magnet and the second permanent magnet are magnetized such that the paths of magnetic conduction of their corresponding magnetic fields pass through the MR material. The pedal assembly may include: one or more processors; a sensor configured to detect the position of the piston relative to the piston housing, the sensor being controlled by the one or more processors, wherein the one or more processors are configured to cause the magnetization assembly to dynamically set the magnetic field generated by the permanent magnet such that the viscosity of the MR material changes according to a resistance profile based on the position of the key plunger along the stroke path.

[0016] In some embodiments, a method of operating an input device includes: receiving input data corresponding to an operating mode of the input device, the operating mode corresponding to control of movement of a movable element of the input device along one degree of freedom; determining a selection of the operating mode based on the input data; in response to input data corresponding to a first operating mode: causing a magnetization assembly to set a first magnetic field strength of a permanent magnet, the first magnetic field strength of the permanent magnet controlling the viscosity of a magnetorheological (MR) material coupled to the movable element, the MR material providing a first resistance to movement of the movable element along one degree of freedom at the first magnetic field strength; and in response to input data corresponding to a second operating mode: causing the magnetization assembly to set a second magnetic field strength of the permanent magnet, the MR material providing a second resistance to movement of the movable element along one degree of freedom at the second magnetic field strength, wherein the second magnetic field strength is higher than the first magnetic field strength. In some aspects, in the first operating mode, the MR material has a minimum viscosity, and wherein, in the second operating mode, the MR material has a maximum viscosity. The method may further include: in response to input data corresponding to a third operating mode: causing the magnetization assembly to set a third magnetic field strength of the permanent magnet, the MR material providing a third resistance to movement of the movable element along one degree of freedom at the third magnetic field strength, wherein the third magnetic field strength is higher than the first magnetic field strength and less than the second magnetic field strength. In some aspects, one degree of freedom corresponds to linear movement of the movable element, and wherein the movable element is one of: a button capable of being depressed along one linear degree of freedom; a key capable of being depressed along one linear degree of freedom; a trigger capable of being actuated to be depressed along one linear degree of freedom; or a support structure configured to support the input device in multiple configurations, the support structure capable of extending and retracting along one linear degree of freedom. In some embodiments, one degree of freedom corresponds to rotational movement of the movable element, and wherein the movable element is one of: a roller capable of rotating along one rotational degree of freedom; a trackball capable of rotating along one rotational degree of freedom; a knob capable of rotating along one rotational degree of freedom; a hinge capable of rotating along one rotational degree of freedom; a steering wheel capable of rotating along one rotational degree of freedom; or a pedal capable of being depressed along one rotational degree of freedom.

[0017] In some embodiments, a computer mouse includes: a housing; a depressible element having a first side configured to be depressed by a user; an actuator coupled to a second side of the depressible element opposite the first side, the actuator configured to linearly traverse along a travel path within the housing with one degree of freedom when the depressible element is depressed by the user; a contractible membrane that provides a first resistance to the linear traversal of the actuator along the travel path within the housing, the contractible membrane configured to contract and provide haptic feedback in response to receiving a threshold force from the actuator, the contractible membrane including a ferromagnetic material and having a hollow portion; an electro-permanent magnet (EPM) assembly coupled to the housing, the EPM assembly including a permanent magnet configured to generate a magnetic field and a magnetization assembly configured to set the magnetic field generated by the permanent magnet; and a magneto-rheological (MR) material disposed within the hollow portion of the contractible membrane, wherein the housing includes a ferrite portion that creates a magnetic field conduction path that conducts the magnetic field from a first pole of the permanent magnet through the contractible membrane and to a second pole of the permanent magnet, and wherein the MR material is configured to provide an additional resistance to the linear traversal of the actuator along the travel path within the housing by the contractible membrane, the additional resistance being based on the magnetic field through the MR material within the hollow portion of the contractible membrane, the magnetic field affecting the viscosity of the MR material. In some aspects, the magnetization assembly is configured to set the strength of the magnetic field of the permanent magnet, and the viscosity of the MR material is further based on (affected by) the strength of the magnetic field.

[0018] The computer mouse may include one or more processors configured to operate the depressible element according to at least two operating modes, the at least two operating modes including: a first operating mode in which the magnetic field of the permanent magnet is set to change the viscosity of the MR material within the hollow portion of the contractible membrane to a first viscosity that provides a first additional resistance to the linear traversal of the actuator along the travel path within the housing; and a second operating mode in which the magnetic field of the permanent magnet is set to change the viscosity of the MR material within the hollow portion of the contractible membrane to a second viscosity that provides a second additional resistance to the linear traversal of the actuator along the travel path within the housing, the second additional resistance being greater than the first additional resistance. The computer mouse may further include a switch coupled to the one or more processors, the switch configured to generate a control signal in response to being activated, wherein the switch is activated when the contractible membrane contracts. In some embodiments, the depressible element may be a left mouse button or a right mouse button on the computer mouse.

[0019] In some embodiments, an input device includes: a housing; a palm region coupled to the housing and configured to receive a user's palm when the user operates the input device, the palm region being partially formed by a plurality of sub-modules, wherein each of the sub-modules includes: a frame; a plunger configured to traverse along a stroke path within the frame; an electro-permanent magnet (EPM) assembly coupled to the frame, the EPM assembly including a permanent magnet configured to generate a magnetic field and a magnetization assembly configured to set the magnetic field generated by the permanent magnet; and a magneto-rheological (MR) material disposed within the frame and coupled to the plunger, the MR material having a viscosity that changes based on the magnetic field. The MR material can be configured to provide a resistance to the traversal of the plunger along the stroke path within the frame, the resistance being based on the viscosity of the MR material. In some embodiments, the input device includes one or more processors configured to cause each of the sub-modules to operate according to at least two operating modes, the at least two operating modes including: a first operating mode in which the magnetic field of the permanent magnet is set to cause the viscosity of the MR material to change to a first viscosity that provides a first resistance to the traversal of the plunger along the stroke path within the frame; and a second operating mode in which the magnetic field of the permanent magnet is set to cause the viscosity of the MR material to change to a second viscosity that provides a second resistance to the traversal of the plunger along the stroke path within the housing. The first resistance can allow each of the sub-modules to traverse along the stroke path in response to a force applied along the stroke path, and the second resistance can prevent each of the sub-modules from traversing along the stroke path in response to a force applied, the second resistance being higher than the first resistance.

[0020] In a further embodiment, when each of the sub-modules operates in a first operating mode, the magnetic field generated by the permanent magnet does not pass through the MR material, while when each of the sub-modules operates in a second operating mode, the magnetic field generated by the permanent magnet passes through the MR material. In some embodiments, when switching between at least two operating modes, the input device consumes power only by the EPM components. In some embodiments, the input device further includes a cover plate coupled to the palm area, wherein the cover plate covers the palm area or a portion thereof, wherein a first side of the cover plate forms an accessible surface of the palm area, and wherein a second side of the cover plate opposite the first side is coupled to and supported by the top surface of each of the sub-modules. In some embodiments, when each of the sub-modules operates in a first operating mode, the cover plate is adjustable with at least two degrees of freedom, while when each of the sub-modules operates in a second operating mode, the cover plate is non-adjustable. In some cases, the EPM component is a single EPM component shared by each of the plurality of sub-modules. Alternatively, each sub-module or a portion thereof may have its own EPM component. The palm area may have a surface profile, and each sub-module may include a top portion that forms a part of the surface profile of the palm area.

[0021] In certain embodiments, a method of operating an input device includes: receiving input data corresponding to an operating mode of the input device, the operating mode corresponding to control of a surface profile of a palm area of the input device, the palm area being partially formed by a plurality of sub-modules, wherein each sub-module has a movable element configured to traverse along a linear travel path within a frame; determining a selection of the operating mode based on the input data; in response to input data corresponding to a first operating mode: causing a magnetization component to set a first magnetic field strength of a permanent magnet, the first magnetic field strength of the permanent magnet controlling the viscosity of an MR material coupled to the movable element, the MR material providing a first resistance to movement of the movable element along the linear travel path in the first magnetic field; and in response to input data corresponding to a second operating mode: causing the magnetization component to set a second magnetic field strength of the permanent magnet, the MR material providing a second resistance to movement of the movable element along the linear travel path at the second magnetic field strength, wherein the second magnetic field strength is higher than the first magnetic field strength. In some cases, in the first operating mode, the MR material has a minimum viscosity, while in the second operating mode, the MR material has a maximum viscosity. The first resistance may allow each of the sub-modules to traverse along the travel path in response to a force applied along the linear travel path, while the second resistance may prevent each of the sub-modules from traversing along the linear travel path in response to a force applied, the second resistance being higher than the first resistance.

[0022] In some aspects, the input device includes a cover coupled to the palm region, where the cover covers the palm region, where a first side of the cover forms a user-accessible surface of the palm region, and where a second side of the cover opposite the first side is coupled to and supported by a top surface of each of the sub-modules. In certain cases, when each of the sub-modules operates in a first operating mode, the cover is adjustable with at least two degrees of freedom, while when each of the sub-modules operates in a second operating mode, the cover is non-adjustable. The palm region may have a surface profile, and each sub-module (or a subset of the plurality of sub-modules) may include a top portion that forms part of the surface profile of the palm region. The magnetization assembly may be a single magnetization assembly shared by each of the plurality of sub-modules, or each sub-module or a portion of the plurality of sub-modules may have their own magnetization assembly.

[0023] This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used in isolation to determine the scope of the claimed subject matter. The subject matter should be understood by reference to the appropriate portions of the entire specification of this disclosure, any drawings, or all of the drawings, and each claim.

[0024] The foregoing features, as well as other features and examples, will be described in more detail below in the following specification, claims, and drawings.

[0025] The terms and expressions that have been employed are used in a descriptive rather than a restrictive sense, and are not intended to exclude any equivalents of the features shown and described or portions thereof. However, it has been recognized that various modifications are possible within the scope of the claimed systems and methods. Accordingly, it should be understood that although the present systems and methods have been specifically disclosed by way of example and optional features, those skilled in the art will recognize modifications and variations of the concepts disclosed herein, and such modifications and variations are considered to be within the scope of the systems and methods defined by the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The features of the various embodiments described above, as well as other features and advantages of certain embodiments of the present invention, will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0027] Figure 1 An example of a computer system 100 is shown that may include any of a variety of main computing devices and computer peripherals, the computer peripherals including peripherals (e.g., computer mouse, keyboard, etc.) that may be configured to perform aspects of the various inventive concepts described herein;

[0028] Figure 2Illustrates a system 200 for operating a computer peripheral device 130 according to certain embodiments;

[0029] Figure 3 Illustrates a simplified block diagram of a main computing device 300 according to certain embodiments;

[0030] Figure 4A Illustrates an example of an electro-permanent magnet system 400 operating in a first operating mode according to certain embodiments;

[0031] Figure 4B Illustrates an example of an electro-permanent magnet system 400 operating in a second operating mode according to certain embodiments;

[0032] Figure 5A Illustrates an example of certain properties of a magnetorheological material in the absence of a magnetic field according to certain embodiments;

[0033] Figure 5B Illustrates an example of certain properties of a magnetorheological material in the presence of a magnetic field according to certain embodiments;

[0034] Figure 6 Is a flowchart showing aspects of a method for using an electro-permanent magnet system and a magnetorheological material to control performance characteristics of an input element on an input device according to certain embodiments;

[0035] Figure 7 Illustrates a magnetorheological-based clutch system having a permanent magnet assembly;

[0036] Figure 8 Illustrates a magnetorheological-based clutch system having an electromagnet assembly;

[0037] Figure 9A Illustrates a magnetorheological-based clutch system having an electro-permanent magnet assembly according to certain embodiments, the electro-permanent magnet assembly being configured to apply a magnetic field to an MR material to control clutch engagement;

[0038] Figure 9B Illustrates a second magnetorheological-based clutch system having an electro-permanent magnet assembly according to certain embodiments, the electro-permanent magnet assembly being configured to apply a magnetic field to an MR material to control clutch engagement;

[0039] Figure 9C Illustrates a third magnetorheological-based clutch system having an electro-permanent magnet assembly according to certain embodiments, the electro-permanent magnet assembly being configured to apply a magnetic field to an MR material to control clutch engagement;

[0040] Figure 10Shows a key structure with improved performance characteristics by combining an electro-permanent magnet (EPM) and magnetorheological (MR) materials according to certain embodiments;

[0041] Figure 11 Shows the operation of a single EPM key structure configuration with MR material according to certain embodiments;

[0042] Figure 12 Shows the operation of a dual EPM key structure configuration with MR material according to certain embodiments;

[0043] Figure 13 Shows a graph of a plurality of diagrams depicting various force distributions defined by the EPM magnetic field according to certain embodiments;

[0044] Figures 14A to 14C Shows various key resistance distributions according to certain embodiments;

[0045] Figure 15 Is a simplified flowchart showing aspects of a method for controlling the performance characteristics of a key structure using an electro-permanent magnet and MR material according to certain embodiments;

[0046] Figure 16 Shows a multi-key implementation for controlling the performance characteristics of a plurality of key structures using an electro-permanent magnet and MR material according to certain embodiments;

[0047] Figure 17 Shows a pedal assembly for controlling performance characteristics using an EPM assembly combined with MR material according to certain embodiments;

[0048] Figure 18 Shows a pedal damping system configured to control the performance characteristics of a pedal system according to certain embodiments;

[0049] Figure 19 Shows a pedal damping system configured to control the performance characteristics of a pedal system according to certain embodiments;

[0050] Figure 20A Shows a computer mouse configured to tilt on an underlying platform according to certain embodiments;

[0051] Figure 20B Shows a computer mouse configured to tilt on an underlying platform according to certain embodiments;

[0052] Figure 21 Shows a computer mouse configured to tilt relative to an underlying platform according to certain embodiments;

[0053] Figure 22 Shows a game wheel assembly according to certain embodiments;

[0054] Figure 23 shows a keyboard system according to certain embodiments;

[0055] Figure 24 shows a microphone stand according to certain embodiments;

[0056] Figure 25A shows an example of a cross-section of an input element architecture on a computer mouse with improved performance characteristics obtained by combining EPM and MR according to certain embodiments;

[0057] Figure 25B shows a cross-sectional view of an input element architecture on a computer mouse with improved performance characteristics obtained by combining EPM and MR according to certain embodiments;

[0058] Figure 26A shows an example of an input element architecture on a computer mouse with improved performance characteristics obtained by combining EPM and MR according to certain embodiments;

[0059] Figure 26B shows a cross-sectional view of an input element architecture (EPM / MR structure 2620) on a computer mouse with improved performance characteristics obtained by combining EPM and MR according to certain embodiments;

[0060] Figure 27 shows a simplified image of a shifter and gimbal structure with improved performance characteristics obtained by combining EPM and MR according to certain embodiments;

[0061] Figure 28 shows an input device with a trackball having improved performance characteristics obtained by combining EPM and MR according to certain embodiments;

[0062] Figure 29A shows a computer mouse with an adjustable palm rest according to certain embodiments;

[0063] Figure 29B shows a simplified cross-sectional view of a computer mouse with multiple EPM / MR controlled sub-modules according to certain embodiments;

[0064] Figures 30A to 30B shows a computer mouse with a palm rest panel and multiple sub-modules disposed thereunder according to certain embodiments;

[0065] Figures 31A to 31C shows a computer mouse with a palm rest panel configured in multiple orientations according to certain embodiments; and

[0066] Figure 32It is a simplified flowchart showing aspects of a method for controlling the surface profile of an input device according to certain embodiments.

[0067] Throughout the drawings, it should be noted that like reference numerals are generally used to depict the same or similar elements, features, and structures. Detailed Description

[0068] According to certain embodiments, aspects of the present disclosure generally relate to electronic devices, and more particularly to computer peripherals that utilize electro-permanent magnets and magneto-rheological fluids to control the characteristics of certain parts (e.g., input elements) on a computer peripheral.

[0069] In the following description, various examples of devices that utilize both EPM and MR technologies are described. For illustrative purposes, specific configurations and details are set forth to provide a thorough understanding of the embodiments. However, it will be apparent to those skilled in the art that certain embodiments may be practiced or implemented without disclosing every detail. Additionally, well-known features may be omitted or simplified to prevent any confusion of the novel features described herein.

[0070] The following high-level overview is intended to provide a basic understanding of some of the novel innovations depicted in the drawings and presented in the corresponding description provided below. Aspects of the present invention relate to various improved computer peripherals and more generally to electronic devices (also referred to as input devices) that incorporate aspects of electro-permanent magnet (EPM) systems and magneto-rheological (MR) materials to control the performance characteristics (e.g., translational movement) of one or more elements (e.g., input elements such as buttons, keys, rollers, etc.) on a computer peripheral.

[0071] In early computer peripherals, for example, various mechanical springs and magnets were used to provide a restoring force on buttons or to set a friction distribution on rollers. However, many of these designs had limited control (e.g., binary settings) and applications, and in some cases were affected by challenging manufacturing tolerances and wear issues. Subsequent designs incorporated electromagnets to provide more control over the magnetic fields configured to control one or more input elements, however such designs were not feasible in battery-powered wireless input devices due to their relatively high cost and demanding power requirements. In some cases, deformable MR materials were used on the surface of input devices, for example for a stretchable and customizable housing. MR materials typically have a viscosity that can change when the MR material is subjected to a magnetic field. The various embodiments described herein incorporate both an EPM system and an MR material, the EPM system having many applications and requiring little power to implement. For example, once the EPM system instantaneously drives a coil with an electrical pulse, the corresponding magnet is magnetized with a magnetic field of a specific strength (e.g., based on the amplitude and duration of the pulse), and remains magnetized when the electrical pulse is removed. Although some power is required to change the magnetic field and / or the strength of the magnetic field, no power is required to maintain it, making it an overall power-efficient solution. The magnetic field can be set to any suitable value, which can correspondingly change the viscosity of the MR material (e.g., from highly flexible to very hard) for many useful applications.

[0072] For example, in some applications, the input element can be depressible or capable of moving along a linear range of motion (e.g., linear translational movement). The MR material can be used in combination with the input element to control the ease with which the input element can be linearly moved. For example, when the MR is exposed to a magnetic field of a first strength, the input element can be easily depressed, while when the magnetic field is removed, it is difficult to depress. Some examples of input elements that can have linear translational movement include buttons (e.g., of a computer mouse), keys (e.g., keyboard keys), triggers (e.g., of a controller for a game console), support structures (e.g., legs / feet configured to support a keyboard, speaker, light, etc.) or other devices, and some are described below with respect to Figures 10 to 12 , Figures 15 to 20B and Figures 25A to 26B .

[0073] In a further example, the input element can be rotatable (rotary translation) or capable of moving along a circular range of motion (e.g., circular translational movement). MR material can be used in combination with the input element to control how easily the input element can be rotated. For example, when the MR is exposed to a magnetic field of a first intensity, the input element can be rotated easily, while when the magnetic field is removed, the input element is difficult to rotate. Some examples of input elements that can have rotary movement include rollers, game wheels, game pedals, hinges, etc., and some embodiments of these input elements are described at least below with respect to Figures 21 to 24 In some aspects, the aspects of using EPM and MR for the profile of the input device can be compliant and customizable, as described at least below with respect to Figures 29A to 32 further described. Any type of structure (e.g., movable, manipulable, etc.) can be used in combination with EPM and MR in the ways described herein and in ways not necessarily explicitly described, but still within the spirit of the present disclosure, as will be understood by those of ordinary skill in the art who benefit from the present disclosure.

[0074] It is to be understood that this high-level overview is provided to give the reader a basic understanding of some novel aspects of the present disclosure and a roadmap to later details. This high-level overview in no way limits the scope of the various embodiments described throughout the detailed description, and each of the above-mentioned figures is described in more detail and within their appropriate scope below.

