Human-machine interface system

Abstract

One variation of a system for a touch sensor includes: a substrate; a cover layer; a spacer element; a second electrode; and a controller. The substrate includes: a support location disposed on the substrate; and a first electrode disposed proximate the support position. The cover layer defines a touch sensor surface disposed over the substrate. A spacer element: coupled to the substrate at a support location; and yielding to a downward displacement of the substrate in response to a force applied to the touch sensor surface. A second electrode arranged opposite the first electrode to define a nominal gap; and is configured to influence an electrical value of the first electrode in response to a displacement of the substrate. The controller is configured to: read a set of electrical values from the first sensing electrode; and interpreting a first force magnitude of the first touch input based on the set of electrical values.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 350,327, filed on June 8, 2022, which is incorporated by reference in its entirety.

[0003] This application is related to U.S. non-provisional applications No. 18 / 204,818 filed on June 1, 2023, No. 18 / 102,519 filed on January 27, 2023, and No. 18 / 099,698 filed on January 20, 2023. Technical Field

[0004] The present invention relates generally to the field of touch sensors, and more particularly to a new and useful human-computer interface system in the field of touch sensors. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 is a schematic representation of the system;

[0007] Figure 2 is a schematic representation of a variation of the system;

[0008] Figure 3 is a schematic representation of a variation of the system;

[0009] Figure 4A and Figure 4B It is a flowchart representation of a variation of the system;

[0010] Figure 5A and Figure 5B It is a flowchart representation of a variation of the system;

[0011] Figure 6 is a schematic representation of a variation of the system;

[0012] Figure 7 is a schematic representation of a variation of the system;

[0013] Fig. 8A and Figure 8B is a schematic representation of a variation of the system;

[0014] Fig. 9A , Fig. 9B , Fig. 9C and Fig.9D is a schematic representation of a variation of the system;

[0015] Fig.10 is a schematic representation of a variation of the system;

[0016] Fig.11 is a schematic representation of a variation of the system;

[0017] Fig.12 is a schematic representation of a variation of the system;

[0018] Fig.13A , Fig. 13B and Fig. 13C is a schematic representation of a variation of the system;

[0019] Fig.14 It is a flowchart representation of a variation of the system;

[0020] Fig.15 It is a flowchart representation of a variation of the system;

[0021] Fig.16 It is a flowchart representation of a variation of the system;

[0022] Fig.17 It is a flowchart representation of a variation of the system;

[0023] Fig.18 is a schematic representation of a variation of the system;

[0024] Fig.19 is a schematic representation of a variation of the system;

[0025] Fig. 20 It is a flowchart representation of a variation of the system;

[0026] Fig.21 is a schematic representation of a variation of the system;

[0027] Fig. 22 is a schematic representation of a variation of the system;

[0028] Fig.23A and Fig. 23B is a schematic representation of a variation of the system;

[0029] Fig.24A and Fig. 24B is a schematic representation of a variation of the system;

[0030] Fig.25A and Fig.25B is a schematic representation of a variation of the system;

[0031] Fig.26 It is a flowchart representation of a variation of the system;

[0032] Fig. 27 It is a flowchart representation of a variation of the system;

[0033] Fig.28 is a schematic representation of a variation of the system; and

[0034] Fig.29A and Fig.29B is a schematic representation of a variation of the system. DETAILED DESCRIPTION

[0035] The following description of embodiments of the present invention is not intended to limit the present invention to these embodiments, but to enable those skilled in the art to make and use the present invention. The variations, configurations, implementations, example implementations, and examples described herein are optional and are not exclusive to the variations, configurations, implementations, example implementations, and examples they describe. The present invention described herein may include any and all combinations of these variations, configurations, implementations, example implementations, and examples.

[0036] 1. System

[0037] like Fig. 22 As shown, the system 100 for a touch sensor includes a substrate 102 including a first electrode 146 , a cover layer 170 , a first spacing element 160 , a second electrode 147 , and a controller 190 .

[0038] The substrate 102 includes a first support location disposed proximate to a side edge of the substrate 102 and a first electrode 146 (eg, a sensing electrode) disposed proximate to the first support location.

[0039] Cover layer 170 defines a touch sensor surface 172 disposed over substrate 102 .

[0040] First spacing element 160: coupled to substrate 102 at a first support position; and configured to couple substrate 102 to base plate 166 and yield to displacement of substrate 102 relative to base plate 166 in response to force applied to touch sensor surface 172 (i.e., "elastically deform in response to force applied to touch sensor surface 172").