[0075] Figure 1 An example of a computer system 100 is shown that can include any of a variety of main computing devices and computer peripherals, the computer peripherals including peripherals (e.g., computer mouse, keyboard, etc.) that can be configured to perform aspects of the various inventive concepts described herein. Computer system 100 shows a user 105 operating a main computing device (shown as a desktop computer) 110 and a plurality of computer peripherals communicatively coupled and integrated with the main computing device, including a display device 120, a computer mouse 130, a keyboard 140, a microphone 150, a game wheel 160, a game pedal system 170, a game console controller 180, and computer system 100 can include any other suitable input device. Each computer peripheral 120 to 180 can be communicatively coupled to the main computing device 110.

[0076] While the main computing device is shown as a desktop computer, other types of main computing devices may be used, including gaming systems, laptop computers, set-top boxes, entertainment systems, tablet or "tablet" computers, standalone head-mounted displays ("HMDs"), or any other suitable main computing device (e.g., smartphones, smart wearables, etc.). In some cases, multiple main computing devices may be used and one or more of the computer peripherals may be communicatively coupled to one or both of the main computing devices (e.g., a computer mouse may be coupled to multiple main computing devices). The main computing device may also be referred to herein as a "main computer", "host device", "computing device", "computer", etc., and may include machine-readable media (not shown) configured to store computer code such as driver software, firmware, etc., where the computer code may be executed by one or more processors in the main computing device to control aspects of the main computing device, e.g., via one or more computer peripherals.

[0077] Typical computer peripherals may include any suitable input device, output device, or input / output device, including those shown (e.g., a computer mouse) and those not shown (e.g., a remote control, wearable (e.g., gloves, watches, head-mounted displays), AR / VR controllers, CAD controllers, joysticks, analog shifters, stylus devices, or other suitable devices), which may be used to, for example, convert analog inputs into digital signals for computer processing. By way of example, a computer peripheral (e.g., computer mouse 130) may be configured to provide control signals for movement tracking (e.g., x-y movement on a plane, three-dimensional "air" movement, etc.), touch and / or gesture detection, lift detection, orientation detection (e.g., in a 3 degrees of freedom (DOF) system, 6DOF system, etc.), power management functions, input detection (e.g., buttons, scroll wheels, etc.), output functions (e.g., LED control, haptic feedback, etc.), or any one of a number of other features that may be provided by a computer peripheral, as would be understood by one of ordinary skill in the art. For example, computer mouse 130 may include a housing and input buttons, with a rotary control ("scroll wheel") configured between the housing and the input buttons. The button and / or scroll wheel mechanism may include an EPM actuator and MR material for changing the friction distribution associated with pressing the button or rotating the scroll wheel, as further described in certain subsequent embodiments.

[0078] A computer peripheral device may be referred to as an "input device", "peripheral input device", "peripheral", etc. Most of the embodiments described herein generally refer to computer peripheral devices 130 to 180. However, it should be understood that a computer peripheral device may be any suitable input / output (I / O) device (e.g., a user interface device, a control device, an input unit, etc.) that may be adapted to utilize the novel embodiments described and contemplated herein.

[0079] System for operating a computer peripheral device

[0080] Figure 2 System 200 for operating a computer peripheral device 150 in accordance with certain embodiments is shown. System 200 may be configured to operate any one of the computer peripheral devices specifically shown or not shown herein but within the broad scope of the present disclosure. System 200 may include a processor 210, a memory 220, a power management system 230, a communication module 240, an input detection module 250, and an output control module 260. Each of system blocks 220 to 260 may communicate electronically with processor 210 (e.g., via a bus system). System 200 may include additional functional blocks not shown or discussed to prevent obscuring the novel features described herein. System blocks 220 to 260 (also referred to as "modules") may be implemented as separate modules, or alternatively, more than one system block may be implemented in a single module. In the context described herein, system 200 may be incorporated into any of the input devices described herein and may be configured to perform any one of the various methods of combining EPM and MR described below, as will be understood by those of ordinary skill in the art benefiting from the present disclosure. Figures 6 to 32 as will be understood by those of ordinary skill in the art benefiting from the present disclosure.

[0081] In some embodiments, the processor 210 may include one or more microprocessors and may be configured to control the operation of the system 200. Alternatively or additionally, as would be understood by one of ordinary skill in the art, the processor 210 may include one or more microcontrollers (MCUs), digital signal processors (DSPs), etc. having supporting hardware and / or firmware (e.g., memory, programmable I / O, etc.), and / or software. The processor 210 may control some or all aspects of the operation of the computer peripherals 150 (e.g., system blocks 220 to 260). Alternatively or additionally, some of the system blocks 220 to 260 may include additional dedicated processors that may work in conjunction with the processor 210. For example, MCUs, μCs, DSPs, etc. may be configured in other system blocks of the system 200. The communication block 240 may include local processors, e.g., to control aspects of the communication with the host computer 110 (e.g., via Bluetooth, Bluetooth LE, RF, IR, hardwired, ZigBee, Z-Wave, Logitech Unifying, or other communication protocols). The processor 210 may be local to the peripherals (e.g., contained therein), may be external to the peripherals (e.g., as off-board processing by a corresponding host computing device), or a combination thereof. The processor 210 may perform any of the various functions and methods (e.g., method 600) described and / or covered by the present disclosure in conjunction with any other system block in the system 200. In some implementations, Figure 3 the processor 302 may work in conjunction with the processor 210 to perform some or all of the various methods described throughout the present disclosure. In some embodiments, multiple processors may be implemented in the system 200 to provide increased performance characteristics (e.g., speed and bandwidth), however, multiple processors are not required and are not necessarily closely related to the novelty of the embodiments described herein. One of ordinary skill in the art will appreciate the many possible variations, modifications, and alternative embodiments.

[0082] A memory block (“memory”) 220 can store one or more software programs to be executed by a processor (e.g., in processor 210). It should be understood that “software” can refer to a sequence of instructions that, when executed by a processing unit (e.g., a processor, a processing device, etc.), cause the system 200 to perform certain operations of the software program. The instructions can be stored as firmware residing in a read-only memory (ROM) and / or as applications stored in a media storage device, and the applications can be read into the memory for execution by the processing device (e.g., processor 210). The software can be implemented as a single program or a collection of separate programs, and can be stored in a non-volatile storage device and copied, in whole or in part, into a volatile working memory during program execution. In some embodiments, the memory 220 can store data corresponding to inputs on a peripheral device, such as movement of the peripheral device detected by a sensor (e.g., an optical sensor, an accelerometer, etc.), activation of one or more input elements (e.g., buttons, sliders, touch-sensitive areas, etc.). The stored data can be aggregated and sent via a report to the main computing device.

[0083] In certain embodiments, a memory array (“memory”) 220 can store the various data described throughout this disclosure. For example, the memory 220 can store and / or include optical data, dynamically adjustable memory pages, and, more pertinently to this disclosure, the memory array can store various settings for an EPM magnetization assembly to magnetize one or more magnets in a polarity and / or any number of intensity levels to control, for example, the viscosity of MR material on an input device. In certain cases, the intensity can be referred to as the magnetic field intensity and is typically measured in the SI base unit of amperes per meter (A / m). The memory 220 can be used to store any suitable data to perform any of the functions described herein and as would be understood by one of ordinary skill in the art benefiting from this disclosure. The memory array 220 can be referred to as a storage system or a storage subsystem and can store one or more software programs to be executed by a processor (e.g., in processor 210). It should be understood that “software” can refer to a sequence of instructions that, when executed by a processing unit (e.g., a processor, a processing device, etc.), cause the system 200 to perform certain operations of the software program. The instructions can be stored as firmware residing in a read-only memory (ROM) and / or as applications stored in a media storage device, and the applications can be read into the memory for processing by the processing device. The software can be implemented as a single program or a collection of separate programs, and can be stored in a non-volatile storage device and copied, in whole or in part, into a volatile working memory during program execution. The processing device can retrieve program instructions to be executed from the storage subsystem in order to perform the various operations described herein (e.g., software-controlled spring auto-adjustment, etc.).

[0084] The power management system 230 can be configured to manage power distribution, recharging, power efficiency, haptic motor power control, etc. In some embodiments, the power management system 230 can include a battery (not shown), a Universal Serial Bus (USB)-based recharging system for the battery (not shown), and a power management device (e.g., a voltage regulator - not shown), as well as a power grid within the system 200 for providing power to each subsystem (e.g., the communication block 240, etc.). In certain embodiments, the functions provided by the power management system 230 can be incorporated into the processor 210. Alternatively, some embodiments may not include a dedicated power management block. For example, the functional aspects of the power management block 230 can be included or combined with another block (e.g., the processor 210). The power source can be a replaceable battery, a rechargeable energy storage device (e.g., a supercapacitor, a lithium polymer battery, NiMH, NICD), or a wired power supply. The recharging system can be an additional cable (dedicated for recharging purposes), or the recharging system can use a USB connection to recharge the battery.

[0085] In some embodiments, the power management system 230 can control aspects of the magnetization assembly of the EPM component, which sets the polarity and strength of the magnetic field of one or more magnets. For example, the power management system 230 can set the current pulse amplitude, duration, and / or frequency of a drive coil that is operable to generate a magnetization field that magnetizes one or more magnets. Generally, a single pulse is used to change the magnetization and / or polarization of the magnet. In some cases, an AC current can be used to completely demagnetize the magnet. In certain embodiments, multiple pulses can be used to rapidly change the state of the MR for haptic effects, etc. Any number of drive settings (e.g., different combinations of current pulse amplitude, duration, and / or frequency) can be stored, which can affect the viscosity of the MR material (which is typically placed adjacent to, in close proximity to, and at least sometimes within the magnetic field of the magnet). Those of ordinary skill in the art who benefit from this disclosure will understand many of its modifications, variations, and alternative embodiments.

[0086] According to certain embodiments, the communication system 240 can be configured to enable wireless communication with a corresponding host computing device (e.g., 110) or other devices and / or peripherals. The communication system 240 can be configured to provide radio frequency (RF), Logitech proprietary communication protocols (e.g., Unifying, Lightspeed Gaming, or others), infrared (IR), Z-Wave, or other suitable communication technologies to communicate with other computing devices and / or peripherals. The system 200 can optionally include a hardwired connection to the corresponding host computing device. For example, the computer peripheral 130 can be configured to receive USB, or other general-purpose cables to enable two-way electronic communication with a corresponding host computing device or other external devices. Some embodiments may utilize different types of cables or connection protocol standards to establish hardwired communication with other entities. In some aspects, communication ports (e.g., USB), power ports, etc. may be considered part of other blocks (e.g., input detection module 250, output control module 260, etc.) described herein. In some aspects, communication system 240 may send reports (e.g., HID data, streaming or aggregated data, etc.) generated by processor 210 to the host computing device. In some cases, the reports may be generated only by the processor, in combination with the processor or other entities in system 200. Communication system 240 may include one or more antennas, oscillators, etc., and may operate at any suitable frequency band (e.g., 2.4 GHz, etc.). Those of ordinary skill in the art benefiting from the present disclosure will understand many modifications, variations, and alternative embodiments thereof.

[0087] Input detection module 250 may control the detection of user interactions with input elements (also referred to as "elements") on the input device. For example, input detection module 250 may detect user input from motion sensors, keys, buttons, scroll wheels, rollers, trackballs, touchpads (e.g., one-dimensional and / or two-dimensional touch-sensitive touchpads), click wheels, dials, keypads, microphones, GUIs, touch-sensitive GUIs, proximity sensors (e.g., infrared sensors, thermal sensors, etc.), image sensor-based detection such as gesture detection (e.g., via webcam), audio-based detection such as voice input (e.g., via microphone), etc., as will be understood by those of ordinary skill in the art benefiting from the present disclosure. Alternatively, the functionality of input detection module 250 may be incorporated by or combined with processor 210.

[0088] In some embodiments, input detection module 250 may detect touches or touch gestures on one or more touch-sensitive surfaces on input device 130. Input detection block 250 may include one or more touch-sensitive surfaces or touch sensors. Touch sensors typically include sensing elements adapted to detect signals such as direct contact, electromagnetic fields or electrostatic fields, or beams of electromagnetic radiation. Touch sensors can generally detect changes in received signals, the presence or absence of signals. Touch sensors may include a source for emitting the detected signal, or the signal may be generated by an auxiliary source. Touch sensors may be configured to detect the presence of an object, contact with, or a combination thereof, at a distance (e.g., <5 mm) from a reference area or point. Certain embodiments of computer peripheral device 150 may or may not utilize touch detection or touch sensing capabilities.

[0089] The input detection block 250 may include touch and / or proximity sensing capabilities. Some examples of types of touch / proximity sensors may include, but are not limited to, resistive sensors (e.g., based on standard air gap 4-wire, carbon-loaded plastics with different electrical characteristics depending on pressure (FSR), interpolated FSR, strain gauges, etc.), capacitive sensors (e.g., surface capacitance, self-capacitance, mutual capacitance, etc.), optical sensors (e.g., infrared grating matrix, laser-based diodes coupled to photodetectors that can measure the time of flight of an optical path, etc.), acoustic sensors (e.g., piezoelectric buzzers coupled to microphones to detect modifications in wave propagation patterns related to a touch point, etc.), inductive sensors, magnetic sensors (e.g., Hall effect), etc.

[0090] The input detection module 250 may include a motion tracking sub-block that may be configured to detect relative displacement (motion tracking) of the computer peripheral device 150. For example, the input detection module 250 uses an imaging array of optical sensors such as IR LEDs and photodiodes to detect the motion of the computer peripheral device 150 relative to the underlying surface. The computer peripheral device 150 may optionally include motion tracking hardware that utilizes coherent (laser) light. Motion tracking may provide position data (e.g., delta X and delta Y data from the last sample) or lift detection data. For example, the optical sensors may detect when the user lifts the computer peripheral device 130 off the underlying surface (also referred to as the “work surface”), and may send this data to the processor 210 for further processing. In some embodiments, the processor 210, the motion tracking block (which may include additional dedicated processors), or a combination thereof, as would be understood by one of ordinary skill in the art benefiting from the present disclosure.

[0091] In certain embodiments, an accelerometer may be used for motion detection. An accelerometer may be an electromechanical device (e.g., a microelectromechanical systems (MEMS) device) configured to measure acceleration forces (e.g., static and dynamic forces). One or more accelerometers may be used to detect three-dimensional (3D) positioning. For example, 3D tracking may utilize a triaxial accelerometer or two biaxial accelerometers (e.g., in a “3D air mouse,” HMD, or other device). The accelerometer may also determine whether the input device 150 has been lifted off the underlying surface and may provide motion data that may include the speed, physical orientation, and acceleration of the computer peripheral device 150. In some embodiments, a gyroscope may be used in place of or in combination with the accelerometer to determine motion or input device orientation.

[0092] In some embodiments, the output control module 260 may control various outputs for corresponding computer peripheral devices. For example, the output control module 260 may control multiple visual output elements (e.g., LEDs, LCD screens), displays, audio outputs (e.g., speakers), haptic output systems, etc. Those of ordinary skill in the art who benefit from the present disclosure will understand many of its modifications, variations, and alternative embodiments.

[0093] As will be understood by those of ordinary skill in the art, although certain systems may not be explicitly discussed, they should be considered part of system 200. For example, system 200 may include a bus system to transfer power and / or data to and from different systems therein. It should be understood that system 200 is illustrative and may be varied and modified. System 200 may have other capabilities not specifically described herein. Additionally, although system 200 is described with reference to specific blocks, it should be understood that these blocks are defined for ease of description and are not intended to imply a particular physical arrangement of component parts. Furthermore, the blocks need not correspond to physically distinct components. The blocks may be configured to perform various operations, for example, by programming a processor or providing appropriate control circuitry, and depending on how the initial configuration is obtained, the various blocks may or may not be reconfigurable.

[0094] Embodiments of the present invention may be implemented in various devices including electronic devices (e.g., computer peripheral devices) implemented using any combination of circuitry and software. Additionally, aspects and / or parts of system 200 may be combined with or operated by other subsystems as required by the design. For example, the input detection module 250 and / or the memory 220 may operate within the processor 210 rather than being used as separate entities. Additionally, the inventive concepts described herein may also be applied to any electronic device. Furthermore, system 200 may be applied to any computer peripheral device described in the embodiments herein, whether explicitly, referentially, or implicitly described computer peripheral devices (e.g., those known to those of ordinary skill in the art to be applicable to a particular computer peripheral device). The foregoing embodiments are not intended to be limiting, and those of ordinary skill in the art who benefit from the present disclosure will understand a large number of applications and possibilities.

[0095] System for operating a main computing device

[0096] Figure 3FIG. 0 is a simplified block diagram of a main computing device 300 according to some embodiments. The main computing device 300 may implement some or all of the above-described functions, behaviors, and / or capabilities that use electronic storage or processing, as well as other functions, behaviors, or capabilities not explicitly described. The main computing device 300 may include a processing subsystem (processor) 302, a storage subsystem 306, user interfaces 314, 316, and a communication interface 312. The computing device 300 may also include other components (not explicitly shown) such as a battery, a power controller, and other components operable to provide various enhanced functions. In various embodiments, the main computing device 300 may be implemented in any suitable computing device such as a desktop computer or a laptop computer (e.g., desktop 110), a mobile device (e.g., a tablet computer, a smart phone, a mobile phone), a wearable device, a media device, etc., or in some implementations in a peripheral device (e.g., a keyboard, etc.).

[0097] The processor 302 may include an MCU, a microprocessor, an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a processor, a controller, a microcontroller, a microprocessor, or an electronic unit designed to perform a combination of functions or methods, functions, etc. described throughout this disclosure.

[0098] The storage subsystem 306 may be implemented using local storage and / or removable storage media, such as using a disk, flash memory (e.g., a secure digital card, a universal serial bus flash drive), or any other non-transitory storage media or combination of media to implement the storage subsystem 306, and the storage subsystem 306 may include volatile and / or non-volatile storage media. The local storage may include a memory subsystem 308, and the memory subsystem 308 includes a random access memory (RAM) 318 such as dynamic RAM (DRAM), static RAM (SRAM), synchronous dynamic RAM (e.g., DDR), or backup battery RAM, or a read only memory (ROM) 320, or may include a file storage subsystem 310 that may include one or more code modules. In some embodiments, the storage subsystem 306 may store one or more applications and / or operating system programs to be executed by the processing subsystem 302, including programs to be executed by a computer for implementing some or all of the above-described operations. For example, the storage subsystem 306 may store one or more code modules for implementing one or more method steps described herein.

[0099] Modules (e.g., procedures, functions, etc.) can be utilized to implement firmware and / or software implementations. A machine-readable medium that tangibly embodies instructions can be used to implement the methods described herein. Code modules (e.g., instructions stored in a memory) can be implemented within a processor or external to the processor. As used herein, the term "memory" refers to a type of long-term, short-term, volatile, non-volatile, or other storage medium, and is not limited to any particular type of memory or to multiple memories or to the type of medium storing the memories.

[0100] In addition, the term "storage medium" or "storage device" can refer to one or more memories for storing data, including read-only memory (ROM), RAM, magnetic RAM, magnetic core memory, disk storage media, optical storage media, flash storage devices, and / or other machine-readable media for storing information. The term "machine-readable medium" includes, but is not limited to, portable or fixed storage devices, optical storage devices, wireless channels, and / or various other storage media capable of storing instructions and / or data.

[0101] Moreover, implementations can be achieved by hardware, software, scripting languages, firmware, middleware, microcode, hardware description languages, and / or any combination thereof. When implemented in software, firmware, middleware, scripting languages, and / or microcode, the program code or code segments for performing tasks can be stored in a machine-readable medium such as a storage medium. Code segments (e.g., code modules) or machine-executable instructions can represent a procedure, function, subroutine, program, routine, subroutine, module, software package, script, class, or a combination of instructions, data structures, and / or program statements. By passing and / or receiving information, data, arguments, parameters, and / or memory contents, code segments can be coupled to another code segment or a hardware circuit. Information, arguments, parameters, data, etc. can be passed, forwarded, or transmitted by appropriate means including memory sharing, message passing, token passing, network transmission, etc. These descriptions of software, firmware, storage media, etc. apply to systems 200 and 300, and to any other implementation within the broad scope of the present disclosure. In some embodiments, aspects of the present invention (e.g., surface classification) can be performed by software stored in storage subsystem 306, stored in the memory 220 of a computer peripheral device, or stored in both. Those of ordinary skill in the art who benefit from the present disclosure will appreciate many modifications, variations, and alternative embodiments thereof.

[0102] Implementations of the techniques, blocks, steps, and means described throughout this disclosure may be accomplished in a variety of ways. For example, these techniques, blocks, steps, and means may be implemented in hardware, software, or a combination thereof. For a hardware implementation, processing units may be implemented within one or more ASICs, DSPs, DSPDs, PLDs, FPGAs, processors, controllers, microcontrollers, microprocessors, other electronic units designed to perform the above functions, and / or combinations thereof.

[0103] Each code module may include a set of instructions (code) implemented on a computer-readable medium that directs a processor of the main computing device 110 to perform corresponding actions. The instructions may be configured to run in a sequential order, in parallel (e.g., under different processing threads), or a combination thereof. After loading a code module onto a general-purpose computer system, the general-purpose computer is transformed into a special-purpose computer system.

[0104] A computer program incorporating various features described herein (e.g., in one or more code modules) may be encoded and stored on various computer-readable storage media. The computer-readable medium encoded with the program code may be packaged together with a compatible electronic device, or the program code may be provided separately from the electronic device (e.g., downloaded via the Internet or as a separately packaged computer-readable storage medium). The storage subsystem 306 may also store information useful for establishing a network connection using the communication interface 312.

[0105] The computer system 300 may include user interface input device 314 elements (e.g., a touchpad, a touchscreen, a roller, a click wheel, a dial, a button, a switch, a keypad, a microphone, etc.), and user interface output device 316 (e.g., a video screen, an indicator light, a speaker, a headphone jack, a virtual reality or augmented reality display, etc.), along with supporting electronics (e.g., a digital-to-analog converter or an analog-to-digital converter, a signal processor, etc.). A user may operate the user interface input device 314 to invoke the functions of the computing device 300 and may view and / or listen to the output from the computing device 300 via the user interface output device 316.

[0106] The processing subsystem 302 may be implemented as one or more processors (e.g., integrated circuits, one or more single-core or multi-core microprocessors, microcontrollers, central processing units, graphics processing units, etc.). In operation, the processing subsystem 302 may control the operation of the computing device 300. In some embodiments, the processing subsystem 302 may execute various programs in response to program code and may maintain multiple simultaneously executing programs or processes. At a given time, some or all of the program code to be executed may reside in the processing subsystem 302 and / or a storage medium such as the storage subsystem 304. By programming, the processing subsystem 302 may provide various functions for the computing device 300. The processing subsystem 302 may also execute other programs for controlling other functions of the computing device 300, including programs that may be stored in the storage subsystem 304.

[0107] The communication interface (also referred to as a network interface) 312 may provide voice and / or data communication capabilities for the computing device 300. In some embodiments, the communication interface 312 may include radio frequency (RF) transceiver components for accessing wireless data networks (e.g., Wi-Fi networks; 3G, 4G / LTE, etc.), mobile communication technologies, components for short-range wireless communication (e.g., using Bluetooth communication standards, NFC, etc.), other components, or combinations of technologies. In some embodiments, in addition to or instead of a wireless interface, the communication interface 312 may also provide a wired connection (e.g., Universal Serial Bus (USB), Ethernet, Universal Asynchronous Receiver / Transmitter, etc.). The communication interface 312 may be implemented using a combination of hardware (e.g., driver circuits, antennas, modulators / demodulators, encoders / decoders, and other analog and / or digital signal processing circuits) and software components. In some embodiments, the communication interface 312 may support multiple communication channels simultaneously.

[0108] The user interface input device 314 may include any suitable computer peripheral device (e.g., computer mouse, keyboard, game controller, remote control, stylus device, etc.), as would be understood by those of ordinary skill in the art who benefit from the present disclosure. The user interface output device 316 may include a display device (e.g., monitor, television, projection device, etc.), an audio device (e.g., speaker, microphone), a tactile device, etc. Note that the user interface input device and the user interface output device are shown as part of the system 300 as an integrated system. In some cases, such as in a laptop computer, this may be a situation where the keyboard and input elements, as well as the display and output elements, are integrated on the same main computing device. In some cases, as Figure 1 shown, the input device and the output device may be separate from the system 300. Those of ordinary skill in the art who benefit from the present disclosure will understand many modifications, variations, and alternative embodiments thereof.

[0109] It should be understood that the computing device 300 is illustrative and can be varied and modified. The main computing device can have various functions not specifically described (e.g., voice communication via a cellular telephone network) and can include components suitable for such functions. Although the computing device 300 is described with reference to specific blocks, it should be understood that these blocks are defined for ease of description and are not intended to imply a particular physical arrangement of component parts. For example, the processing subsystem 302, the storage subsystem 306, the user interfaces 314, 316, and the communication interface 312 can be in one device or distributed among multiple devices. Additionally, the blocks need not correspond to physically distinct components. The blocks can be configured to perform various operations, for example, by programming a processor or providing appropriate control circuitry, and depending on how the initial configuration is obtained, the various blocks may or may not be reconfigurable. Embodiments of the present invention can be implemented in a variety of devices including electronic devices implemented using a combination of circuitry and software. The main computing device or even the peripheral devices described herein can be implemented using the system 300.

[0110] Electropermanent magnet (EPM) and operational aspects

[0111] Electro-permanent magnets present many advantages over more conventional systems that utilize permanent magnets and / or electromagnets. A permanent magnet can be an object made of a magnetized material and generates its own persistent magnetic field. Materials that can be magnetized (which are also the same materials that are strongly attracted by a magnet) are called ferromagnetic materials and generally include at least one of the elements iron, nickel, and cobalt and their alloys, some alloys of rare-earth metals, and some naturally occurring minerals such as lodestone. Ferromagnetic materials can include magnetic “soft” materials such as annealed iron that can be magnetized but do not tend to retain magnetization and magnetic “hard” materials that tend to retain magnetization. Permanent magnets are made of “hard” ferromagnetic materials—such as alnico alloys (e.g., iron alloys that typically include aluminum, nickel, and cobalt as well as copper and / or titanium) and ferrites (e.g., ceramic materials that include iron(III) oxide (e.g., Fe2O3, rust) mixed with barium, manganese, nickel, and / or zinc)—that are processed in a strong magnetic field during manufacture to align their internal microcrystalline structure, making them very difficult to demagnetize. To demagnetize a saturated magnet, a certain magnetic field must be applied, and this threshold depends on the coercivity of the corresponding material. “Hard” materials generally have high coercivity, while “soft” materials generally have low coercivity. The total strength of a magnet is measured by its magnetic moment or alternatively the total magnetic flux it generates. For the purposes of this disclosure, this can be referred to as the magnetic field strength. A significant disadvantage of using permanent magnets is that their application may be limited because a magnetic field strength generally cannot be practically increased or decreased to control, for example, different levels of rotational friction on a roller. When applied to MR materials, only one viscosity level can be set (based on the magnetic field strength of the magnet field), without using complex and potentially expensive mechanical systems to move the permanent magnet and the corresponding magnetic field to and from the location of the MR material.

[0112] An electromagnet includes a coil of wire that operates as a magnet when current passes through the coil of wire but stops operating as a magnet when the current stops. Typically, the coil is wound around a magnetic core of a “soft” ferromagnetic material such as low-carbon steel, which can significantly increase the magnetic field generated by the coil. As described above, although an electromagnet can generate a range of magnetic field strengths, which is useful when combined with MR materials to achieve different viscosities and more application possibilities, an electromagnet requires continuous electrical power to maintain the magnetic field, which may prohibit the practical application of the magnetic field in most battery-powered input devices due to high power consumption and the possible significant corresponding reduction in battery life.

[0113] Using a combination of an electro-permanent magnet and a magneto-rheological material, any number of magnetic strength settings of the EPM and the corresponding viscosities on the MR material can be used to achieve a large number of applications with more precise control and without the drawbacks of high power requirements. In an EPM circuit, once the magnet is magnetized by the EPM system via a coil (e.g., both polarity and magnetic strength), the power passing through the coil can be cut off, and the magnet maintains its magnetic field strength without any additional power. Thus, multiple viscosities of the MR can be achieved, allowing for multiple settings of certain parts such as linearly adjustable input elements (e.g., buttons, keys, triggers, support structures, etc.), rotationally adjustable input elements (e.g., rollers, knobs, game wheels and / or pedals, hinges, etc.), as described below. As will be understood by those of ordinary skill in the art who benefit from this disclosure, by varying the current pulse and amplitude, the magnetic field in the EPM can be cut off in a similar manner and at different levels of magnetic strength.

[0114] Figures 4A to 4B An example of a simplified electro-permanent magnet 400 is shown, which uses two magnets instead of one magnet as used in many of the embodiments described herein. However, the operating principle is the same as will be understood by those of ordinary skill in the art who benefit from this disclosure. In Figure 4A and Figure 4B a particular simplified embodiment, the electro-permanent magnet 400 includes a first permanent magnet 402 and a second permanent magnet 404. The first permanent magnet 402 may have a higher intrinsic coercivity than the second permanent magnet 404. In some embodiments, as described above, the permanent magnet 402 may be in the form of a rare earth (e.g., neodymium iron boron or samarium cobalt) magnet, and the second permanent magnet 404 may be in the form of a ferromagnetic (e.g., alnico alloy or ferrite) magnet. The lower intrinsic coercivity of the second permanent magnet 404 allows the magnetization coil 406 to emit a magnetic field of sufficient intensity to reverse the polarity of the magnetic field emitted by the second permanent magnet 404 without affecting the magnetization of the first permanent magnet 402. For example, in some embodiments, the intrinsic coercivity of the first permanent magnet 402 may be more than ten times that of the second permanent magnet 404. The lower intrinsic coercivity of the second permanent magnet 404 also reduces the amount of electrical energy consumed to flip the polarity of the second permanent magnet 404, thus allowing for more efficient operation of the electro-permanent magnet 400. The first permanent magnet 402 and the second permanent magnet 404 are each positioned between and in direct or at least close contact with the iron magnetic poles 408. The iron magnetic poles 408 may be formed of a ferrite material such as low-carbon steel, having an even lower intrinsic coercivity than the second permanent magnet 404. The iron magnetic poles 408 help to guide the magnetic fields emitted by the first permanent magnet 402 and the second permanent magnet 404. In some embodiments, the size and shape of the iron magnetic poles 408 can be adjusted to produce a magnetic field having a desired size and shape.

[0115] Figure 4A Dashed line 408 depicts the magnetic flux emitted by the electro-permanent magnet 400, showing how magnetic flux can be released from the electro-permanent magnet 400 by both the first permanent magnet 402 and the second permanent magnet 404 oriented in the same direction to create a well-defined north and south pole. As depicted, the magnetic field is symmetric when the strength of the magnetic fields emitted by the two permanent magnets is approximately the same.

[0116] Figure 4B Shows how, when the polarity of the first permanent magnet 402 is opposite to the polarity of the second permanent magnet 404, the magnetic flux generated by the two permanent magnets remains substantially contained within and circulates through the iron magnetic pole 408, the first permanent magnet 402, and the second permanent magnet 404. This results in the electro-permanent magnet 400 emitting little magnetic field. These principles can be applied to the following embodiments that utilize a single magnet or multiple magnets in an EPM system.

[0117] Magnetorheological (MR) materials and operational aspects

[0118] As described above, magnetorheological (MR) materials (e.g., fluids, elastomers, etc.) change their viscosity / stiffness in response to the strength of the magnetic field they are subjected to. In the absence of a magnetic field, or in a very low-intensity magnetic field, MR materials tend to have a very low viscosity / stiffness and can be ductile and compliant. In the presence of a relatively high-intensity magnetic field, MR materials tend to have a high viscosity / stiffness and can be rigid and unyielding. By way of non-limiting example, MR materials can have a magnetic excitation field in the range of 0 to 200 - 300 kA / m, which can result in a magnetic induction in the range of 0 to 1 - 1.5 tesla. The EPM can be designed to achieve this range by varying the magnet size, strength, and / or the size of the included air gap. In some embodiments, typical MR materials can include MRF-132DG or similar products. Those of ordinary skill in the art who benefit from this disclosure will understand many of its modifications, variations, and alternative embodiments.

[0119] Figure 5AShows an example of certain properties of a magnetorheological material 500 in the absence of a magnetic field. The MR material 500 includes a housing structure 510 that contains a carrier liquid 520. In some embodiments, the carrier liquid can be a hydrocarbon-based (e.g., oil) with additives (e.g., surfactants) to avoid segregation and / or sedimentation. The mass concentration of the iron particles can be approximately 80%, but can be higher or lower in some cases. The magnetic particles 530 (e.g., ferrite-based particles) are typically micron or nanoscale (e.g., 0.1 to 10 μm) spheres or ellipsoids and are suspended within the carrier oil 520 and are randomly distributed in the suspension under normal conditions, as Figure 5A shown. The housing structure 510 can be any suitable structure that contains the carrier liquid 520. For example, the housing structure 510 can be in the form of a reservoir, piston, shock absorber, or other suitable form factor, as shown in the various embodiments below and as would be understood by one of ordinary skill in the art having the benefit of this disclosure.

[0120] Figure 5B Shows an example of certain properties of a magnetorheological material in the presence of a magnetic field. When a magnetic field is applied, the microscopic particles 530 can align themselves along the magnetic flux lines 540, as Figure 5B shown. By way of example, a magnetorheological damper is filled with a magnetorheological fluid, as described above, which is controlled by a magnetic field and provided by an EPM system. This allows for continuous control of the damping characteristics by changing the power of the EPM when a change in viscosity is needed. As the magnetic strength of the electromagnet increases, the viscosity of the fluid within the damper increases. The damping mass can be a performance characteristic of the input device. For example, the linear translation of a button can change based on the state of the MR material. The button can operate in a plunger-like manner, where the plunger passes through or is immersed in the MR material. Thus, by dynamically controlling the EPM and the corresponding MR material, any type of button resistance distribution can be produced, as further described in the following examples.

[0121] Figure 6 Is a simplified flowchart showing aspects of a method 600 for controlling the performance characteristics of an input element on an input device using an electro-permanent magnet system and a magnetorheological material. The method 600 can be executed by processing logic, which can include hardware (circuitry, specialized logic, etc.), software operating on appropriate hardware (e.g., a general computing system or a specialized machine), firmware (embedded software), or any combination thereof. In certain embodiments, the method 600 can be executed by aspects of a processor 210, a memory array 220, a power management block 230, an input detection module 250, or a combination thereof, as would be understood by one of ordinary skill in the art having the benefit of this disclosure.

[0122] At operation 610, according to some embodiments, method 600 may include receiving input data indicating a selection of one of a plurality of operating modes of an input device. The input data may be received in any form and from any suitable source. For example, the input device may include selection elements such as buttons, touch-sensitive surfaces, switches, knobs, etc., which may be used to select one of the plurality of operating modes of the input device. In some aspects, the selection may be made via a microphone or a camera communicatively coupled to the input device and configured to determine the selection by the user based on audio input or visual cues / gestures, respectively. In some embodiments, the selection may be made via a selection element on the input device or on a remote device (e.g., a host computing device). In certain embodiments, the input device includes an input element, an EPM component having a permanent magnet and a magnetization assembly configured to set a magnetic field generated by the permanent magnet. The input device may also include an MR material coupled to the input element, the MR material having a viscosity that changes based on the magnetic field and affects a performance characteristic of the input element. The input element may be any suitable element on the input device, such as but not limited to an input element that can undergo translational movement along a path. For example, some input elements may have translational movement along a linear translation path, such as buttons or keys (e.g., depressible), switches, support structures (e.g., extending or retracting to set the height of the input device), etc. Some input elements may have translational movement along a rotational translation path, such as knobs, trackballs, rollers, triggers, hinges, pedals, etc., and as further described in many examples below. In such cases, the performance characteristic of the input element may correspond to the translational movement of the input element (e.g., a degree of freedom of movement such as linear movement or rotational movement). In certain embodiments, the MR material may be coupled to the input element in such a way that the state (e.g., viscosity) of the MR material affects the ease with which the user moves the input element along its translation path (e.g., based on the viscosity of the MR material, a button is easy or difficult to press).

[0123] In some embodiments, in response to the received input data corresponding to a selection of a first operating mode of the plurality of operating modes (operation 620), according to some embodiments, method 600 may include setting, by the magnetization assembly, the magnetic field generated by the permanent magnet to a first intensity (operation 630), thereby causing the MR material to have a first viscosity that affects a performance characteristic of the input device (operation 640). In some implementations, the magnetic field intensity may be zero (e.g., the magnet is demagnetized) or very low, such that the MR material is in its minimum viscosity state or near its minimum viscosity state, and the performance characteristic (e.g., translational movement) is such that the MR material provides minimal resistance to the translational movement of the input element.

[0124] In some embodiments, in response to received input data corresponding to the selection of a second operating mode among multiple operating modes (operation 620), according to certain embodiments, method 600 may include setting, by a magnetization component, the magnetic field generated by a permanent magnet to a second intensity (operation 650), thereby causing the MR material to have a second viscosity that affects the performance characteristics of the input device (operation 660). In some implementations, the magnetic field intensity may be high (e.g., magnet saturation), using some fluids such that the MR material is in its maximum viscosity state or close to its maximum viscosity state, and the performance characteristic (e.g., translational movement) causes the MR material to provide maximum resistance to the translational movement of the input element.

[0125] It should be understood that, according to certain embodiments, the specific steps shown provide a particular method 600 for using an electro-permanent magnet system and magneto-rheological materials to control the performance characteristics of an input element on an input device. Other sequences of steps may also be performed according to alternative embodiments. Additionally, additional steps may be added or removed according to a particular application. For example, this example includes the minimum and maximum viscosities of the MR material. Other states are possible, and any suitable viscosity setting may be used. In some aspects, more than two operating modes may be performed. Any combination of changes may be used, and those of ordinary skill in the art who benefit from this disclosure will understand many variations, modifications, and alternative embodiments thereof.

[0126] Figure 6

[0127] As described above, the basic principle of using an EPM and an MR material is that it allows a user to dynamically control the braking of, for example, a given mechanical degree of freedom (DOF) through the viscosity of the MR material, where the mechanical degree of freedom may be linear translational movement, rotational translational movement, or other types, as will be understood by those of ordinary skill in the art who benefit from this disclosure. Implementations using permanent magnets typically require one or more permanent magnets to physically move relative to the MR material to change the magnetic field intensity applied to the MR material. Therefore, it is generally necessary to add additional mechanical degrees of freedom to the system to facilitate the movement between the permanent magnet and the MR material. As a result, the mechanical complexity of the system increases, which may lead to a higher risk of component failure and the total cost of the system.