[0041] The second electrode 147 (e.g., a driving electrode) is arranged below the substrate 102 and opposite to the first electrode 146 to define a nominal gap between the first electrode 146 and the second electrode 147; and is configured to affect the electrical values ​​of the first electrode 146 in response to the displacement of the first electrode 146 toward the second electrode 147.

[0042] Controller 190 is configured to: detect a first touch input at a first location on touch sensor surface 172; read a set of electrical values ​​from first electrodes 146; and interpret a first force magnitude of the first touch input based on the set of electrical values.

[0043] 2. Application

[0044] In general, system 100 defines a force sensor for a human-machine interface, and system 100 includes: a substrate 166 mounted to a chassis 192 of a computing device, facing and offset from a bottom layer 140 of a substrate 102, and extending proximate to a collection of spring elements 162; a first set of electrodes 146 (e.g., sensing electrodes) disposed on the bottom layer 140 of the substrate 102; and a second set of electrodes 147 (e.g., driving electrodes) disposed on a top layer 104 of the substrate 166, the top layer 104 facing and offset from the bottom layer 140 of the substrate 102, and the second set of electrodes 147 are configured to capacitively couple the first set of electrodes 146 disposed on the substrate 102, thereby defining a capacitive force sensor array that exhibits a change in capacitance value as a function of its distance from the substrate 102 (e.g., charging time, discharging time, or RC circuit resonant frequency).

[0045] The system 100 also includes a collection of spring elements 162 that: vertically support the substrate 102 against the substrate 166 (proximate to the second set of electrodes 147 (e.g., drive electrodes)); and yield to forces applied to the touch sensor surface 172 (e.g., displacement from a nominal plane), thereby enabling the substrate 102 to move toward the substrate 166, which changes the capacitance value between the corresponding drive electrodes on the substrate 166 and the sense electrodes on the substrate 102 in proportion to changes in the distance between the substrate 102 and the substrate 166.

[0046] In addition, the system 100 includes a controller 190 configured to execute scan cycles to interpret the force and touch input applied to the touch sensor surface 172. During these scan cycles, the controller 190 can apply a voltage (e.g., 6 volts) on the second group of electrodes 147 (e.g., drive electrodes) disposed at the substrate 166 to induce capacitive coupling of the second group of electrodes 147 (e.g., drive electrodes) to the first group of electrodes 146 (e.g., sense electrodes) on the substrate 102. By inducing a relatively low drive voltage on the second group of electrodes 147 (e.g., drive electrodes), the system 100 can: reduce power consumption during the execution of the scan cycles; and maintain a low signal-to-noise ratio of the capacitance values ​​read from the first group of electrodes 146 (e.g., sense electrodes) on the substrate 102. The controller 190 can then: calculate the change in the distance between a pair of sensing and drive electrodes in the second group of electrodes 147 based on the change in capacitance values ​​read from the pair of sensing and drive electrodes forming a capacitive force sensor relative to the stored baseline capacitance values ​​of these sensing and drive electrodes; and calculate the force carried by the spring element adjacent to the pair of sensing electrodes and drive electrodes based on the stored spring constant of the spring element.

[0047] In addition, controller 190 can: calculate the total force applied to touch sensor surface 172 based on the force carried by each spring element; and / or fuse the force carried by each spring element with the input position detected via the capacitive touch sensor to estimate the force applied to touch sensor surface 172 by a single touch input.

[0048] 2.1. Example: Force Flex Layer

[0049] In one example, the system 100 may include: a first force flex layer 152, such as formed of flexible polyethylene terephthalate (or "PET"), and disposed (e.g., bonded to) a bottom surface of a substrate 102; and a first set of electrodes 146 (e.g., sensing electrodes) disposed (e.g., printed) on the first force flex layer 152. In this example, when the first force flex layer 152 is coupled to the bottom surface of the substrate 102, each electrode in the first set of electrodes 146: is oriented (e.g., wrapped) in a support position defined on the bottom surface of the substrate 102; and is connected to a tail extending from the first force flex layer 152, the tail connecting the first set of electrodes 146 (e.g., sensing electrodes) to a controller 190 (e.g., an external controller 190 or a controller 190 on the substrate 102 via SMT).

[0050] Similarly, the system 100 may include: a second force flex layer 154 (e.g., a flexible PET layer) disposed (e.g., bonded) to a top surface of a substrate 166 disposed opposite the substrate 102; and includes a second set of electrodes 147 (e.g., drive electrodes) disposed (e.g., printed) on the second force flex layer 154. In this example, the first force flex layer 152: is disposed parallel to and offset from the second force flex layer 154 to align the first set of electrodes 146 with the second set of electrodes 147 on the second force flex layer 154; and cooperates with the second force flex layer 154 to define a force sensor array disposed below the touch sensor surface 172. Additionally, the second force flex layer 154 may tail: electrically connect to the second set of electrodes 147 (e.g., drive electrodes); and couple the second set of electrodes 147 (e.g., drive electrodes) to a controller 190 (e.g., an external controller 190).

[0051] Thus, the system 100 can: drive the second group of electrodes 147 (e.g., drive electrodes) to induce capacitive coupling between the first group of electrodes 146 (e.g., sensing electrodes) and the second group of electrodes 147 (e.g., drive electrodes); read a first set of electrical values ​​(e.g., capacitance values) from the first group of electrodes 146 (e.g., sensing electrodes); and transform the first set of electrical values ​​into a force magnitude applied to the touch sensor surface 172.

[0052] Thus, the system 100 can: receive the application of a load on the touch sensor surface 172, causing the substrate 102 including the first force flex layer 152 to vertically displace toward the second force flex layer 154 facing the first force flex layer 152; cause a first change in electrical values ​​on the force sensor array defined by the first force flex layer 152 and the second force flex layer 154; read electrical values ​​from the force sensor array; and interpret the magnitude of the force applied to the touch sensor surface 172 based on the set of electrical values ​​from the force sensor array.

[0053] 3. Substrate and touch sensor

[0054] like Figure 6 and Fig.12 As shown, system 100 includes: substrate 102, which includes a set of conductive layers (e.g., six conductive layers) etched to form a set of conductive traces; a set of substrate layers (e.g., five substrate layers) inserted between the conductive layer stacks; and a set of vias, which connect the conductive traces through the set of substrate layers. For example, substrate 102 may include a six-layer rigid fiberglass PCB.

[0055] Specifically, the top conductive layer and / or the second conductive layer of the substrate 102 may include a set of traces that cooperate to form an array (e.g., a grid array) of drive and sense electrode pairs 105 within the touch sensor. Subsequent conductive layers of the substrate 102 below the touch sensor may include interconnected spiral traces that cooperate to form a single-core or multi-core, single-winding or multi-winding, multi-layer inductor 150. In addition, the bottom conductive layer and / or the second-to-last conductive layer of the substrate 102 may include a set of interdigitated electrodes distributed around the perimeter of the substrate 102 to form a sparse array of force sensors.

[0056] 3.1 Resistive Touch Sensor

[0057] In one implementation, the first and second conductive layers of substrate 102 include columns of drive electrodes and rows of sense electrodes (or rows of drive electrodes and columns of sense electrodes) in a grid array of drive and sense electrode pairs 105 terminating on a top layer 104 of substrate 102. In this implementation, system 100 also includes a force-sensitive layer 174 that: is disposed above the top conductive layer of substrate 102 (e.g., interposed between top layer 104 of substrate 102 and cover layer 170); and exhibits a localized change in contact resistance across the set of drive and sense electrode pairs 105 in response to a localized application of force on cover layer 170 (i.e., on touch sensor surface 172).

[0058] Thus, during a scan cycle, the controller 190 may: serially drive the drive electrode columns; serially read electrical values ​​(e.g., voltages) representing the resistance across the drive and sense electrode pairs 105 from the sense electrode rows; detect a first input at a first location (e.g., (x, y) location) on the touch sensor surface 172 based on a deviation of the electrical values ​​read from a subset of the drive and sense electrode pairs 105 adjacent to the first location from the electrical values ​​based on the baseline resistance stored for the subset of the drive and sense electrode pairs 105; and interpret the force magnitude of the first input based on the magnitude of the deviation. As described below, the controller 190 may then drive an oscillating voltage across the multilayer inductor 150 in the substrate 102 during a tactile feedback cycle in response to the force magnitude of the first input exceeding a threshold input force.

[0059] Thus, the array of drive and sense electrode pairs 105 on the first conductive layer and the second conductive layer of the substrate 102 and the force-sensitive layer 174 can cooperate to form a resistive touch sensor that can be read by the controller 190 to detect the lateral position, longitudinal position, and force (or pressure) magnitude of an input (e.g., a finger, stylus, palm) on the touch sensor surface 172.

[0060] 3.2 Capacitive Touch Sensor

[0061] In another implementation, the first and second conductive layers of the substrate 102 include columns of drive electrodes and rows of sense electrodes (or rows of drive electrodes and columns of sense electrodes) in a grid array of drive and sense electrode pairs 105 that terminate on the top conductive layer of the substrate 102 (or on both the top conductive layer and the second conductive layer).