[0128] Certain embodiments of EPM+MR-based applications

[0129] Clutch systemA magnetorheological (MR)-based clutch system 700 is shown that uses a permanent magnet assembly to apply a magnetic field to an MR material to control clutch engagement. The MR-based clutch system 700 includes a clutch input shaft 710, an output shaft 730, and a mechanically movable magnet assembly 740 having one or more permanent magnets that continuously generate a magnetic field 760. An MR fluid 720 is disposed in a cavity between the input shaft 710 and the output shaft 730. The input shaft 710 is coupled to the output shaft 730 by the MR fluid 720 such that the amount of frictional coupling between the input shaft 710 and the output shaft 730 depends largely on the viscosity of the MR fluid 720. The mechanical degree of freedom controlled by the state of the MR fluid 720 is the rotational translational movement between the input shaft 710 and the output shaft 730. In the left image, the magnet assembly 740 is positioned in a first position (e.g., the leftmost position) such that the MR fluid 720 is not (or minimally) affected by the magnetic field 760. In this case, the MR-based clutch system 700 can be described as being in an “unlocked” state in which the MR fluid 720 has a relatively low viscosity, and the input shaft 710 and the output shaft 730 have a very weak frictional coupling and can rotate relatively freely with respect to each other. In the right image, the magnet assembly 740 is positioned in a second position (e.g., the rightmost position) such that the MR fluid 720 is affected by the continuous magnetic field 760. In this case, the MR-based clutch system 700 can be described as being in a “locked” state in which the MR fluid 720 has a relatively high viscosity (e.g., effective solid), and thus the input shaft 710 and the output shaft 730 have a very strong frictional coupling because the viscous fluid “locks” the input shaft and the output shaft together, as will be understood by those of ordinary skill in the art who benefit from the present disclosure. As described above, additional degrees of freedom are required to mechanically move the magnet assembly 740 to apply and remove the MR fluid 720 from the magnetic field 760, which increases system cost and complexity, and reduces reliability and negatively impacts system life.

[0130] In some implementations, an electromagnet can be used to apply a magnetic field to an MR material to dynamically change its viscosity. As described above, an electromagnet includes a wire coil that operates as a magnet when current passes through the wire coil but stops operating as a magnet when the current stops. Although an electromagnet can generate a range of magnetic field strengths, which is useful when combined with MR materials to achieve different viscosities and more application possibilities, an electromagnet requires continuous power to maintain the magnetic field, which can prohibit practical use in most battery-powered electrical input devices due to high power consumption and a possible significant corresponding reduction in battery life. For example, if the system needs to block or hold a particular degree of freedom for a long time (e.g., the MR material needs to be held in a high viscosity state), the power consumption of the system will increase significantly because a continuous current must drive the electromagnet.

[0131] Figure 7 An MR-based clutch system 800 is shown that uses an electromagnet assembly to apply a magnetic field to an MR material to control clutch engagement. The MR-based clutch system 800 includes a clutch input shaft 810, an output shaft 830, and an electromagnet 840 having a magnetic field 860. The electromagnet 840 can include a circuit having at least one coil (not shown) that generates the magnetic field 860 when powered, as will be understood by those of ordinary skill in the art benefiting from the present disclosure. An MR fluid 820 is disposed in a cavity between the input shaft 810 and the output shaft 830. The input shaft 810 is coupled to the output shaft 830 through the MR fluid 820 such that the amount of frictional coupling between the input shaft 810 and the output shaft 830 depends on the viscosity of the MR fluid 820. The mechanical degree of freedom controlled by the state of the MR fluid 820 is the rotational translational movement between the input shaft 810 and the output shaft 830. In the left image, the electromagnet is not powered (e.g., no current drives the coil), and no magnetic field 860 is generated. In this case, the MR-based clutch system 800 can be described as being in an "unlocked" state in which the MR fluid 820 has a relatively low viscosity, and the input shaft 810 and the output shaft 830 have a very weak frictional coupling and can thus rotate freely relative to each other. In Figure 8In the right - hand image, the electromagnet 840 is powered (e.g., current - driven coil) and generates a magnetic field 860. In this case, the MR - based clutch system 800 can be described as being in a "locked" state where the MR fluid 820 has a relatively high viscosity, and thus the input shaft 810 and the output shaft 830 have a very strong frictional coupling because the viscous fluid "locks" the input and output shafts together, as will be understood by one of ordinary skill in the art benefiting from the present disclosure. As described above, although electromagnets provide more control over the magnetic fields configured to control one or more input elements (e.g., the magnetic field strength can be varied), due to their relatively high cost, large footprint, and demanding power requirements, electromagnets are generally not feasible in small and / or battery - powered wireless input devices.

[0132] In some embodiments, an electro - permanent magnet is combined with MR materials to address the problems described above regarding permanent magnets and electromagnets configured to control mechanical degrees of freedom of movement (e.g., linear movement, rotational movement, etc.). For example, unlike permanent magnets, an EPM can turn its magnetic field on or off and can be set to any suitable magnetic field polarization and intensity without having to mechanically move the EPM between positions to expose and remove the MR material from the magnetic field. Unlike electromagnets, a short single - current pulse can be used to set the EPM to have a specific magnetic field polarity and intensity (intensity (strength)). Then, the current can be cut off without further power consumption requirements, and the EPM can then maintain its specific magnetic field (e.g., positive, negative, or no magnetic field) for any suitable period of time (e.g., permanently, until the EPM magnetic field is turned off or changed to a new polarization and intensity, etc.). In a typical arrangement, when an electromagnet maintains a magnetic field to make the MR material have a high viscosity, an electromagnet - based system as described above will use more power after about 1 second of use than an EPM - based system, or less power (e.g., on the order of cm) when in a "holding" position. As an additional benefit, using an MR fluid to constrain and control mechanical DOFs is better for the MR fluid in resisting shear stress than some configurations that rely on magnetic constraints.

[0133] Figure 8 FIG. shows a magneto - rheological - based clutch system 900 with an electro - permanent magnet assembly according to certain embodiments, the electro - permanent magnet assembly being configured to apply a magnetic field to the MR material to control clutch engagement. The MR - based clutch system 900 includes a clutch input shaft 910, an output shaft 930, and an EPM 940 with a controllable magnetic field. The EPM 940 can include multiple magnets (e.g., having different coercivity values, as described above with respect to Figure 9Aas described) and a circuit having at least one coil (not shown) that, when powered, magnetizes at least one of the magnets of the EPM to generate a magnetic field 960. As will be understood by those of ordinary skill in the art who benefit from this disclosure, the polarization and intensity of the magnetic field can be set to any suitable setting. The MR fluid 920 is configured in a cavity between the input shaft 910 and the output shaft 930. The input shaft 910 is coupled to the output shaft 930 via the MR fluid 920 such that the amount of frictional coupling between the input shaft 910 and the output shaft 930 depends on the viscosity of the MR fluid 920. The mechanical degree of freedom controlled by the state of the MR fluid 920 is the rotational translational movement between the input shaft 910 and the output shaft 930. In the left image, the EPM is instantaneously powered (e.g., via a current pulse in a drive coil) such that the two magnets have opposite polarities and the magnetic field conduction path is within the magnets themselves such that the magnetic field does not contact the MR fluid 920. In this case, the MR-based clutch system 900 can be described as being in an "unlocked" state in which the MR fluid 920 has a relatively low viscosity and the input shaft 910 and the output shaft 930 have a very weak frictional coupling and can thus rotate freely relative to each other. In Figures 4A to 4B In the right image, the EPM is instantaneously powered (e.g., via a current pulse in a drive coil) such that the two magnets have the same polarity and the magnetic field conduction path extends outside the magnets such that the magnetic field passes through the MR fluid 920. In this case, the MR-based clutch system 900 can be described as being in a "locked" state in which the MR fluid 920 has a relatively high viscosity and thus the input shaft 910 and the output shaft 930 have a very strong frictional coupling because the viscous fluid "locks" the input and output shafts together, as will be understood by those of ordinary skill in the art who benefit from this disclosure. Thus, an implementation of using an EPM and an MR material to dynamically control the braking of a mechanical DOF (e.g., linear translation or rotational translation) can be done without adding a second mechanical DOF (similar to configurations using permanent magnets, which reduces robustness and increases cost), and thus no power consumption is required to maintain a "holding" state or one or more "free" states.

[0134] Figure 9A shows a second MR-based clutch system 980 having an electro-permanent magnet assembly according to certain embodiments, the electro-permanent magnet assembly being configured to apply a magnetic field to an MR material to control clutch engagement. The clutch system  980 has an increased number of plates (e.g., multi-plate clutch) that can provide greater frictional force. Figure 9BShows a clutch system 980 in both "locked" (e.g., applying friction) and "unlocked" configurations. In such an embodiment, due to the greater frictional force of the multi-plate clutch system, the EPM and MR systems can have reduced magnetic strength to achieve the target torque.

[0135] Figure 9B Shows a third magneto-rheological based clutch system 990 with an electro-permanent magnet assembly configured to apply a magnetic field to MR material to control clutch engagement, according to certain embodiments. Figure 9C Shows a clutch system 990 in both "locked" (e.g., applying friction) and "unlocked" configurations. In this embodiment, the magnetic field for clutch system 990 is radial rather than axial, as Figure 9C shown. In other words, Figures 9A to 9B shows a "clutch"-based method, while Figures 9A to 9B shows a "bearing"-based method. The rotor can include ferromagnetic material to conduct the magnetic field as shown, thus forming a robust and compact solution that achieves lower magnetic forces than other clutch system implementations. Those of ordinary skill in the art benefiting from this disclosure will understand many of its modifications, variations, and alternative embodiments.

[0136] Figure 9C

[0137] Key structures can be used for any number of applications, including keyboards, remote controls, game controls, or any suitable input device, Internet of Things (IoT) devices, etc. Conventional key structures typically include a mechanical structure such as a spring to provide a resistance distribution to key presses, and a particular resistance distribution may be preferred for some users or in a particular use (e.g., gaming). However, conventional key structures are typically limited to one or a few resistance distributions and are highly susceptible to wear (e.g., the spring constant of a spring may change over time), as is typically the case with mechanical moving parts. By combining EPM and MR materials, certain embodiments of key structures can be designed to have any suitable resistance distribution by dynamically changing the viscosity of the MR material. Such embodiments can be applied to single-key structures (e.g., see Key structure ), multi-key structures (e.g., see Figures 10 to 12 ), and can achieve a large number of distributions, including linear and non-linear resistance distributions, which include bumps or other resistance distribution features found in modern high-end input devices, as described below with respect to Figure 15 . The following non-limiting embodiments present some of the many implementations possible by combining EPM and MR.

[0138] Figures 13 to 14CShown is a key structure 1000 that combines EPM and MR materials to obtain improved performance characteristics. The key structure 1000 includes a key frame 1010, an MR material 1020, a key plunger 1040, a keycap 1030 coupled to the key plunger 1040, a biasing mechanism 1050, an EPM 1060, and an O-ring 1070. The EPM 1060 may include a circuit and corresponding coils (e.g., a magnetization assembly controlled by one or more processors) to set the magnetic field of the EPM 1060 (e.g., set the polarity and intensity of the magnetic field). In operation, the key structure is configured to be pressed by a user, just as a typical key would be pressed on a keyboard. The user typically presses the keycap 1030 (shown in its initial position at rest) with a downward force, causing the keycap 1030 and the key plunger 1040 to linearly traverse downward along a travel path relative to the key frame 1010, and the biasing mechanism 1050 will provide a restoring force that causes the key plunger 1040 and the keycap 1030 to move upward (e.g., after the downward force is removed) and return to the initial position. Typically, the up / down movement is linear and mechanically a single degree of freedom (DOF), although a non-linear path is possible. The O-ring 1070 is configured to form a sealed storage cavity between the key frame 1010 and the key plunger 1040, and the MR material 1020 (e.g., a fluid) is contained within the sealed storage cavity. As the key plunger 1040 moves up and down within the key frame 1010, portions of the outer surface of the key plunger 1040 remain in contact with the MR material 1020, as shown and as will be understood by those of ordinary skill in the art benefiting from this disclosure.

[0139] The EPM 1060 can be set to generate a magnetic field with any suitable polarity and intensity. As Figure 10 and Figure 11 shown, the magnetic field can be conducted through the components of the key structure 1000 to direct the magnetic field to the MR material 1020 and control its corresponding viscosity to create a resistance (e.g., braking) to the movement of the key plunger 1040 along its 1 DOF linear travel path. For example, the key frame 1010 and the key plunger 1040 may include ferrite materials that can readily conduct the magnetic field of the EPM 1060 through the MR material 1020, as shown in the following embodiments. Some embodiments may employ a single EPM (e.g., see Figure 12 ) or multiple EPMs (e.g., see Figures 10 to 11), but can operate in a similar fashion as follows: where the viscosity of the MR material changes dynamically as the key structure is depressed and released to affect the resistance distribution for the key structure. The biasing mechanism 1050 can be a spring, a dome structure, or any suitable implementation that provides a restoring force to the key plunger 1040. Some embodiments may not include a biasing mechanism. The key structure 1000 may include other features not shown to prevent confusion with the main novelty presented herein. For example, an actuator (to detect button presses), a position sensor (e.g., to detect the position of the key plunger 1040 relative to the key frame 1010), circuitry, etc. may be included, as would be understood by one of ordinary skill in the art benefiting from this disclosure. Some examples of position sensors may include Hall effect sensors, inductance-based sensors, light-based sensors, and capacitance-based sensors. Additionally, some embodiments may not include a ferrite material for conducting the magnetic field, but may rely on a non-conducting magnetic field (e.g., strong enough to omnidirectionally emit from the EPM 1060 and pass through and affect the viscosity of the MR material 1020) to control the resistance distribution of the key structure 1000. In some embodiments, similar structures can be used in other applications, including shock absorption implementations or other structures with similar linear traversal of elements relative to each other.

[0140] Some exemplary embodiments of a key structure for an input device may include: a key frame; a key plunger configured to linearly traverse within the key frame along a travel path with one degree of freedom of movement; an EPM assembly coupled to the key frame and including at least one permanent magnet configured to generate a magnetic field and a magnetization assembly configured to set the magnetic field generated by the permanent magnet; an MR material disposed within the key frame and coupled to the key plunger, the MR material having a viscosity that changes based on the magnetic field, where the MR material is configured to provide a resistance to the linear traversal of the key plunger along the travel path within the key frame, the resistance being based on the viscosity of the MR material. The key frame and / or the key plunger may include ferrite and be configured to conduct and couple the magnetic field generated by the permanent magnet to the MR material. Some embodiments may include a biasing mechanism (e.g., a spring, a dome structure), where the travel path of the key plunger includes a first position corresponding to the key plunger being in an unpressed state and a second position corresponding to the key plunger being in a fully pressed state, where the biasing mechanism provides a restoring force to the key plunger that returns the key plunger to the second position. The key may include a plurality of O-rings or other containment structures configured to form a seal between the key frame and the key plunger, where the MR material is a fluid contained within the sealed containment cavity.

[0141] General description of exemplary embodiments of a haptic key structure, where the key can be configured to operate in multiple operating modes, including: a first operating mode, in which the magnetizing assembly sets the magnetic field of a permanent magnet such that the MR material has a first viscosity that provides a first resistance to linear traversal of the key plunger along a stroke path; and a second operating mode, in which the magnetizing assembly sets the magnetic field of the permanent magnet such that the MR material has a second viscosity that provides a second resistance to linear traversal of the key plunger along the stroke path, where the second resistance is greater than the first resistance. Some embodiments may employ a second permanent magnet configured to generate a second magnetic field, where in the first operating mode, the permanent magnet and the second permanent magnet are magnetized such that the paths of magnetic conduction of their respective magnetic fields are contained by the permanent magnet and the second permanent magnet and the magnetic fields do not pass through the MR material, while in the second operating mode, the permanent magnet and the second permanent magnet are magnetized such that the paths of magnetic conduction of their respective magnetic fields pass through the MR material. In some cases, in the first operating mode, the EPM can be set to have no magnetic field, a low-intensity magnetic field, etc., such that the magnetic field does not pass through the MR material, resulting in the MR material having a low viscosity and minimal resistance to movement of the key plunger relative to the key frame. In some cases, in the second operating mode, the EPM can be set to have a high-intensity magnetic field passing through the MR material, resulting in the MR material having a high viscosity (e.g., maximum resistance) to movement of the key plunger relative to the key frame. The first operating mode and the second operating mode can be configured to control the MR material in any suitable manner, and additional operating modes are feasible, as will be understood by those of ordinary skill in the art benefiting from this disclosure.

[0142] The haptic key structure may further include: one or more processors (which may be external to the haptic key structure); a sensor configured to detect the position of the key plunger along the stroke path within the key frame, the sensor being controlled by the one or more processors, where the one or more processors are configured to cause the magnetizing assembly to dynamically set the magnetic field generated by the permanent magnet such that the viscosity of the MR material changes according to a resistance profile based on the position of the key plunger along the stroke path. Some embodiments may include a switch configured to generate input data indicating a key press event when the key plunger is depressed along the stroke path beyond a threshold position. The switch can be controlled by the one or more processors and / or communicatively coupled to the one or more processors. In some aspects, the haptic key structure can be part of a computer peripheral, an input device, or other suitable electronic device.

[0143] Figure 12 Illustrated is the operation of a single EPM haptic key structure configuration 1000 with MR material. For illustrative purposes, haptic key structure 1000 is shown in conjunction with Figure 11The key structures shown are the same. When the EPM 1060 is set to a magnetic field with a polarity and intensity, the magnetic field 1165 conducts through the key structure from the north pole of the EPM 1060, through the ferrite frame 1010, through the MR material 1020, through the ferrite key plunger 1040, through the MR material 1020 on the other side, and through the other side of the ferrite key frame 1010 and reaches the south pole of the EPM 1060. It should be understood that Figure 10 A simplified cross-sectional view is shown, and the actual path of the magnetic field through the key structure includes a three-dimensional path, as will be understood by those of ordinary skill in the art benefiting from this disclosure. Thus, the EPM assembly (EPM 1060 and corresponding circuits and coils (not shown)) controls the density of the magnetic field through the MR material (fluid) via the above-mentioned ferrite components, which in turn controls the friction between the key plunger 1040 and the MR material 1020 and thus the resistance distribution of the key structure. While allowing for resistance distribution customization, this approach (using an EPM with an MR material) has significant advantages compared to a fully active solution (e.g., an electromagnet with an MR), because only power is consumed to change the overall key force constant (e.g., achieved by a short current pulse of a specific amplitude and duration), and a force bump is achieved during a very short power burst, as described at least below with respect to Figures 10 to 12 shown and described. The exact implementation can vary, and those of ordinary skill in the art benefiting from this disclosure will understand many modifications, variations, and alternative embodiments thereof.

[0144] In some embodiments, the ferrite material design can also be adjusted to have a magnetic field variation throughout the movement (e.g., having an EPM field variation), which can cause a peak or "hole" in the force throughout the movement without having to use a coil current spike to generate a "tactile bump", as described below with respect to Figure 13 described. In such a design, the ferrite walls may not be flat and can have a variation in distance from the key as the key moves up and down. When the distance is shorter, the intensity of the magnetic field can increase locally. Those of ordinary skill in the art benefiting from this disclosure will understand many modifications, variations, and alternative embodiments of this disclosure. In a further embodiment, the selection of the operating mode can be made before activation, where the mode is active throughout the keystroke or during its activation, and the mode can change according to the position of the key during its operation.

[0145] Figure 13Illustrates the operation of a dual EPM key structure configuration 1200 with MR material according to certain embodiments. The key structure 1200 is in an "unlocked" position in which the keys can move freely up and down according to a resistance profile having a minimum resistance provided by the MR material 1220. The key structure 1200 is in a "locked" position in which the keys are locked in place due to the high viscosity of the MR material 1220 caused by the application of a magnetic field. The key structure 1200 can be operationally similar to the key structure 1000, in addition to including additional EPMs 1260. The key structure 1200 includes a key frame 1210, an MR material 1220, a key plunger 1240, a keycap 1230 coupled to the key plunger 1240, a biasing mechanism 1250, a first EPM 1260, a second EPM 1280, and an O-ring 1270. The EPMs 1260 and 1280 can each include magnetization components (e.g., circuits and coils) to set their corresponding magnetic fields. In some aspects, a single magnetization component or separate magnetization components can be used to set the magnetic fields of the EPMs 1260 and 1280. In operation, the key structure 1200 is configured to be pressed by a user, just like pressing a typical key on a keyboard. The user typically presses the keycap 1230 (shown in an initial rest position) with a downward force, causing the keycap 1230 and the key plunger 1240 to linearly traverse downward along a travel path relative to the key frame 1210, and the biasing mechanism 1250 will provide a restoring force that moves the key plunger 1240 and the keycap 1230 back upward (e.g., after the downward force is removed) and returns to the initial position. Typically, the up / down movement is linear and mechanically along one degree of freedom (DOF), although a non-linear path is possible. The O-ring 1270 is configured to form a sealed storage cavity between the key frame 1210 and the key plunger 1240, and the MR material 1220 (e.g., a fluid) is contained within the sealed storage cavity. When the key plunger 1240 moves up and down within the key frame 1210, a portion of the outer surface of the key plunger 1240 remains in contact with the MR material 1220, as shown and similar to Figure 12 the embodiments of

[0146] The key structure 1200 differs from the key structure 1000 in that two EPMs are used to control the viscosity and the corresponding frictional force exerted on the key plunger 1240 by the MR material 1220. For example, in some embodiments, when the EPMs 1260 and 1280 are magnetized with opposite polarities such that their corresponding magnetic fields 1265 pass through each other as shown, the key structure 1200 can be in an "off" or "unlocked" state (e.g., where the MR material 1220 is not subjected to a magnetic field and has a minimum viscosity). That is, the magnetic field from the north pole of the EPM 1280 is conducted through the key frame 1210 to the south pole of the EPM 1260, continues out of the north pole of the EPM 1260, passes through the other side of the key frame 1210, and to the south pole of the EPM 1280, and completes the circuit, as shown in the left figure. In some embodiments, when both the EPMs 1260 and 1280 are magnetized to have the same polarity such that their corresponding magnetic fields (1285 and 1287, respectively) are conducted through the key structure 1220 as shown, the key structure 1200 can be in an "on" or "locked" state. That is, the conduction paths for the magnetic fields of the EPMs 1260 and 1280 exit from their north poles through the ferrite frame 1210, through the MR material 1220, through the ferrite key plunger 1240, through the MR material 1220 on the other side, through the other side of the ferrite key frame 1210, and to the corresponding south poles of the EPMs 1260 and 1280. In some embodiments, each of the EPMs 1260, 1280 can be configured by the magnetization assembly to have any suitable magnetic field to achieve any desired resistance distribution.

[0147] Figures 10 to 11 FIG. 1300 is a graph showing a plurality of curves of various force distributions of a keyboard key defined by EPM magnetic fields according to certain embodiments. For illustrative purposes, the graph 1300 can correspond to the performance characteristics of the key structure 1200 (e.g., the force / displacement curve defining the resistance distribution), although any key structure utilizing EPMs and MR materials can be used, as will be understood by those of ordinary skill in the art benefiting from the present disclosure. Referring to Figure 13, Graph 1300 plots the force required to depress the key structure within a range of displacement values. In some embodiments, the curve of Graph 1300 shows the force response curve when the key is depressed, and not necessarily the representation of the force curve when the key is released. Curve 1310 shows the linear force constant provided solely by the biasing mechanism (1250) without significant additional friction (e.g., resistance) being provided by the MR material 1220 to the depression of the key structure. That is, when the MR material 1220 is not subjected to a magnetic field (or a magnetic field of negligible intensity), the MR material 1220 has a minimum (or low) viscosity and provides a minimum (or low) resistance to the movement of the key plunger 1240 through the MR material 1220. The biasing mechanism provides two forces: a small resistance during a key stroke and a restoring force for returning the key plunger to its initial position after the key structure is released (e.g., the user removes or reduces the downward force on the keycap).

[0148] As described above, when the EPM is magnetized to have a specific polarity and magnetic field intensity that is conducted or guided through the MR material 1220 (e.g., via a short current pulse having a corresponding amplitude and duration, after which the magnetic field is maintained without power requirements for the EPM), the viscosity of the MR material increases and provides a correspondingly increased resistance for the key plunger to move relative to the key frame through the MR material. In the case where the magnetic field is constant (e.g., the EPM magnetic field is set once and held), the additional resistance provided by the MR material to the key plunger will increase linearly as the key displacement increases. For example, curves 1320 and 1340 show various force constants defined by the EPM magnetic field. When the key is depressed, the force required to further depress the key increases in a linear manner. Curve 1340 shows a higher intensity of the EPM magnetic field compared to curve 1320.

[0149] In some cases, a more complex resistance distribution (force curve) can be achieved by incorporating non-linear behaviors that mimic the mechanical-based key structure systems commonly used in contemporary mechanical key systems. For example, curve 1330 shows a force constant with a force bump caused by a short current spike in the drive coil. This indicates a more "active" control of the resistance distribution of the key structure, as opposed to "passive" control, in which the EPM is initially set to have a specific magnetic field that provides a force constant throughout the displacement of the key structure, as shown by curves 1320 and 1340. In an active control scheme, the EPM can be magnetized differently based on the position of the key plunger relative to the key frame. Referring back to curve 1330, the force vs. displacement curve is linear until the displacement sensor detects that the key plunger has reached a certain displacement and causes the EPM to change its magnetization to produce a force bump effect. As will be understood by those of ordinary skill in the art who benefit from this disclosure, the resistance distribution can be configured to vary with one or more force bumps, force constants, or other effects at different positions along the displacement of the key structure in any suitable manner. This presents an infinite number of resistance distribution options, which is not possible in a pure mechanical key structure and would require significant power consumption in an electromagnet-based implementation. Thus, certain embodiments can replicate various key characteristics, such as force and travel, to match known contemporary resistance distributions, such as linear distributions (e.g., Cherry Red - as Figure 13 shown by linear distributions 1402 and 1404 in Figure 14A ), tactile distributions (e.g., Cherry Brown - as Figure shown by tactile distributions 1412, 1414 in

[0150] ​

[0150] ​ Figure ), "clicky" distributions (e.g., Cherry Blue - as Figure 13 shown by click distributions 1422 and 1424 in Figure 14A ) or any other desired resistance distribution. Those of ordinary skill in the art who benefit from this disclosure will understand many modifications, variations, and alternative embodiments of this disclosure. In some embodiments, non-active, non-parametric methods can be combined with or substituted for the various embodiments described above. Examples of non-active, non-parametric methods include shaping ferrite components (e.g., housings, plungers, etc.) such that when the key is pressed, the conduction of the magnetic field changes to produce a specific distribution (e.g., a tactile "bump"), as described above.

[0150] ​FIG. 0 is a simplified flowchart showing aspects of a method 1500 for controlling performance characteristics (e.g., resistance distribution) of a key structure using an electro-permanent magnet and MR material. The method 1500 can be performed by processing logic that can include hardware (circuits, dedicated logic, etc.), software (e.g., general-purpose computing system or a dedicated machine) running on appropriate hardware, firmware (embedded software), or any combination thereof. In some embodiments, the method 1500 can be performed by aspects of: the processor 210 and / or other systems, blocks or modules of the system 200; the processor 302 and / or other systems, blocks or modules of the system 300; or a combination thereof.

[0151] According to some embodiments, at operation 1510, the method 1500 can include receiving input data corresponding to an operation mode of an input device, the operation mode corresponding to controlling movement of a movable element of the input device along one degree of freedom. In some aspects, one degree of freedom can correspond to linear movement of the movable element, and wherein the movable element is one of: a button capable of being depressed along one linear degree of freedom, a key capable of being depressed along one linear degree of freedom, a trigger capable of being actuated along one linear degree of freedom, or a support structure configured to support the input device in a plurality of configurations, the support structure capable of extending and retracting along one linear degree of freedom. Those of ordinary skill in the art having the benefit of this disclosure will understand many modifications, variations, and alternative embodiments of this disclosure. In some embodiments, one degree of freedom can correspond to rotational movement of the movable element, wherein the movable element is one of: a roller capable of rotating along one rotational degree of freedom, a trackball capable of rotating along one rotational degree of freedom, a knob capable of rotating along one rotational degree of freedom, a hinge capable of rotating along one rotational degree of freedom, a steering wheel capable of rotating along one rotational degree of freedom, or a pedal capable of being depressed along one rotational degree of freedom. Those of ordinary skill in the art having the benefit of this disclosure will understand many modifications, variations, and alternative embodiments of this disclosure.

[0152] According to some embodiments, at operation 1520, the method 1500 can include determining a selection of the operation mode based on the input data.

[0153] At operation 1530, in response to input data corresponding to a first operation mode, the method 1500 can include causing a magnetization assembly to set a first magnetic field strength of a permanent magnet (EPM), the first magnetic field strength of the permanent magnet (EPM) controlling the viscosity of an MR material coupled to the movable element, the MR material providing a first resistance to movement of the movable element along one degree of freedom at the first magnetic field strength.

[0154] At operation 1540, in response to input data corresponding to a second operating mode, method 1500 may include causing a magnetization assembly to set a second magnetic field strength of a permanent magnet, where the MR material provides a second resistance to movement of a movable element along one degree of freedom at the second magnetic field strength, and where the second magnetic field strength is higher than the first magnetic field strength. In some embodiments, in the first operating mode, the MR material has a minimum viscosity, and in the second operating mode, the MR material has a maximum viscosity.

[0155] At operation 1550, in response to input data corresponding to a third operating mode, method 1500 may include causing a magnetization assembly to set a third magnetic field strength of a permanent magnet, where the MR material provides a third resistance to movement of a movable element along one degree of freedom at the third magnetic field strength, and where the third magnetic field strength is higher than the first magnetic field strength and lower than the second magnetic field strength.

[0156] It should be understood that, according to certain embodiments, ​ the specific steps shown provide a particular method 1500 for using an electro-permanent magnet and MR material to control performance characteristics of a key structure. According to alternative embodiments, other sequences of steps may also be performed. Additionally, depending on the particular application, additional steps may be added or removed. Any combination of variations may be used, and those of ordinary skill in the art who benefit from this disclosure will understand many variations, modifications, and alternative embodiments of this disclosure.

[0157] ​

[0158] In some embodiments, multiple keys may be controlled by a single EPM system rather than having a separate EPM system in each key structure. In some cases, a single EPM assembly may control an entire keyboard (e.g., 101 keys) or a keyboard of any size or a subset thereof by using a key frame common to each individual key as a magnetic field bus system. For example, the EPM assembly may set the magnetic field of one or more permanent magnets to a particular magnetic field polarity and strength. This magnetic field may be conducted through the key frame (e.g., typically including ferrite), which may direct the magnetic field through multiple keys having MR material and back to the permanent magnet to complete the circuit. A non-limiting example of such an implementation is described below.

[0159] ​ A multi-key implementation for using an electro-permanent magnet and MR material to control performance characteristics (e.g., resistance distribution) of multiple key structures 1600 is shown according to certain embodiments. Four separate key structures are shown in a top plan view at the top of ​ and the same key structures are disposed in a common keyboard key frame and shown in a top plan view at the bottom of ​ ​shows how the keys are arranged relative to each other and how aspects of the key frame and the EPM assembly are configured with respect to their configuration. Each key structure is similar to ​ The key structures of operate in that they include a key plunger, a keycap, an MR material disposed within a cavity defined by an O-ring configured between the key frame and the key plunger, and a biasing mechanism for providing a restoring force to the key plunger. The key structures differ in that they do not have an on-board EPM assembly for each key. Similar to the single key implementation described above, an external EPM assembly 1660 provides a magnetic field (referred to herein as a "global magnetic field" to convey a magnetic field that affects more than one key structure) that conducts through the entire keyboard key frame (or a portion thereof) and is directed through individual keys and the corresponding MR materials to affect the resistance distribution of the individual keys. Additionally, as described below, the key frame structure is different in a multi-key arrangement.

[0160] Referring to ​ In the top plan view of, the key frame can be configured to be discontinuous to enable the conduction of the EPM magnetic field in the circuit through the key structures. More specifically, a first portion 1670 of the key frame can include ferrite and be coupled to one side (the first pole) of the permanent magnet of the EPM assembly 1660, and a second portion 1680 of the key frame can include ferrite and be coupled to the opposite side (the second pole) of the permanent magnet of the EPM assembly 1660. The first portion 1670 of the key frame can conduct the magnetic field (e.g., facilitated by the ferrite) from, for example, the north pole of the permanent magnet of the EPM assembly 1660 and couple the magnetic field through each individual key and conduct it to the second portion 1680 of the key frame and conduct it to the south pole of the permanent magnet to complete the magnetic circuit. Similar to ​ the EPM magnet in, the ferrite components help to substantially confine the magnetic field within the circuit of the ferrite components (e.g., the key frame, the key plunger, etc.), as opposed to an external omnidirectional transmission type, as in the case of having a typical permanent bar magnet, and as ​ shown. In some cases, the key frame can be configured to be coupled to (or adjacent to) each key, or ferrite ducts can be used to couple the key frame to each key structure.

[0161] Returning to the reference ​A side view of the top, the four separate key structures include: key structure 1610 (key 'Q'), which has a section 1612 of the key frame part 1670 and a section 1614 of the key frame part 1680; key structure 1620 (key 'W'), which has a section 1622 of the key frame part 1670 and a section 1624 of the key frame part 1680; key structure 1630 (key 'A'), which has a section 1632 of the key frame part 1670 and a section 1634 of the key frame part 1680; and key structure 1640 (key 'S'), which has a section 1642 of the key frame 1670 and a section 1644 of the key frame part 1680. In operation, when the EPM component 1660 is set to have no magnetic field, or a negligible magnetic field that does not substantially affect the viscosity of the MR material of each key structure, each key structure can operate according to a resistance distribution mainly dominated by the resistance of the biasing mechanism (for example, see curve 1310), because the MR material is usually at a minimum or relatively low viscosity and provides little resistance to the up and down movement of the key plunger relative to the key frame, as described in the various embodiments above (for example, see ​ ). When the EPM component 1660 is set to have a strong enough magnetic field to substantially change the viscosity of the MR material of each key structure, the magnetic field can be conducted throughout the multi-key structure to cause each key to change their corresponding resistance distribution.

[0162] When conduction occurs, for example, through a bond frame and bond plungers including ferrite, the path of the magnetic field can start from the north pole of the EPM assembly 1660, pass through the bond frame portion 1670, through each of the bond structures 1610 to 1640, through the bond frame portion 1680, and return to the EPM assembly 1660 at the south pole. For key Q, the magnetic field is transmitted from the bond frame portion 1670 to portion 1612; through the MR material, the bond plunger, and again through the MR material; exits through portion 1614, portion 1624, and then passes through the bond frame portion 1680 to reach the south pole of the EPM assembly 1660. For key W, the magnetic field is transmitted from the bond frame portion 1670 to portion 1612, then to portion 1622; through the MR material, the bond plunger, and again through the MR material; exits through portion 1624, and then passes through the bond frame portion 1680 to reach the south pole of the EPM assembly 1660. For key A, the magnetic field is transmitted from the bond frame portion 1670 to portion 1632; through the MR material, the bond plunger, and again through the MR material; exits through portion 1634, portion 1644, and then passes through the bond frame portion 1680 to reach the south pole of the EPM assembly 1660. For key S, the magnetic field is transmitted from the bond frame portion 1670 to portion 1632, then to portion 1642; through the MR material, the bond plunger, and again through the MR material; exits through portion 1624, and then passes through the bond frame portion 1680 to reach the south pole of the EPM assembly 1660. To explain some of the basic novel concepts presented herein, the bond structures can be considered the same. However, it should be understood that each key can have a different number, configuration, type of MR material; different positions / configurations of the bond frame relative to the MR material; or bond frames, bond plungers of different materials; different numbers of EPM assemblies and conduction paths, etc., to achieve different resistance distributions in response to the global magnetic field. Any number of bond structures is possible. Those of ordinary skill in the art who benefit from this disclosure will understand many modifications, variations, and alternative embodiments of this disclosure.

[0163] ​

[0164] Pedal assemblies that operate with a host computing device (e.g., a game console, a laptop / desktop computer, etc.) have seen significant improvements over the years, where contemporary pedal assemblies typically include various biasing mechanisms (e.g., mechanical springs, compressible / foldable materials, etc.) to provide a particular resistance profile. Exemplary implementations are described in Application No. 16 / 731,875, filed Dec. 31, 2019, the entire content of which is incorporated herein by reference for all purposes. In some contemporary pedal assemblies, changing the resistance profile of the pedal assembly typically involves a physical process of disassembly and reassembly to replace the biasing mechanism. According to certain embodiments, aspects of the present invention are implemented by using an EPM assembly with MR material to enable any one of a large number of resistance profiles to be changed dynamically in real time (e.g., by software controlled by processor 210, 302, or a combination thereof) for one or more pedal assemblies without the need for any disassembly or reassembly. Embodiments described herein include a pedal assembly (e.g., ​ ), which can utilize an EPM and MR-based piston-type assembly that includes implementations that can directly control the piston head (e.g., see ​ ) or indirectly control the piston head through a side path (e.g., see ​ ), however, those of ordinary skill in the art that benefit from the present disclosure will understand that other implementations (e.g., multiple pistons, side paths, etc.) are also possible, and at a basic level, the ability of the piston to pass through the piston housing is controlled by controlling the viscosity of the MR material contained in the piston housing through which the piston passes, as further described in the non-limiting embodiments presented below.

[0165] ​FIG. 0 shows a pedal assembly 1700 according to certain embodiments that uses an EPM assembly in combination with MR material to control performance characteristics (e.g., resistance distribution). The pedal assembly 1700 may include a base platform 1710, a pedal arm 1720, and a piston assembly 1730. The pedal arm 1720 may be rotatably coupled to the base platform 1710 (also referred to as the “pedal base”) at a first position such that the pedal arm 1720 may move relative to the base platform 1710 along a rotational path (e.g., an axis of rotation). A pedal platform 1705 may be coupled to the pedal arm 1720 to receive a user's foot. The piston assembly 1730 may couple the pedal arm 1720 to the base platform 1710 at a second position. In some aspects, the piston assembly 1730 may include a piston housing and a piston disposed within the piston housing and configured to linearly traverse along a longitudinal path within the piston housing. The piston assembly 1730 may further include an EPM assembly that may have a permanent magnet configured to generate a magnetic field, a magnetization assembly (e.g., a coil and corresponding circuitry) configured to set the magnetic field generated by the permanent magnet, and an MR material having a viscosity, the MR material being contained within the piston assembly and configured such that the piston traverses through the MR material linearly along the longitudinal path within the piston housing, wherein the MR material is configured to provide a resistance (e.g., a damping effect) to the linear traversal of the piston along the longitudinal path based on the viscosity of the MR material. The piston moves up and down within the piston housing, like a typical piston head, but where the movement is affected (e.g., impeded) by the viscosity of the MR material therein. Although not shown, the pedal assembly 1700 may include a biasing mechanism (e.g., a spring) that works in conjunction with the piston assembly to conduct a restoring force to return the pedal assembly to an initial position, similar to the operation of the key assembly described above and as would be understood by one of ordinary skill in the art benefiting from the present disclosure.