[0062] During a scan cycle, the controller 190 may: serially drive the drive electrode columns; serially read electrical values ​​(e.g., voltage, capacitance rise time, capacitance fall time, resonant frequency) representing the capacitive coupling between the drive and sense electrode pairs 105 from the sense electrode rows; and detect a first input at a first location (e.g., (x, y) location) on the touch sensor surface 172 based on deviations of the electrical values ​​read from a subset of the drive and sense electrode pairs 105 adjacent to the first location from the baseline capacitance-based electrical values ​​stored for the subset of the drive and sense electrode pairs 105. For example, the controller 190 may implement mutual capacitance technology to read the capacitance values ​​between the drive and sense electrode pairs 105 and interpret the input on the touch sensor surface 172 based on the capacitance values.

[0063] Thus, the array of drive and sense electrode pairs 105 on the first and second conductive layers of substrate 102 and the force-sensitive layer 174 can cooperate to form a capacitive touch sensor that can be read by controller 190 to detect the lateral and longitudinal position of an input (e.g., a finger, stylus, palm) on the touch sensor surface 172.

[0064] 3.3 Touch screen

[0065] In one variation, the system 100 includes (or interfaces with) a touch screen 196 disposed over a substrate, the touch screen 196 comprising: a digital display; a touch sensor disposed across the display; and a cover layer disposed over the display and defining a touch sensor surface 172. Thus, in this variation, the controller is configured to drive an oscillating voltage across the multilayer inductor during a tactile feedback cycle in response to the touch screen 196 detecting an input on the touch sensor surface.

[0066] Specifically, in this variation, the substrate 102 can: receive a touch screen or be integrated with a touch screen (i.e., an integrated display and touch sensor); and can cooperate with the first magnetic element 181 and the controller 190 to vibrate the touch sensor surface above the touch screen 196 in response to input on the touch sensor surface, such as input detected by a separate controller coupled to the touch screen 196.

[0067] 4. Multilayer Inductor

[0068] As described above, system 100 includes a multilayer inductor 150 formed from a collection of interconnected spiral traces fabricated directly within a conductive layer within substrate 102 .

[0069] Typically, the total inductance of a single spiral trace may be limited by the thickness of the conductive layer. Therefore, the system 100 may include a stack of overlapping, interconnected spiral traces fabricated on a set of adjacent layers of the substrate 102 to form a multi-layer, multi-turn, and / or multi-core inductor that exhibits greater inductance and, therefore, stronger magnetic coupling with a set of magnetic elements than a single spiral trace on a single conductive layer of the substrate 102. These spiral traces may be coaxially aligned about a common vertical axis (e.g., centered above the set of magnetic elements) and electrically interconnected by a set of vias that pass through intermediate substrate layers of the substrate 102.

[0070] In addition, substrate 102 can include conductive layers of varying thicknesses. Thus, spiral traces within thicker conductive layers of substrate 102 can be fabricated to have narrower trace widths and more turns, and spiral traces within thinner conductive layers of substrate 102 can be fabricated to have wider trace widths and fewer turns, so as to achieve similar resistance within each spiral trace over the same coil footprint. For example, lower conductive layers within substrate 102 can include heavier conductive material layers (e.g., 1 ounce copper having a thickness of approximately 35 microns) to accommodate narrower trace widths and more turns within the coil footprints in these conductive layers, thereby increasing the inductance of each spiral trace and creating a stronger magnetic coupling between multilayer inductor 150 and the collection of magnetic elements during a tactile feedback cycle. In contrast, in this example, an upper layer of substrate 102 can include a thinner conductive material layer that includes many (e.g., thousands) of drive and sense electrode pairs 105 of a touch sensor.

[0071] 4.1 Single core + even number of coil layers

[0072] exist Figure 2 In one implementation shown, substrate 102 includes an even number of spiral traces fabricated within an even number of substrate layers within substrate 102 to form a single-coil inductor.

[0073] In one example, the substrate 102 includes: a top layer 104 and a middle layer 106 including an array of drive and sense electrode pairs 105; a first inductive layer 110; a second inductive layer 120; a third inductive layer 130; and a fourth layer (e.g., a bottom layer). In this example, the first inductive layer 110 includes a first spiral trace 111 that winds in a first direction and defines a first end and a second end. Specifically, the first spiral trace 111 can define a first planar coil that spirals inwardly in a clockwise direction from a first end at the periphery of the first planar coil to a second end near the center of the first planar coil. The second inductive layer 120 includes a second spiral trace 122 that winds in a second direction opposite to the first direction and defines a third end and a fourth end, the third end being electrically coupled to the second end of the first spiral trace 111. Specifically, the second spiral trace 122 can define a second planar coil that spirals outwardly in a clockwise direction from a third end near the center of the second planar coil to a fourth end at the periphery of the second planar coil.