[0166] ​Shown is a pedal damping system 1800 configured to control the performance characteristics of a pedal system. The pedal damping system 1800 includes a piston housing 1810, an MR material (fluid) 1820 contained within the piston housing 1810 (e.g., partially due to an O-ring 1850), and a piston including a piston rod 1840 and a piston head 1845 that linearly traverses a longitudinal path within the piston housing 1810 (e.g., typically when a user presses and releases a pedal platform of a pedal assembly). An EPM assembly is configured within the piston head 1845 and includes two magnets 1860, 1870 each having a corresponding coil 1880, 1885. A circuit and a control processor (e.g., one or more processors 210, 302, etc.—not shown) control the current through the coils 1880, 1885 to set the magnetic fields generated by the magnets 1860 (magnetic field 1865) and 1870 (magnetic field 1875). The piston head 1845 also includes ferrite portions 1830, 1832 disposed on the magnetic poles of the magnets 1860, 1870 and ferrite portions 1834 and 1836 disposed on the piston housing 1810 (the piston head itself may or may not be ferromagnetic). The ferrite portions may be configured to conduct the magnetic fields of the magnets 1860, 1870. The ferrite portion 1830 may also be disposed on the piston housing 1810, where the space between the piston housing and the piston head is channels A and B through which the MR material can flow. When the MR material has a low viscosity (e.g., not exposed to a magnetic field), the MR material 1820 can be displaced through channels A and B with minimal resistance as the piston head 1845 moves within the piston housing 1810. When the MR material 1820 has a high viscosity (e.g., exposed to a magnetic field), the MR material 1820 cannot be displaced through channels A and B, or the displacement is subject to high resistance, which can define the resistance profile of the pedal assembly.

[0167] In a left side sectional view, the pedal damping system 1800 is in an “unlocked” configuration in which the EPM assembly is configured such that the magnets 1860, 1870 have opposite polarities, which causes their corresponding magnetic fields 1865, 1875 to conduct directly with each other, which is facilitated by a portion of the ferrite portions 1830, 1840, as shown. In this configuration, the magnetic field is contained within the piston head 1845 and does not contact the surrounding MR material 1820. Accordingly, the viscosity of the MR material 1820 is low, and the piston can move freely within the piston housing with little or minimal resistance. In such a case, the resistance profile provided by the pedal damping system can be largely defined by a biasing mechanism configured to return the pedal assembly to an initial position, and the resistance provided by the MR material 1820 can be negligible.

[0168] In the right side cross-sectional view, the pedal damping system 1800 is in a "locked" configuration. In the "locked" configuration, the EPM assembly is configured such that the magnets 1860, 1870 have the same polarity, which causes their corresponding magnetic fields 1865, 1875 to repel each other and conduct through a circuit passing through the MR material 1820. More specifically, the magnetic field 1865 passes from the north pole of the magnet 1860 through the ferrite portion 1840, through channel A of the MR material 1820, through the ferrite portion 1834, again through channel A of the MR material 1820, through the ferrite portion 1830, and reaches the south pole of the magnet 1860, as shown. In a similar but opposite manner, the magnetic field 1875 passes from the north pole of the magnet 1870 through the ferrite portion 1840, through channel B of the MR material 1820, through the ferrite portion 1836, again through channel B of the MR material 1820, through the ferrite portion 1830, and reaches the south pole of the magnet 1870. The magnetic fields 1865, 1875 pass through some of the MR material 1820 in channels A and B respectively, which increases the viscosity of the MR material 1820 (at least in the regions where the magnetic fields pass through the MR material), which blocks the movement of the piston head 1845 through the piston housing 1810, thereby generating a resistance distribution. The magnitude and polarity of the magnetic fields can be adjusted in real time to change the resistance distribution, which can be based on software inputs (e.g., in-game events that trigger a change in pedal resistance), position data (e.g., based on the position of the piston head 1845 within the piston housing 1810), or other bases, and any combination thereof. More or fewer magnets and corresponding magnetic fields can be used. As will be understood by those of ordinary skill in the art who benefit from this disclosure, any resistance distribution and its corresponding resistance intensity can be set in any manner. In some embodiments, a biasing mechanism (not shown) can be included to return the piston head to the top position (like a mouse or keyboard button). In such a case, the biasing mechanism (e.g., a spring) can be placed between the bottom of the piston head and the bottom of the piston housing around the piston shaft, or alternatively between the top of the piston head and the top of the piston housing. Those of ordinary skill in the art who benefit from this disclosure will understand many modifications, variations, and alternative embodiments of this disclosure. In another embodiment, the biasing mechanism.

[0169] ​ A pedal damping system 1900 configured to control the performance characteristics of a pedal system is shown in accordance with certain embodiments. The pedal damping system 1900 can operate similarly to the pedal damping system 1800, but the control system can be configured outside of the piston housing, which can provide alternative manufacturing options, particularly for compact pedal assemblies with space limitations.

[0170] The pedal damping system 1900 may include a piston housing 1910 that contains MR material and is sealed by an O-ring 1990. The pedal damping system 1900 also includes a piston having a piston rod 1940 and a piston head 1945 that linearly traverses along a longitudinal path within the piston housing 1910. A side channel A connects the top of the piston housing 1910 to the bottom of the piston housing 1910. As will be understood by those of ordinary skill in the art who benefit from this disclosure, the side channel A provides a path for the MR fluid 1920 to shift when the piston head 1945 moves up and down within the piston housing 1910 to relieve any resistance to the movement of the piston head 1945 due to the compression of the MR fluid 1920. The EPM assembly is configured to be away from the side of the piston housing 1910 and along the channel A. The EPM assembly includes two magnets 1960, 1970 each having corresponding coils 1980, 1985. A circuit and a control processor (e.g., one or more processors 210, 302, etc.—not shown) control the current through the coils 1980, 1985 to set the magnetic fields generated by the magnets 1960 (magnetic field 1965) and the magnet 1970 (magnetic field 1975). The piston head 1945 also includes ferrite portions 1930, 1932 disposed on the magnetic poles of the magnets 1960, 1970 and a ferrite portion 1934 disposed on the opposite side of the channel A. The ferrite portions may be configured to conduct the magnetic fields of the magnets 1960, 1970. When the pedal damping system 1900 is in the "unlocked" position (not shown), the MR material has a low viscosity (e.g., not exposed to a magnetic field), and when the piston head 1945 moves within the piston housing 1910, the MR material 1920 can shift through the channel A with minimal resistance. When the pedal damping system 1900 is in the "locked" position (as shown), the MR material 1920 has a high viscosity (e.g., exposed to a magnetic field) and cannot shift through the channel A, or the shift may be subject to high resistance, which can define the resistance distribution of the pedal assembly. More specifically, when the EPM assembly is configured such that the magnets 1960, 1970 have the same polarity, the pedal damping system 1900 is in the "locked" configuration, which causes their corresponding magnetic fields 1965, 1975 to be away from each other and conduct through a circuit passing through the MR material 1920. For example, the magnetic field 1965 passes from the north pole of the magnet 1960 through the ferrite portion 1932, through the channel A of the MR material 1920, through the ferrite portion 1934, again through the channel A of the MR material 1920, through the ferrite portion 1930, and reaches the south pole of the magnet 1960, as shown. In a similar manner, the magnetic field 1975 passes from the north pole of the magnet 1970 through the ferrite portion 1932, through the channel A of the MR material 1920, through the ferrite portion 1934, again through the channel A of the MR material 1920, through the ferrite portion 1930, and reaches the south pole of the magnet 1970.Magnetic fields 1965, 1975 each pass through some of the MR material 1920 in passage A, which causes an increase in the viscosity of the MR material 1920 (at least in the region where the magnetic field passes through the MR material 1920), which blocks the movement of the piston head 1945 through the piston housing 1910, thereby generating a resistance distribution. The magnitude and polarity of the magnetic field can be adjusted in real time to change the resistance distribution, which can be based on software inputs (e.g., in-game events that trigger a change in pedal resistance), position data (e.g., based on the position of the piston head 1945 within the piston housing 1910), or other bases and any combination thereof). More or fewer magnets and corresponding magnetic fields can be used. As will be understood by those of ordinary skill in the art who benefit from this disclosure, any resistance distribution and its corresponding resistance intensity can be set in any manner.

[0171] ​

[0172] The various embodiments described above illustrate how to use EPM and MR materials to control the movement of one degree of freedom, for example, in a linear or rotational manner. Some examples are provided below to present some of the many ways in which the novel techniques described herein can be applied to many different applications. The following embodiments are merely examples and are in no way exhaustive in terms of the applications in which the combination of EPM and MR materials can be implemented, and those of ordinary skill in the art who benefit from this disclosure will understand many modifications, variations, and alternative embodiments of this disclosure.

[0173] ​FIG. 2000 shows a computer mouse configured to tilt on an underlying platform. The computer mouse 2000 may operate similarly to the embodiments described in more detail below, but includes an EPM component 2020 and MR material as described herein: U.S. Patent No. 10,365,730, filed on June 9, 2017, and titled "Input Device with Trackball", the entire content of which is incorporated herein by reference for all purposes. The computer mouse 2000 may tilt along a track 2010, where the EPM component 2020 is coupled to the track 2010. In some embodiments, the EPM component may be coupled to an MR material that blocks movement of the computer mouse 2000 along the track 2010. The amount by which the MR material blocks movement may be based on the viscosity of the MR material. In the left image, the computer mouse 2000 is shown tilted in a first position and in a "locked" state, where the EPM component generates a magnetic field that is applied to the MR material that locks or strongly blocks movement of the computer mouse 2000 along the track 2010. In the center image, the computer mouse 2000 is shown tilted in the first position and in an "unlocked" state, where the EPM component does not generate a magnetic field (or directs it away from the MR material), such that the MR material has a low viscosity, allowing the computer mouse 2000 to tilt freely along the track 2010. In the right image, the computer mouse 2000 is shown tilted in a second position and in a "locked" state, where the EPM component (e.g., a magnet and a magnetization component) generates a magnetic field that is applied to the MR material that locks or strongly blocks movement of the computer mouse 2000 along the track 2010. In some cases, the track may be linear, substantially linear, curved, etc., as will be understood by those of ordinary skill in the art who benefit from this disclosure. ​ FIG. 2050 shows a computer mouse configured to tilt along a track 2060 on an underlying platform, where the EPM component 2070 is configured to control the locked and unlocked states of the computer mouse 2050 in a manner similar to that described above but along a different track. ​

[0174] ​Shows a computer mouse 2100 configured to tilt relative to an underlying platform according to certain embodiments. The computer mouse 2100 differs from computer mice 2000, 2050 in the implementation of the tilting mechanism. Instead of moving along a linear trajectory, the computer mouse 2100 includes an oval cam 2110 that rotates about an axis and provides different tilt angles for the computer mouse 2100 based on the position at which the cam 2110 is locked. The EPM assembly 2120 uses permanent magnets and a magnetized assembly having MR material to control the rotation along the axis. When the EPM assembly 2120 applies a magnetic field to the MR material, the MR material provides resistance to rotation based on the viscosity of the MR material. In the left image, the cam 2110 is locked by the EPM assembly 2120 such that the computer mouse 2100 is locked in a first position. In the right image, the cam 2110 is locked by the EPM assembly 2120 such that the computer mouse 1200 is locked in a second position. In the center image, the EPM assembly 2120 unlocks the cam 2110 to rotate freely, thereby setting the computer mouse in any suitable position. ​ Various embodiments provide improvements over existing computer mice that can tilt in that any position along a linear trajectory or axis of rotation can be locked in place using an EPM assembly and MR material, as described in the various embodiments above. Those of ordinary skill in the art who benefit from this disclosure will appreciate many modifications, variations, and alternative embodiments of this disclosure.

[0175] ​ Shows a game wheel assembly 2200 according to certain embodiments. The game wheel assembly 2200 may include a wheel 2210, a base 2220, and an EPM assembly 2230, which may include one or more magnets, a magnetized assembly, and MR material. The wheel 2210 may tilt relative to the base 2220 along a rotation axis 2225. The EPM assembly 2230 may be configured on the rotation axis to lock and unlock wheel tilting by applying a magnetic field to the MR material, which is configured to provide resistance to wheel tilting based on the magnetic field strength and the corresponding viscosity of the MR material, as described in the various embodiments above. Those of ordinary skill in the art who benefit from this disclosure will appreciate many modifications, variations, and alternative embodiments of this disclosure.

[0176] ​Illustrates a keyboard system 2300 according to certain embodiments. The keyboard system 2300 includes a keyboard 2310, a rotatable cam 2320 that can rotate on an axis, and an EPM assembly 2330. The EPM assembly 2330 controls the rotation of the cam 2320 along the axis of rotation using a permanent magnet and a magnetization assembly having MR material (e.g., coupled to the keyboard at the rotating axis). When the EPM assembly 2330 applies a magnetic field to the MR material, the MR material provides resistance to rotation based on the viscosity of the MR material. In the left image, the cam 2320 is locked by the EPM assembly 2330 such that the keyboard system 2300 is locked in the first position. In the center image, the EPM assembly 2330 removes or redirects the magnetic field from the MR material such that the cam 2320 can rotate freely along the axis of rotation, as shown. In this state, the keyboard 2310 can be moved to any suitable tilt angle based on the position of the cam 2320. In the right image, the cam 2320 is locked again by the EPM assembly 2330 and the keyboard 2310 remains locked at that tilt angle. Thus, performance characteristics (e.g., rotation of the cam 2320 along the axis of rotation) allow the user to set the keyboard 2310 at any desired height. Some embodiments may employ a linear telescoping support structure that can be controlled by an EPM assembly and MR material in a manner similar to that described in the above embodiments. Those of ordinary skill in the art that benefit from the present disclosure will appreciate many modifications, variations, and alternative embodiments thereof.

[0177] ​ Illustrates a microphone stand 2400 according to certain embodiments. The microphone stand 2400 can be manipulated in a variety of different configurations along different axes of rotation at rotary joints 2410, 2420, and 2430. An EPM assembly can be configured at each rotary joint. For example, in some embodiments, the rotary joints can incorporate ​ some or all of the features, as will be understood by those of ordinary skill in the art that benefit from the present disclosure. In some embodiments, the rotary joints 2410 to 2430 can be coupled to an MR material that provides resistance to rotation based on the viscosity of the MR material. In some embodiments, a magnetization assembly can be included at each rotary joint to independently control the rotation of each rotary joint. In some aspects, a single control entity (e.g., processor 210, 302, etc.) can be used to control the performance characteristics (resistance applied to the MR material at each rotary joint) of the microphone stand 2400. Those of ordinary skill in the art that benefit from the present disclosure will appreciate many modifications, variations, and alternative embodiments thereof.

[0178] In some embodiments, the EPM assembly and MR can be combined to result in an improved button on a computer mouse. Similar to the above examples (e.g., see ​)Similarly, buttons on a computer mouse (e.g., left / right click, side buttons, etc.), also referred to as input elements, depressible elements, keypads, etc., as mentioned above, can change the click distribution for static control (e.g., setting the button to a static distribution - no movement, preset resistance, etc.) or dynamic control (e.g., when the button is pressed, the distribution changes, as ​ shown). There are many ways to implement buttons on a computer mouse in the above manner, such as ​ implementations that include using a membrane structure to provide resistance to button displacement and tactile feedback, and linear motion key implementations that can be functionally similar to ​ key implementations, and are described below with respect to ​ . Other implementations are possible and those of ordinary skill in the art who benefit from this disclosure will understand many modifications, variations, and alternative implementations thereof.

[0179] ​ FIG. shows an example of a cross-section of an input element architecture on a computer mouse 2500 that combines EPM and MR to obtain improved performance characteristics according to certain embodiments. This implementation is membrane-based, where an MR material (e.g., fluid) can be utilized to adjust the "click" resistance of the input element. The collapse or bending of the membrane provides tactile feedback associated with the click. The computer mouse 2500 can include a frame 2505, a depressible input element 2510 (e.g., left main button), and an upper frame 2515. The frame 2505 and the upper frame 2515 can be coupled together in a clamshell arrangement, as will be understood by those of ordinary skill in the art who benefit from this disclosure. The EPM / MR structure 2520 can be coupled to the input element 2510 to provide a resistance distribution to the input element 2510 when the input element 2510 is depressed (e.g., "clicked"), as further described below with respect to ​ .

[0180] ​A cross-sectional view of an input element architecture (EPM / MR structure 2520) on a computer mouse that combines EPM and MR to obtain improved performance characteristics according to certain embodiments is shown. The EPM / MR structure 2520 may include a housing 2530, an actuator 2540, a flexible membrane 2550, an iron membrane 2560 ("shrinkable membrane"), a main housing 2570, an MR fluid 2580, and an EPM / MR assembly 2590 having a coil 2592 and a magnet 2594 that generates a magnetic field 2596. The actuator 2540 may be coupled to the bottom side of the depressible element 2510 and may traverse along a path (e.g., up / down) when the depressible element is depressed, as would be understood by one of ordinary skill in the art benefiting from the present disclosure. It should be understood that although many embodiments describe a linear traversal of certain features (e.g., actuator 2540), there may be some movement in other dimensions such that the up / down movement (z-movement) of the actuator may also have some movement in other directions such as x and y. Since such considerations obscure the novel embodiments described herein with details that would be understood by one of ordinary skill in the art benefiting from the present disclosure, such considerations are not addressed in detail herein. The housing 2530 may be made of plastic, rubber, or other suitable materials and may include the flexible membrane 2550 (e.g., plastic, rubber, etc.), and the housing 2530 is configured to be below the actuator 2540 and may be coupled to the actuator 2540 when the depressible element 2510 and the corresponding actuator 2540 are depressed, as ​ shown.

[0181] When the depressible element 2510 is depressed, the actuator 2540 pushes the flexible membrane 2550, and the flexible membrane 2550 further pushes the iron membrane 2560, and the iron membrane 2560 provides resistance to the actuator to prevent further traversal along the travel path within the housing. The shrinkable membrane 2560 is configured to shrink in response to receiving a threshold force from the actuator 2540 and provide haptic feedback. The MR fluid 2580 may be configured inside the shrinkable membrane 2560 and the viscosity of the MR fluid 2580 may control the amount of resistance to buckling that the shrinkable membrane 2560 has in response to the force provided by the actuator 2540. The EPM / MR assembly 2590 may be controlled by one or more processors (not shown) that may cause the coil 2592 to generate current pulses, and the current pulses may cause the magnet 2594 to generate a magnetic field 2596 having a specific polarity and intensity, as described in many embodiments of the present disclosure. Thus, when the magnet 2594 is configured to have opposite magnetic poles, as ​As shown, the magnetic field 2596 conducts from the first magnetic pole through the main housing 2570 (e.g., composed of ferrite), through the ferromagnetic film 2560 at least partially filled with MR fluid 2580, through the opposite side of the main housing 2570, and returns to the magnet 2594 at its second magnetic pole. In this configuration, the MR material is subjected to the magnetic field and the resistance provided by the mechanical integrity of the shrinkable film 2560 is supplemented with additional resistance from the varying viscosity of the MR fluid. In some cases where the magnetic field strength is high enough, the shrinkable film 2560 can provide significant resistance against buckling, such that a user may be unable to depress the button (e.g., when the user operates a computer mouse in a typical manner and applies a typical force to the button 2510). In the case where the magnets are not opposite (not shown, but similar to ​ , the left image), the magnetic field is contained within the EPM assembly 2590, and the shrinkable film typically bends based on its own mechanical resistance and does not experience additional substantial resistance provided by the MR material. In some aspects, even during medium depression, the viscosity and corresponding resistance provided by the MR material can be dynamically changed to produce a specific resistance distribution, as will be understood by those of ordinary skill in the art benefiting from this disclosure. In certain embodiments, a main computing device coupled to the computer mouse can operate software (e.g., a video game) that can control the EPM assembly 2590 (via one or more processors from system 200, 300, or both) to control the distribution of button depression for the button 2510 (e.g., when a game function associated with a particular button is not available in the game, the button 2510 cannot be depressed). Those of ordinary skill in the art benefiting from this disclosure will understand many of its modifications, variations, and alternative embodiments. Although ​ shows the MR fluid 2580 inside the shrinkable film 2560, the MR fluid can be contained throughout the shrinkable film 2560 or in one or more sub - portions of the shrinkable film 2560. Thus, the shrinkable film 2560 can be hollow or can have a hollow portion to contain the MR fluid. Alternatively or additionally, the MR fluid can be contained within the housing 2530 such that the shrinkable film is immersed in the MR fluid. In this case, the magnetic field 2596 can be routed through the MR fluid through the shrinkable film 2560 or via another path and typically via a ferrite material path. Those of ordinary skill in the art benefiting from this disclosure will understand many of its modifications, variations, and alternative embodiments.