[0074] Similarly, the third inductive layer 130 includes a third spiral trace 133 that is coiled in the first direction and defines a fifth end and a sixth end, the fifth end being electrically coupled to the fourth end of the second spiral trace 122. Specifically, the third spiral trace 133 may define a third planar coil that spirals inwardly in a clockwise direction from the fifth end at the periphery of the third planar coil to the sixth end near the center of the third planar coil. In addition, the fourth layer includes a fourth spiral trace 144 that is coiled in the second direction and defines a seventh end and an eighth end, the seventh end being electrically coupled to the sixth end of the first spiral trace 111. Specifically, the fourth spiral trace 144 may define a fourth planar coil that spirals outwardly in a clockwise direction from the seventh end near the center of the fourth planar coil to the eighth end at the periphery of the fourth planar coil.

[0075] Thus: the second end of the first spiral trace 111 can be coupled to the third end of the second spiral trace 122 through the first via; the fourth end of the second spiral trace 122 can be coupled to the fifth end of the third spiral trace 133 through the second via; the sixth end of the third spiral trace 133 can be coupled to the seventh end of the fourth spiral trace 144 through the third via; and the first spiral trace 111, the second spiral trace 122, the third spiral trace 133 and the fourth spiral trace 144 can cooperate to form a single-core, four-layer inductor. Controller 190 (or driver): can be electrically connected to the first end of the first spiral trace 111 and the eighth end of the fourth spiral trace 144 (or "terminals" of the multilayer inductor 150); and can drive these terminals of the multilayer inductor 150 with an oscillating voltage during a haptic feedback cycle to induce an alternating magnetic field through the multilayer inductor 150, which couples to the magnetic element and causes the substrate 102 to oscillate within the chassis 192. Specifically, when the controller 190 drives the multilayer inductor 150 with a first polarity, current may flow through the first spiral trace 111, the second spiral trace 122, the third spiral trace 133, and the fourth spiral trace 144 in a continuous clockwise direction to induce a magnetic field in a first direction around the multilayer inductor 150. When the controller 190 reverses the polarity at both ends of the terminals of the multilayer inductor 150, the current may reverse direction and flow through the first spiral trace 111, the second spiral trace 122, the third spiral trace 133, and the fourth spiral trace 144 in a continuous counterclockwise direction to induce a magnetic field in an opposite second direction at the multilayer inductor 150.

[0076] Furthermore, in this implementation, because the multilayer inductor 150 spans an even number of conductive layers within the substrate 102, the terminals of the multilayer inductor 150 can be located on the periphery of the first and last layers of the substrate 102, thereby enabling direct connection to the controller 190 (or driver).

[0077] 4.2 Single core + odd number of coil layers

[0078] exist Figure 1 In another implementation shown, the multilayer inductor 150 spans an odd number (e.g., 3, 5) of conductive layers of the substrate 102. In this implementation, the conductive layers of the substrate 102 may include two parallel and offset spiral traces that cooperate with other spiral traces in the multilayer inductor 150 to position the terminals of the multilayer inductor 150 at the periphery of the multilayer inductor 150 for direct connection to the controller 190 or a driver.

[0079] In one example, substrate 102 includes: a top layer 104 and a middle layer 106 including an array of drive and sense electrode pairs 105; a first inductive layer 110; a second inductive layer 120; a third inductive layer 130; and a fourth layer (e.g., a bottom layer). In this example, first inductive layer 110 includes a ground electrode (e.g., a continuous trace) that: spans the footprint of the array of drive and sense electrode pairs 105 in top layer 104 and middle layer 106; is driven to a reference potential by controller 190; and is configured to shield the drive and sense electrode pairs 105 from electrical noise generated by multilayer inductor 150.

[0080] In this example, the third inductive layer 130 includes a first spiral trace 111 that is wound in a first direction and defines a first end and a second end. Specifically, the first spiral trace 111 can define a first planar coil that spirals inwardly in a clockwise direction from a first end at the periphery of the first planar coil to a second end near the center of the first planar coil. The second inductive layer 120 includes a second spiral trace 122 that is wound in a second direction opposite to the first direction and defines a third end and a fourth end, the third end being electrically coupled to the second end of the first spiral trace 111 in the third inductive layer 130. Specifically, the second spiral trace 122 can define a second planar coil that spirals outwardly in a clockwise direction from a third end near the center of the second planar coil to a fourth end at the periphery of the second planar coil.

[0081] The third inductive layer 130 further includes a third spiral trace 133 that winds in the first direction and defines a fifth end and a sixth end, the fifth end being electrically coupled to the fourth end of the second spiral trace 122 in the second inductive layer 120. Specifically, the third spiral trace 133 may define a third planar coil that: spirals inwardly in a clockwise direction from the fifth end at the periphery of the third planar coil to the sixth end near the center of the third planar coil; and is nested within the first planar coil in the third inductive layer 130 that also spirals inwardly in the clockwise direction.

[0082] In addition, the fourth layer includes a fourth spiral trace 144 that winds in the second direction and defines a seventh end and an eighth end, the seventh end being electrically coupled to the sixth end of the first spiral trace 111. Specifically, the fourth spiral trace 144 can define a fourth planar coil that spirals outward in a clockwise direction from the seventh end near the center of the fourth planar coil to the eighth end at the periphery of the fourth planar coil.

[0083] Therefore: the second end of the first spiral trace 111 within the third inductor layer 130 can be coupled to the third end of the second spiral trace 122 within the second inductor layer 120 through the first via; the fourth end of the second spiral trace 122 within the second inductor layer 120 can be coupled to the fifth end of the third spiral trace 133 within the third inductor layer 130 through the second via; the sixth end of the third spiral trace 133 within the third inductor layer 130 can be coupled to the seventh end of the fourth spiral trace 144 within the fourth layer through the third via; and the first spiral trace 111, the second spiral trace 122, the third spiral trace 133 and the fourth spiral trace 144 can cooperate to form a single-core, three-layer inductor. Controller 190: can be electrically connected to a first end of the first spiral trace 111 within the third inductive layer 130 and an eighth end of the fourth spiral trace 144 within the fourth layer (or "terminals" of the multilayer inductor 150); and can drive these terminals of the multilayer inductor 150 with an oscillating voltage during a tactile feedback cycle to induce an alternating magnetic field through the multilayer inductor 150, which is coupled to the magnetic element and causes the substrate 102 to oscillate within the chassis 192. Specifically, when the controller 190 drives the multilayer inductor 150 with a first polarity, current can flow in a continuous clockwise direction through the first spiral trace 111 within the third layer, the second spiral trace 122 within the second layer, the third spiral trace 133 within the third layer, and the fourth spiral trace 144 within the fourth layer of the substrate 102 to induce a magnetic field in a first direction around the multilayer inductor 150. When the controller 190 reverses the polarity at both ends of the terminals of the multilayer inductor 150, the current can reverse direction and flow through the first spiral trace 111, the second spiral trace 122, the third spiral trace 133 and the fourth spiral trace 144 in a continuous counterclockwise direction to induce a magnetic field of an opposite second direction at the multilayer inductor 150.

[0084] Thus, in this implementation, the substrate 102 may include an even number of single coil layers and an odd number of double coil layers that are selectively connected to form a multilayer inductor 150 that includes two terminals located on the periphery of the multilayer inductor 150 .

[0085] 4.3 Dual core + even number of coil layers

[0086] exist Figure 3 and Figure 7 In another implementation shown, substrate 102 includes an even number of spiral traces fabricated within an even number of substrate layers within substrate 102 to form a dual-core inductor (ie, two separate single-core inductors connected in series).

[0087] In one example, substrate 102 includes: a top layer 104 and a middle layer 106 including an array of drive and sense electrode pairs 105; a first inductive layer 110; a second inductive layer 120; a third inductive layer 130; and a fourth layer (eg, bottom layer).

[0088] In this example, the first inductive layer 110 includes a first spiral trace 111 that is wound in a first direction and defines a first end and a second end. Specifically, the first spiral trace 111 can define a first planar coil that spirals inwardly in a clockwise direction from a first end at the periphery of the first planar coil to a second end near the center of the first planar coil. The second inductive layer 120 includes a second spiral trace 122 that is wound in a second direction opposite to the first direction and defines a third end and a fourth end, the third end being electrically coupled to the second end of the first spiral trace 111. Specifically, the second spiral trace 122 can define a second planar coil that spirals outwardly in a clockwise direction from a third end near the center of the second planar coil to a fourth end at the periphery of the second planar coil. The third inductive layer 130 includes a third spiral trace 133 that is wound in the first direction and defines a fifth end and a sixth end, the fifth end being electrically coupled to the fourth end of the second spiral trace 122. Specifically, the third spiral trace 133 may define a third planar coil that spirals inwardly in a clockwise direction from a fifth end at the periphery of the third planar coil to a sixth end near the center of the third planar coil. In addition, the fourth layer includes a fourth spiral trace 144 that winds in the second direction and defines a seventh end and an eighth end, the seventh end being electrically coupled to the sixth end of the first spiral trace 111. Specifically, the fourth spiral trace 144 may define a fourth planar coil that spirals outwardly in a clockwise direction from a seventh end near the center of the fourth planar coil to an eighth end at the periphery of the fourth planar coil.