[0182] It should be noted that although the sensing architecture is not shown, any number or type of sensors can be used to detect when the button 2510 is pressed, and the sensing architecture includes, but is not limited to, capacitive sensors, optical sensors, inductive sensors, Hall effect sensors, TMR (tunnel magnetoresistive sensors), current contacts, etc. For example, the TMR can be placed near the actuator (e.g., on the keypad) and can sense changes in the magnetic field when the shrinkable element bends.

[0183] By way of example, some embodiments of a computer mouse using an EPM / MR architecture can include a housing, a depressible element (e.g., a button), an actuator, and a shrinkable membrane, wherein a first side of the depressible element is configured to be depressed by a user, the actuator is coupled to a second side of the depressible element opposite the first side, wherein the actuator is configured to traverse along a travel path within the housing with at least one degree of freedom when the depressible element is depressed by the user (e.g., the button moves substantially up and down), the shrinkable membrane provides a first resistance to prevent the actuator from traversing along the travel path within the housing, and the shrinkable membrane is configured to contract and provide haptic feedback in response to receiving a threshold force from the actuator. In some aspects, the shrinkable membrane is made of a ferromagnetic material and includes a hollow portion. The computer mouse can include an EPM assembly coupled to the housing and can include a permanent magnet configured to generate a magnetic field and a magnetization assembly configured to set the magnetic field generated by the permanent magnet. In some cases, the MR material can be disposed within the hollow portion of the shrinkable membrane. The housing can include a ferrite portion that creates a magnetic field conduction path that conducts the magnetic field from a first pole of the permanent magnet through the shrinkable membrane to a second pole of the permanent magnet. The MR material can be configured to cause the shrinkable membrane to provide an additional resistance that impedes the traversal of the actuator along the travel path within the housing, the additional resistance being based on the magnetic field passing through the MR material within the hollow portion of the shrinkable membrane that affects the viscosity of the MR material. In some embodiments, the magnetization assembly is configured to set the strength of the magnetic field of the permanent magnet, and the viscosity of the MR material is further based on the strength of the magnetic field.

[0184] A computer mouse may also include one or more processors configured to operate a depressible element according to at least two operating modes, the at least two operating modes including: a first operating mode in which the magnetic field of a permanent magnet is set to change the viscosity of an MR material within a hollow portion of a shrinkable membrane to a first viscosity that provides a first additional resistance to traversal of an actuator along a travel path within a housing; and a second operating mode in which the magnetic field of the permanent magnet is set to change the viscosity of the MR material within the hollow portion of the shrinkable membrane to a second viscosity that provides a second additional resistance to linear traversal of the actuator along the travel path within the housing, the second additional resistance being greater than the first additional resistance. In a further embodiment, the computer mouse may include a switch coupled to the one or more processors, the switch being configured to generate a control signal in response to being activated, wherein the switch is activated when the shrinkable membrane contracts. The depressible element may be a left mouse button or a right mouse button on the computer mouse, or any suitable input element.

[0185] In a further embodiment, computer mouse buttons may use a linear motion, key-based method, such as the EPM / MR-based keys for a keyboard as described at least above with respect to ​ as shown in ​ . Similar to ​ , a single EPM component may be used for one button (e.g., the left button), two buttons (e.g., the left and right buttons), or even additional buttons / elements using MR material (e.g., ​ ). Further, although ​ shows current contacts for sensing button presses, other sensing implementations are possible, as mentioned above with respect to ​ .

[0186] ​ shows an example of an input element architecture on a computer mouse 2600 that combines EPM and MR to obtain improved performance characteristics. The computer mouse 2600 includes a frame 2605, a depressible input element 2610 (e.g., a left main button), and an upper frame 2615. The frame 2605 and the upper frame 2615 may be coupled together in a clamshell arrangement, as will be understood by those of ordinary skill in the art having the benefit of this disclosure. An EPM / MR structure 2620 may be coupled to the input element 2510 to provide a resistance distribution to the input element 2610 when the input element 2610 is depressed (e.g., “clicked”), as further described below with respect to ​ .

[0187] ​A cross-sectional view of an input element architecture (EPM / MR structure 2620) on a computer mouse that combines EPM and MR to obtain improved performance characteristics according to certain embodiments is shown. The EPM / MR structure 2620 includes a housing 2630 (e.g., plastic, rubber, etc.), an actuator 2640, an O-ring 2650, current contacts 2660, a biasing mechanism 2670, an MR fluid 2680, and an EPM assembly 2690 having a coil 2692 and a magnet 2694 that generates a magnetic field 2696. ​ and ​ can be operated in a manner similar to that described above with respect to ​ as will be understood by those of ordinary skill in the art who benefit from this disclosure.

[0188] ​ A simplified image of a gimbal / shifter system 2700 that combines EPM and MR to obtain improved performance characteristics according to certain embodiments is shown. The gimbal / shifter system 2700 shows how two hinge joints can be used to implement a ball joint. For example, a first hinge joint 2710 can provide a range of motion along a first axis (e.g., the x-axis), while a second hinge joint 2720 can provide a range of motion along a second axis (e.g., the y-axis). Generally, the first axis and the second axis are orthogonal to each other and can be coplanar or non-coplanar. Embodiments such as ​ the embodiments in can be used to provide such hinge joints and produce an overall gimbal structure, as will be understood by those of ordinary skill in the art who benefit from this disclosure.

[0189] ​ An input device 2800 having a trackball that combines EPM and MR to obtain improved performance characteristics according to certain embodiments is shown. The input device 2800 includes a trackball 2810, a magnetorheological bearing 2820, a high-friction cylinder 2830, and a position encoder 2840, as well as various other input elements (e.g., left / right buttons, scroll wheels, etc.), output elements (e.g., LEDs), and structural elements (e.g., an input device housing, etc.). In some embodiments, two scroll wheel systems can be used to track the movement of the trackball 2810 on two rotational axes (one shown). In operation, a first scroll wheel system (bearing 2820) is pushed against the trackball 2810 and a "braking" force is applied using an EPM having an MR assembly, as described above. In a second independent scroll wheel system (not shown), a second scroll wheel system is pushed against the trackball 2810. Each scroll wheel system can use their corresponding position encoders to track different rotational axes (e.g., the X-axis and the Y-axis that are orthogonal to each other), as will be understood by those of ordinary skill in the art who benefit from this disclosure. In some embodiments, the EPM assembly can apply short current pulses to give a "ratcheting" feedback when the ball moves, similar to that described above with respect to​ The described "bump" feedback.

[0190] ​

[0191] Many of the above-described embodiments utilize an EPM component and an MR fluid to control various input elements (e.g., keys, buttons, pedals, clutches, shifters, joints, support structures, etc.). In some aspects, the EPM component and the MR fluid can be used to customize the surface of an electronic device (e.g., an input device), which can improve the ergonomic interface between the user and the electronic device. For example, by using MR materials to set the orientation or contour of a palm rest, the palm rest on a computer mouse can be adjusted to conform to the user's preference. In some implementations, the palm rest can include a plurality of "regions" also referred to as "sub-modules", each region having a top surface that forms at least a part of the palm rest surface contour, as ​ shown. The sub-modules can operate similar to a key structure or a multi-key structure, as described above with respect to ​ and as ​ shown. In some cases, the palm rest can be a single plate opposite to the plurality of sub-modules. For example, the plate can be supported by a plurality of sub-modules configured therebelow such that the palm rest can be configured in a preferred orientation, as shown and further described below with respect to ​ Although the various examples presented herein are applied to a computer mouse, the same concepts can be applied to a keyboard palm rest, headphone ear pads, chair armrests, or any other suitable surface. Those of ordinary skill in the art who benefit from the present disclosure will understand many of its modifications, variations, and alternative embodiments.

[0192] ​ FIG. 29 shows a computer mouse 2900 having an adjustable palm rest 2910 according to certain embodiments. The adjustable palm rest 2910 can include a surface that includes one or more sub-modules 2920, where one or more of the sub-modules 2920 can be depressed like the key structures described above. A user can apply a force to the palm rest 2910 (e.g., by resting their hand on the palm rest), which can cause each of the sub-modules 2920 to be depressed by a certain amount based on the amount of the applied force. Due to the contour of the user's hand, different parts of the user's palm may apply different amounts of force to the palm rest in different regions. Thus, in certain embodiments, once the sub-modules conform to the user's hand (when the MR fluid has a low viscosity and little magnetic field passes through it), the user can cause the EPM component to apply a magnetic field to the sub-modules 2910 to lock them in place, thereby retaining the palm rest contour for the user's preference.

[0193] ​Shows a simplified cross-sectional view of a computer mouse 2900 having a plurality of EPM / MR controlled sub-modules 2920 according to certain embodiments. The sub-modules may operate similar to a key structure or a multi-key structure, as described above with respect to ​ and as will be understood by one of ordinary skill in the art having the benefit of this disclosure. In operation, each individual sub-module can be spring-loaded and can be "unlocked" when the polarization of the magnets causes the magnetic field generated by the EPM component magnets to create a self-closed magnetic field loop path, as shown in the top image of ​ . When the polarizations of the magnets are opposite to each other, the magnetic field can be routed through each sub-module (or a portion thereof) to lock the sub-module in place, as shown in the bottom image of ​ . In some aspects, each sub-module can be connected by a single magnetic circuit and controlled by one EPM component, although some embodiments may employ multiple EPM components. During operation, power is generally not consumed except during adjustment (after applying a current pulse to set the magnetic field of the permanent magnets). For a highly compliant computer mouse, the method can scale with many sub-modules, or for route adjustment in the palm area of the mouse, it can scale with few sub-modules (e.g., less than five). Note that while the palm area with sub-modules is described, the same concept can be applied to any part of the computer mouse or any input device, as will be understood by one of ordinary skill in the art having the benefit of this disclosure.

[0194] ​ Shows a computer mouse 3000 having a palm rest panel 3010 and a plurality of sub-modules 3020a to 3020c disposed below it according to certain embodiments. In this embodiment, the palm rest 3010 is a single unit with a surface profile. The palm rest 3010 rests on a plurality of sub-modules 3020 (e.g., similar to sub-modules 3020) that support the palm rest 3010. Due to the movement of the palm rest 3010 when a force is applied to the top of the palm rest 3010, the palm rest 3010 can be adjusted in up to three degrees of freedom, and the underlying sub-components are depressed by different amounts based on the amount of force applied to them (e.g., when a magnetic field of sufficient strength passes through the sub-modules 3020 to allow them to be adjusted), as shown in ​ . For example, in ​ , the computer mouse 3100 includes a palm rest 3110 supported by a plurality of underlying sub-modules (not shown), and the palm rest is in a neutral configuration. In ​ , the palm rest 3110 is pushed downward from the neutral position, and in ​ , the palm rest 3110 moves upward from the neutral position. One of ordinary skill in the art having the benefit of this disclosure will understand many modifications, variations, and alternative embodiments thereof.

[0195] By way of example, in some embodiments, an input device (e.g., a computer mouse) can include a housing, and a palm region coupled to the housing and configured to receive a user's palm when the input device is operated by the user, wherein the palm region is partially formed by a plurality of sub-modules. Each of the sub-modules can include a frame, a plunger configured to traverse along a travel path within the frame, an EPM assembly coupled to the frame, the EPM assembly including a permanent magnet configured to generate a magnetic field and a magnetization assembly configured to set the magnetic field generated by the permanent magnet, and an MR material disposed within the frame and coupled to the plunger. The MR material can have a viscosity that changes based on the magnetic field, wherein the MR material is configured to provide resistance to the traversal of the plunger along the travel path within the frame, the resistance being based on the viscosity of the MR material. In some embodiments, the input device includes one or more processors configured to cause each of the sub-modules to operate according to at least two operating modes, including: a first operating mode in which the magnetic field of the permanent magnet is set to cause the viscosity of the MR material to change to a first viscosity that provides a first resistance to the traversal of the plunger along the travel path within the frame; and a second operating mode in which the magnetic field of the permanent magnet is set to cause the viscosity of the MR material to change to a second viscosity that provides a second resistance to the traversal of the plunger along the travel path within the housing, wherein the first resistance allows each of the sub-modules to traverse along the travel path in response to receiving a force applied along the travel path, and wherein the second resistance prevents each of the sub-modules from traversing along the travel path in response to receiving the applied force, the second resistance being higher than the first resistance. In some implementations, when each of the sub-modules operates in the first operating mode, the magnetic field generated by the permanent magnet does not pass through the MR material, and when each of the sub-modules operates in the second operating mode, the magnetic field generated by the permanent magnet passes through the MR material. Generally, when switching between at least two operating modes, the input device consumes power only by the EPM assembly.

[0196] The input device can further include a cover plate coupled to the palm region, wherein the cover plate covers the palm region, wherein a first side of the cover plate forms an accessible surface of the palm region, and wherein a second side of the cover plate opposite the first side is coupled to and supported by a top surface of each of the sub-modules, as ​ shown. In some cases, when each of the sub-modules operates in the first operating mode, the cover plate can be adjusted with at least two degrees of freedom, and when each of the sub-modules operates in the second operating mode, the cover plate is non-adjustable. The EPM assembly can be a single EPM assembly shared by each of the plurality of sub-modules, or more than one EPM assembly can be used. In some aspects, the palm region can have a surface profile, and each sub-module can include a top portion that forms a part of the surface profile of the palm region, as​ as shown

[0197] ​ is a simplified flowchart showing aspects of a method 3200 for controlling the surface profile of an input device. Method 3200 may be executed by processing logic, which may include hardware (e.g., circuitry, dedicated logic, etc.), software operating on suitable hardware (e.g., a general computing system or a dedicated machine), firmware (embedded software), or any combination thereof. In certain embodiments, method 3200 may be executed by aspects of system 200, 300, or a combination thereof.

[0198] At operation 3210, according to certain embodiments, method 3200 may include receiving input data corresponding to an operation mode of the input device, the operation mode corresponding to controlling the surface profile of a palm region of the input device, the palm region being partially formed by a plurality of sub - modules, where each sub - module has a movable element configured to traverse along a linear travel path within a frame.

[0199] At operation 3220, according to certain embodiments, method 3200 may include determining a selection of the operation mode based on the input data.

[0200] At operation 3240, according to certain embodiments, in response to input data corresponding to a first operation mode, method 3200 may include causing a magnetization assembly to set a first magnetic field strength of a permanent magnet, the first magnetic field strength of the permanent magnet controlling the viscosity of an MR material coupled to the movable element, and the MR material providing a first resistance to the movement of the movable element along the linear travel path at the first magnetic field strength.

[0201] At operation 3250, according to some embodiments, in response to input data corresponding to a second operating mode, method 3200 may include causing a magnetization assembly to set a second magnetic field strength of a permanent magnet, and the MR material provides a second resistance to the movement of the movable element along a linear travel path at the second magnetic field strength. In some aspects, the second magnetic field strength may be higher than the first magnetic field strength, or the first magnetic field strength may be higher than the second magnetic field strength. In the first operating mode, the MR material may have a minimum viscosity, while in the second operating mode, the MR material may have a maximum viscosity. In some aspects, the first resistance allows each of the sub-modules to traverse along the travel path in response to receiving an applied force along the linear travel path, while the second resistance prevents each of the sub-modules from traversing along the linear travel path in response to receiving an applied force, and the second resistance is higher than the first resistance. In some cases, the input device includes a cover plate coupled to the palm area, where the cover plate covers the palm area, where a first side of the cover plate forms a user-accessible surface of the palm area, and a second side of the cover plate opposite the first side is coupled to and supported by the top surface of each of the sub-modules. In certain embodiments, when each of the sub-modules operates in the first operating mode, the cover plate can be adjusted with at least two degrees of freedom, and when each of the sub-modules operates in the second operating mode, the cover plate is non-adjustable. The palm area may have a surface profile, and each sub-module (or at least one sub-module) may include a top portion that forms a part of the surface profile of the palm area. In some cases, the magnetization assembly is a single magnetization assembly shared by each of the plurality of sub-modules.

[0202] It should be understood that according to some embodiments, ​ the specific steps shown provide a particular method 3200 for controlling the surface profile of an input device. Other sequences of steps may also be performed according to alternative embodiments. Additionally, additional steps may be added or removed according to a particular application. Any combination of variations may be used and those of ordinary skill in the art who benefit from the present disclosure will understand many variations, modifications, and alternative embodiments thereof.

[0203] Some embodiments may utilize at least one network familiar to those skilled in the art to support communication using any one of a variety of commercially available protocols such as TCP / IP, UDP, OSI, FTP, UPnP, NFS, CIFS, etc. The network may be, for example, a local area network, a wide area network, a virtual private network, the Internet, an intranet, an extranet, a public switched telephone network, an infrared network, a wireless network, and any combination thereof.

[0204] Such a device may also include a computer-readable storage medium reader, a communication device (e.g., a modem, a network card (wireless or wired), an infrared communication device, etc.), and a working memory as described above. The computer-readable storage medium reader may be connected to or configured to receive a non-transitory computer-readable storage medium representing a remote, local, fixed, and / or removable storage device and a storage medium for temporarily and / or more permanently containing, storing, transmitting, and retrieving computer-readable information. The system and various devices will generally also include a plurality of software applications, modules, services, or other elements located within at least one working memory device, including an operating system and application programs, such as client applications or browsers. It should be understood that alternative embodiments may have many variations different from those described above. For example, custom hardware may also be used and / or specific elements may be implemented in hardware, software (including portable software, such as applets), or both. In addition, connections to other computing devices, such as network input / output devices, may be employed.

[0205] Numerous specific details are set forth herein to provide a thorough understanding of the claimed subject matter. However, those skilled in the art will understand that the claimed subject matter may be practiced without these specific details. In other instances, well-known methods, devices, or systems have not been described in detail so as not to obscure the claimed subject matter. The various embodiments shown and described are provided only as examples to illustrate the various features of the claims. However, the features shown and described with respect to any given embodiment are not necessarily limited to the associated embodiment and may be used or combined with the other embodiments shown and described. Furthermore, the claims are not intended to be limited by any one example embodiment.

[0206] Although the subject matter has been described in detail with respect to specific embodiments of the present invention, it will be understood that those skilled in the art can readily generate alterations, variations, and equivalents to such embodiments upon obtaining an understanding of the foregoing. Accordingly, it should be understood that, as will be readily apparent to those of ordinary skill in the art, the present disclosure is presented for purposes of illustration and not limitation and does not exclude inclusion of such modifications, variations, and / or additions to the subject matter. Indeed, the methods and systems described herein may be embodied in various other forms; furthermore, various omissions, substitutions, and changes in the form of the methods and systems described herein may be made without departing from the spirit of the present disclosure. The appended claims and their equivalents are intended to cover such forms or modifications as would fall within the scope and spirit of the present disclosure.