[0089] Therefore: the second end of the first spiral trace 111 can be coupled to the third end of the second spiral trace 122 through the first via; the fourth end of the second spiral trace 122 can be coupled to the fifth end of the third spiral trace 133 through the second via; the sixth end of the third spiral trace 133 can be coupled to the seventh end of the fourth spiral trace 144 through the third via; and the first spiral trace 111, the second spiral trace 122, the third spiral trace 133 and the fourth spiral trace 144 can cooperate to form a single-core, four-layer first inductor.

[0090] In addition, in this example, the first inductive layer 110 includes a fifth spiral trace adjacent to the first spiral trace 111, the fifth spiral trace winding in the second direction and defining a ninth end and a tenth end, the ninth end being coupled to the first end of the first planar coil. Specifically, the fifth spiral trace can define a fifth planar coil, the fifth planar coil spiraling inwardly in a clockwise direction from the ninth end at the periphery of the fifth planar coil to the tenth end near the center of the fifth planar coil. The second inductive layer 120 includes a sixth spiral trace adjacent to the second spiral trace 122, the sixth spiral trace winding in the first direction and defining an eleventh end and a twelfth end, the eleventh end being electrically coupled to the tenth end of the fifth spiral trace. Specifically, the sixth spiral trace can define a sixth planar coil, the sixth planar coil spiraling outwardly in a clockwise direction from the eleventh end near the center of the sixth planar coil to the twelfth end at the periphery of the sixth planar coil. The third inductive layer 130 includes a seventh spiral trace adjacent to the third spiral trace 133, the seventh spiral trace winding in the second direction and defining a thirteenth end and a fourteenth end, the thirteenth end being electrically coupled to the twelfth end of the sixth spiral trace. Specifically, the seventh spiral trace can define a seventh planar coil, the seventh planar coil spiraling inwardly in a clockwise direction from the thirteenth end at the periphery of the seventh planar coil to a fourteenth end near the center of the seventh planar coil. In addition, the fourth layer includes an eighth spiral trace adjacent to the fourth spiral trace 144, the eighth spiral trace winding in the first direction and defining a fifteenth end and a sixteenth end, the fifteenth end being electrically coupled to the fourteenth end of the seventh spiral trace. Specifically, the eighth spiral trace can define an eighth planar coil, the eighth planar coil spiraling outwardly in a clockwise direction from the fifteenth end near the center of the eighth planar coil to the sixteenth end at the periphery of the eighth planar coil.

[0091] Therefore: the tenth end of the fifth spiral trace can be coupled to the eleventh end of the sixth spiral trace through the fourth via; the twelfth end of the sixth spiral trace can be coupled to the thirteenth end of the seventh spiral trace through the fifth via; the fourteenth end of the seventh spiral trace can be coupled to the fifteenth end of the eighth spiral trace through the sixth via; and the fifth spiral trace, the sixth spiral trace, the seventh spiral trace and the eighth spiral trace can cooperate to form a single-core, four-layer second inductor.

[0092] In addition, the first end of the first spiral trace 111 can be coupled to the ninth end of the fifth spiral trace within the first conductive layer (e.g., forming a continuous trace with the fifth spiral trace). Therefore, the first inductor of the single-core four-layer and the second inductor of the single-core four-layer can be manufactured in series to form a four-layer dual-core inductor, wherein the eighth end of the fourth spiral trace and the sixteenth end of the eighth spiral trace each form a terminal of the four-layer dual-core inductor. Therefore, when these first multilayer inductors and second multilayer inductors are driven to the first polarity, current can flow through both of the first multilayer inductors in a continuous circular direction, so that the first multilayer inductors and the second multilayer inductors generate magnetic fields of the same phase and the same direction.