[0207] Although the present disclosure provides certain example embodiments and applications, other embodiments that will be apparent to one of ordinary skill in the art, including embodiments that do not provide all of the features and advantages described herein, are also within the scope of the present disclosure. Accordingly, the scope of the present disclosure is intended to be defined only by reference to the appended claims.

[0208] Unless otherwise expressly stated, it should be understood that throughout the specification, discussions using terms such as "processing", "computing", "calculating", "determining", and "identifying" refer to actions or processes of a computing device, such as one or more computers or similar electronic computing devices, that manipulate or transform data represented as physical electronic or magnetic quantities within a memory, register, or other information storage device, transmission device, or display device of the computing platform.

[0209] One or more of the systems discussed herein are not limited to any particular hardware architecture or configuration. A computing device can include any suitable arrangement of components that provides results conditioned on one or more inputs. Suitable computing devices include multi-functional microprocessor-based computer systems that access stored software that programs or configures the computing system from a general-purpose computing device into a special-purpose computing device implementing one or more embodiments of the subject matter. Any suitable programming, scripting, or other type of language or combination of languages can be used to implement the teachings contained herein in the software for programming or configuring the computing device.

[0210] Embodiments of the methods disclosed herein can be performed in the operation of such computing devices. The order of the blocks presented in the above examples can vary - for example, the blocks can be reordered, combined, and / or divided into sub-blocks. Certain blocks or processes can be performed in parallel.

[0211] Unless otherwise specifically stated, conditional language used herein, such as, among others, "can", "might", "may", "for example", etc., or otherwise understood in context, is generally intended to convey that certain examples include certain features, elements, and / or steps while other examples do not include certain features, elements, and / or steps. Thus, such conditional language is generally not intended to imply that one or more examples in any way require the features, elements, and / or steps, or that one or more examples must include logic for deciding, with or without author input or prompting, whether these features, elements, and / or steps are included in any particular example or are to be performed in any particular example.

[0212] The terms "comprising", "including", "having", etc. are synonymous and are used inclusively in an open-ended manner and do not exclude additional elements, features, acts, operations, etc. Further, the term "or" is used in its inclusive sense (rather than in its exclusive sense) such that when used, for example, to connect a list of elements, the term "or" means one, some, or all of the elements in the list. The use of "adapted to" or "configured to" herein means open and inclusive language that does not exclude a device adapted to or configured to perform additional tasks or steps. Additionally, the use of "based on" is open and inclusive because a process, step, calculation, or other act "based on" one or more of the stated conditions or values may in fact be based on additional conditions or values other than those stated. Similarly, the use of "at least partially based on" is open and inclusive because a process, step, calculation, or other act "at least partially based on" one or more of the stated conditions or values may in fact be based on additional conditions or values other than those stated. The headings, lists, and numbers included herein are for convenience only and are not meant to be limiting.

[0213] The various features and processes described above can be used independently of one another or can be used in combination in various ways. All possible combinations and sub-combinations are intended to fall within the scope of the present disclosure. Additionally, in some embodiments, certain method or process blocks may be omitted. The methods and processes described herein are also not limited to any particular sequence, and the blocks or states associated therewith can be performed in a suitable other order. For example, the described blocks or states can be performed in an order different from the specifically disclosed order, or multiple blocks or states can be combined into a single block or state. Example blocks or states can be performed serially, in parallel, or in some other manner. Blocks or states can be added to the disclosed examples or removed from the disclosed examples. Similarly, the example systems and components described herein can be configured differently than described. For example, elements can be added, removed, or rearranged compared to the disclosed examples.

[0214] Regarding embodiments including the above embodiments, the following technical solutions are also disclosed:

[0215] Solution 1. A key for an input device, the key comprising:

[0216] A key frame;

[0217] A key plunger configured to linearly traverse along a travel path within the key frame with a single degree of freedom of movement;

[0218] An electro-permanent magnet (EPM) assembly coupled to the key frame, the EPM assembly comprising:

[0219] A permanent magnet configured to generate a magnetic field; and

[0220] A magnetization assembly configured to set the magnetic field generated by the permanent magnet;

[0221] A magnetorheological (MR) material disposed within the key frame and coupled to the key plunger, the MR material having a viscosity that changes based on the magnetic field,

[0222] wherein the MR material is configured to provide a resistance to linear traversal of the key plunger along the stroke path within the key frame, the resistance being based on the viscosity of the MR material.

[0223] Key according to Scheme 1, wherein the key frame comprises ferrite and is configured to conduct and couple the magnetic field generated by the permanent magnet to the MR material.

[0224] Key according to Scheme 2, wherein the key plunger comprises ferrite and is configured to conduct and couple the magnetic field generated by the permanent magnet to the MR material.

[0225] Key according to Scheme 1, further comprising a biasing mechanism,

[0226] wherein the stroke path of the key plunger comprises:

[0227] A first position corresponding to the key plunger being in an unpressed state; and

[0228] A second position corresponding to the key plunger being in a fully pressed state, and

[0229] wherein the biasing mechanism provides a restoring force to the key plunger to return the key plunger to the second position.

[0230] Key according to Scheme 1, further comprising a plurality of O-rings configured to form a sealed storage cavity between the key frame and the key plunger, wherein the MR material is a fluid contained within the sealed storage cavity.

[0231] Key according to Scheme 1, wherein the key is configured to operate in a plurality of operating modes, the plurality of operating modes including:

[0232] A first operating mode, in which the magnetization assembly sets the magnetic field of the permanent magnet such that the MR material has a first viscosity, the first viscosity providing a first resistance to linear traversal of the key plunger along the stroke path; and

[0233] a second operating mode in which the magnetizing assembly sets the magnetic field of the permanent magnet such that the MR material has a second viscosity that provides a second resistance to linear traversal of the key plunger along the travel path;

[0234] Wherein, the second resistance is greater than the first resistance.

[0235] Option 7. The key according to Option 6 further includes a second permanent magnet configured to generate a second magnetic field,

[0236] wherein, in the first operating mode, the permanent magnet and the second permanent magnet are magnetized such that the paths of magnetic conduction of their corresponding magnetic fields are contained by the permanent magnet and the second permanent magnet and do not pass through the MR material, and

[0237] Wherein, in the second operating mode, the permanent magnet and the second permanent magnet are magnetized so that the paths of magnetic conduction of their corresponding magnetic fields pass through the MR material.

[0238] Option 8. The key according to Option 1 further includes:

[0239] one or more processors; and

[0240] a sensor configured to detect a position of the key plunger within the key frame along the travel path, the sensor being controlled by the one or more processors,

[0241] The one or more processors are configured to cause the magnetizing assembly to dynamically set the magnetic field generated by the permanent magnet such that the viscosity of the MR material changes according to a resistance profile based on a position of the key plunger along the travel path.

[0242] Option 9. The key according to Option 8 further includes a switch configured to generate input data indicative of a key press event when the key plunger is depressed beyond a threshold position along the travel path.

[0243] Option 10. The key according to Option 1, wherein the input device is a keyboard, and the key is one of a plurality of keys on the keyboard.

[0244] Solution 11. A pedal assembly comprising:

[0245] basement platform;

[0246] a pedal arm rotatably coupled to the base platform at a first position such that the pedal arm moves relative to the base platform along a rotational axis;

[0247] A piston assembly that couples the pedal arm to the base platform at a second position, the piston assembly comprising:

[0248] A piston housing;

[0249] A piston configured to linearly traverse a longitudinal path within the piston housing as the pedal arm rotates about the axis of rotation;

[0250] An EPM assembly;

[0251] A permanent magnet configured to generate a magnetic field;

[0252] A magnetization assembly configured to set the magnetic field generated by the permanent magnet; and

[0253] A viscous MR material contained within the piston assembly and configured such that the piston traverses through the MR material as it linearly traverses the longitudinal path within the piston housing,

[0254] wherein the MR material is configured to provide resistance to the linear traversal of the piston along the longitudinal path based on the viscosity of the MR material.

[0255] Solution 12. The pedal assembly according to Solution 11 further includes a plurality of O-rings configured to form a sealed storage cavity between the piston housing and the piston, wherein the MR material is a fluid contained within the sealed storage cavity.

[0256] Solution 13. The pedal assembly according to Solution 11, wherein the pedal assembly is configured to operate in a plurality of operating modes, the plurality of operating modes including:

[0257] A first operating mode, in which the magnetization assembly sets the magnetic field of the permanent magnet such that the MR material has a first viscosity that provides a first resistance to the linear traversal of the piston along the longitudinal path; and

[0258] A second operating mode, in which the magnetization assembly sets the magnetic field of the permanent magnet such that the MR material has a second viscosity that provides a second resistance to the linear traversal of the piston along the longitudinal path,

[0259] wherein the second resistance is greater than the first resistance.

[0260] Solution 14. The pedal assembly according to Solution 13 further includes a second permanent magnet configured to generate a second magnetic field,

[0261] Wherein, in the first operating mode, the permanent magnet and the second permanent magnet are magnetized such that the path of magnetic conduction of their corresponding magnetic fields does not pass through the MR material, and

[0262] Wherein, in the second operating mode, the permanent magnet and the second permanent magnet are magnetized such that the path of magnetic conduction of their corresponding magnetic fields passes through the MR material.

[0263] Solution 15. The pedal assembly according to Solution 11, further comprising:

[0264] One or more processors; and

[0265] A sensor configured to detect the position of the piston relative to the piston housing, the sensor being controlled by the one or more processors,

[0266] Wherein the one or more processors are configured to dynamically set the magnetic field generated by the permanent magnet by the magnetization assembly so that the viscosity of the MR material changes according to a resistance distribution based on the position of the piston along the longitudinal path.

[0267] Solution 16. A method of operating an input device, the method comprising:

[0268] Receiving input data corresponding to an operating mode of the input device, the operating mode corresponding to the control of the movement of a movable element of the input device along one degree of freedom;

[0269] Determining a selection of an operating mode based on the input data;

[0270] In response to input data corresponding to a first operating mode:

[0271] Causing a magnetization assembly to set a first magnetic field strength of a permanent magnet, the first magnetic field strength of the permanent magnet controlling the viscosity of an MR material coupled to the movable element, the MR material providing a first resistance to the movement of the movable element along the one degree of freedom at the first magnetic field strength; and

[0272] In response to input data corresponding to a second operating mode:

[0273] Causing the magnetization assembly to set a second magnetic field strength of the permanent magnet, the MR material providing a second resistance to the movement of the movable element along the one degree of freedom at the second magnetic field strength,

[0274] Wherein the second magnetic field strength is higher than the first magnetic field strength.

[0275] Solution 17. The method according to Solution 16, wherein, in the first operating mode, the MR material has a minimum viscosity, and wherein, in the second operating mode, the MR material has a maximum viscosity.

[0276] Solution 18. The method according to Solution 16, further comprising:

[0277] In response to input data corresponding to a third operating mode:

[0278] Causing the magnetization assembly to set a third magnetic field strength of the permanent magnet, the MR material providing a third resistance to the movement of the movable element along the one degree of freedom at the third magnetic field strength, wherein the third magnetic field strength is higher than the first magnetic field strength and lower than the second magnetic field strength.

[0279] Solution 19. The method according to Solution 16, wherein the one degree of freedom corresponds to a linear movement of the movable element, and wherein the movable element is one of the following:

[0280] A button that can be depressed along a linear one degree of freedom;

[0281] A key that can be depressed along a linear one degree of freedom;

[0282] A trigger that can be actuated and depressed along a linear one degree of freedom; or

[0283] A support structure configured to support the input device in a plurality of configurations, the support structure being able to extend and retract along a linear one degree of freedom.

[0284] Solution 20. The method according to Solution 16, wherein the one degree of freedom corresponds to a rotational movement of the movable element, and wherein the movable element is one of the following:

[0285] A roller that can rotate along a rotational one degree of freedom;

[0286] A trackball that can rotate along a rotational one degree of freedom;

[0287] A knob that can rotate along a rotational one degree of freedom;

[0288] A hinge that can rotate along a rotational one degree of freedom;

[0289] A steering wheel that can rotate along a rotational one degree of freedom; or

[0290] A pedal that can be depressed along a rotational one degree of freedom.

Claims

1. A computer mouse, comprising: A housing; A depressible element, a first side of the depressible element being configured to be depressed by a user; An actuator coupled to a second side of the depressible element opposite the first side, the actuator being configured to linearly traverse along a travel path within the housing with one degree of freedom when the depressible element is depressed by the user; A shrinkable film that provides a first resistance to linearly traversing along the travel path within the housing to the actuator, the shrinkable film being configured to contract and provide haptic feedback in response to receiving a threshold force from the actuator, the shrinkable film comprising a ferromagnetic material and having a hollow portion; An electro-permanent magnet (EPM) assembly coupled to the housing, the EPM assembly comprising: A permanent magnet configured to generate a magnetic field; and A magnetization assembly configured to set the magnetic field generated by the permanent magnet; and Magneto-rheological (MR) material disposed within the hollow portion of the shrinkable film, wherein the housing includes a ferrite portion that creates a magnetic field conduction path that conducts the magnetic field from a first pole of the permanent magnet through the shrinkable film and to a second pole of the permanent magnet, and wherein the MR material is configured to provide an additional resistance to linearly traversing along the travel path within the housing to the actuator by the shrinkable film, the additional resistance being based on the magnetic field through the MR material within the hollow portion of the shrinkable film, the magnetic field affecting the viscosity of the MR material.

2. The computer mouse according to claim 1, wherein, The magnetization assembly is configured to set the strength of the magnetic field of the permanent magnet, and wherein the viscosity of the MR material is further based on the strength of the magnetic field.

3. The computer mouse according to claim 2, wherein, The computer mouse includes one or more processors configured to operate the depressible element according to at least two operating modes, the at least two operating modes including: A first operating mode, in which the magnetic field of the permanent magnet is set to change the viscosity of the MR material within the hollow portion of the shrinkable film to a first viscosity, the first viscosity providing a first additional resistance to linearly traversing along the travel path within the housing to the actuator; and A second operating mode, in which the magnetic field of the permanent magnet is set to change the viscosity of the MR material within the hollow portion of the shrinkable film to a second viscosity, the second viscosity providing a second additional resistance to linearly traversing along the travel path within the housing to the actuator, the second additional resistance being greater than the first additional resistance.

4. The computer mouse according to claim 3, further comprising a switch coupled to the one or more processors, the switch being configured to generate a control signal in response to being activated, wherein, The switch is activated when the shrinkable film contracts.

5. The computer mouse according to claim 1, wherein, The depressible element is the left mouse button or the right mouse button on the computer mouse.

6. An input device, comprising: A housing; A palm area coupled to the housing, the palm area being configured to receive the user's palm when the user operates the input device, the palm area being partially formed by a plurality of sub-modules, wherein each sub-module includes: A frame; A plunger configured to traverse along a stroke path within the frame; An electro-permanent magnet (EPM) assembly coupled to the frame, the EPM assembly including: A permanent magnet configured to generate a magnetic field; and A magnetization assembly configured to set the magnetic field generated by the permanent magnet; and A magneto-rheological (MR) material disposed within the frame and coupled to the plunger, the MR material having a viscosity that changes based on the magnetic field, wherein the MR material is configured to provide a resistance to the traversal of the plunger along the stroke path within the frame, the resistance being based on the viscosity of the MR material.

7. The input device according to claim 6, wherein The input device includes one or more processors configured to cause each of the sub-modules to operate according to at least two operating modes, the at least two operating modes including: A first operating mode in which the magnetic field of the permanent magnet is set to change the viscosity of the MR material to a first viscosity that provides a first resistance to the traversal of the plunger along the stroke path within the frame; and A second operating mode in which the magnetic field of the permanent magnet is set to change the viscosity of the MR material to a second viscosity that provides a second resistance to the traversal of the plunger along the stroke path within the housing, wherein the first resistance allows each of the sub-modules to traverse along the stroke path in response to receiving a force applied along the stroke path, and wherein the second resistance prevents each of the sub-modules from traversing along the stroke path in response to receiving the applied force, the second resistance being higher than the first resistance.

8. The input device according to claim 7, wherein, When each of the sub-modules operates in the first operating mode, the magnetic field generated by the permanent magnet does not pass through the MR material, and wherein when each of the sub-modules operates in the second operating mode, the magnetic field generated by the permanent magnet passes through the MR material.

9. The input device according to claim 7, wherein when switching between the at least two operating modes, the input device consumes power only by the EPM assembly.

10. The input device according to claim 8 further includes a cover plate coupled to the palm area, wherein, The cover plate covers the palm area, wherein a first side of the cover plate forms a user-accessible surface of the palm area, and wherein a second side of the cover plate opposite the first side is coupled to and supported by a top surface of each of the sub-modules.

11. The input device according to claim 10, wherein, When each of the sub-modules operates in the first operating mode, the cover plate is adjustable with at least two degrees of freedom, and wherein when each of the sub-modules operates in the second operating mode, the cover plate is non-adjustable.

12. The input device according to claim 6, wherein, The EPM assembly is a single EPM assembly shared by each of the plurality of sub-modules.

13. The input device according to claim 6, wherein, The palm area has a surface profile, and wherein each sub-module includes a top portion that forms a part of the surface profile of the palm area.

14. A method of operating an input device, the method including: Receive input data corresponding to an operating mode of the input device, the operating mode corresponding to control of a surface profile of a palm region of the input device, the palm region being partially formed by a plurality of sub-modules, wherein each sub-module has a movable element configured to traverse along a linear travel path within a frame of the respective sub-module; Determine a selection of the operating mode based on the input data; In response to input data corresponding to a first operating mode, cause a magnetization assembly to set a first magnetic field strength of a permanent magnet, the first magnetic field strength of the permanent magnet controlling a viscosity of an MR material coupled to the movable element, the MR material providing a first resistance to movement of the movable element along the linear travel path at the first magnetic field strength; and In response to input data corresponding to a second operating mode, cause the magnetization assembly to set a second magnetic field strength of the permanent magnet, the MR material providing a second resistance to movement of the movable element along the linear travel path at the second magnetic field strength, wherein the second magnetic field strength is higher than the first magnetic field strength.

15. The method according to claim 14, wherein, In the first operating mode, the MR material has a minimum viscosity, and wherein, in the second operating mode, the MR material has a maximum viscosity.

16. The method according to claim 14, wherein, The first resistance allows each of the sub-modules to traverse along the travel path in response to a force applied along the linear travel path, and wherein the second resistance prevents each of the sub-modules from traversing along the linear travel path in response to the applied force, the second resistance being higher than the first resistance.

17. The method according to claim 16, wherein, The input device includes a cover plate coupled to the palm region, wherein the cover plate covers the palm region, wherein a first side of the cover plate forms a user-accessible surface of the palm region, and wherein a second side of the cover plate opposite the first side is coupled to and supported by a top surface of each of the sub-modules.

18. The method according to claim 17, wherein When each of the sub-modules operates in the first operating mode, the cover plate is adjustable with at least two degrees of freedom, and wherein, when each of the sub-modules operates in the second operating mode, the cover plate is non-adjustable.

19. The method according to claim 16, wherein, The palm region has a surface profile, and wherein each sub-module includes a top portion that forms a part of the surface profile of the palm region.

20. The method according to claim 14, wherein The magnetization assembly is a single magnetization assembly shared for each of the plurality of sub-modules.

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