[0093] Controller 190 (or driver): can be electrically connected to these terminals and can drive these terminals with an oscillating voltage during a tactile feedback cycle to induce: a first alternating magnetic field through a first inductor (formed by the first spiral trace 111, the second spiral trace 122, the third spiral trace 133 and the fourth spiral trace 144) of the single core four layers; and a second alternating magnetic field that is in phase with the first alternating magnetic field through a second inductor (formed by the fifth spiral trace, the sixth spiral trace, the seventh spiral trace and the eighth spiral trace) of the single core four layers. Specifically, when the controller 190 drives the four-layer dual-core inductor with a first polarity, the current can: flow through the first spiral trace 111, the second spiral trace 122, the third spiral trace 133 and the fourth spiral trace 144 in a continuous clockwise direction to induce a magnetic field in a first direction around the first inductor of the single-core four-layer; and flow through the fifth spiral trace, the sixth spiral trace, the seventh spiral trace and the eighth spiral trace in a continuous clockwise direction to induce a magnetic field in the first direction around the second inductor of the single-core four-layer. When the controller 190 reverses the polarity at the terminals of the dual-core four-layer inductor, the current can reverse direction to: flow through the first spiral trace 111, the second spiral trace 122, the third spiral trace 133 and the fourth spiral trace 144 in a continuous counterclockwise direction to induce a magnetic field of an opposite second direction around the first inductor of the single-core four-layer; and flow through the fifth spiral trace, the sixth spiral trace, the seventh spiral trace and the eighth spiral trace in a continuous counterclockwise direction to induce a magnetic field of a second direction around the second inductor of the single-core four-layer.

[0094] 4.4 Dual core + odd number of coil layers

[0095] In a similar implementation, substrate 102 includes an odd number of spiral traces fabricated within an odd number of substrate layers within substrate 102 to form a dual core inductor.

[0096] For example, in this implementation, the dual-core inductor may include two single-coil, three-layer inductors connected in series. In this example, each single-coil, three-layer inductor includes: an even number of single-coil layers; and an odd number of double-coil layers, the odd number of double-coil layers being selectively connected to form a single-coil, three-layer inductor, the single-coil, three-layer inductor including two terminals located on the periphery of the single-coil, three-layer inductor, as described above.

[0097] 5. Magnetic components

[0098] Typically, system 100 includes a collection of magnetic elements that are: rigidly coupled to chassis 192 beneath multilayer inductor 150; and are configured to magnetically couple to multilayer inductor 150 during a tactile feedback cycle, thereby applying an oscillating force to multilayer inductor 150 and causing substrate 102 (and thereby touch sensor surface 172) to oscillate within receptor 194 during the tactile feedback cycle.

[0099] Specifically, the spiral traces within the multilayer inductor 150 can span a coil footprint, such as a rectangular or elliptical footprint that includes: a long side parallel to the major axis of the multilayer inductor 150; and a short side parallel to the minor axis of the multilayer inductor 150. For example: the substrate 102 can be 5 inches wide and 3 inches long; the touch sensor surface 172 can span an area of ​​approximately 5 inches by 3 inches above the substrate 102; and the coil footprint of each single-core, multilayer inductor 150 within the substrate 102 can be approximately 1.5 inches long and 0.5 inches wide, with the major axis of the single-core, multilayer inductor 150 extending laterally across the width of the substrate 102.

[0100] 5.1 Horizontal Oscillation: Single-core Multilayer Inductor

[0101] In one implementation, the set of magnetic elements is arranged relative to the multilayer inductor 150 so as to induce an oscillating force parallel to the touch sensor surface 172 between the multilayer inductor 150 and the magnetic elements, so that the substrate 102 oscillates horizontally in a plane parallel to the touch sensor surface 172 during a tactile feedback cycle, such as Figure 2 and Figure 4A shown.

[0102] In this implementation, the system 100 may include a first magnetic element 181 that: is disposed in a receptacle 194 defined by a chassis 192 of the device; defines a first magnetic polarity facing the multilayer inductor 150; and extends along a first side of the main axis. In this implementation, the system 100 may similarly include a second magnetic element 182 that: is disposed in the receptacle 194; defines a second magnetic polarity facing the multilayer inductor 150; and extends adjacent to the first magnetic element 181 along a second side of the main axis. Specifically, the first magnetic element 181 may be disposed proximate to the second magnetic element. Figure 4A As shown, the first magnetic element 181 and the second magnetic element 182 can be arranged directly below the multilayer inductor 150 and can face the multilayer inductor 150 with opposite polarities. When the controller 190 drives the multilayer inductor 150 with an AC voltage (or current), the multilayer inductor 150 can generate a magnetic field that extends vertically through the substrate 102 (e.g., perpendicular to the touch sensor surface 172) and interacts with the opposite magnetic fields of the first magnetic element 181 and the second magnetic element 182. More specifically, when the controller 190 drives the multilayer inductor 150 to a positive voltage during a tactile feedback cycle, the multilayer inductor 150 can generate a magnetic field that extends vertically through the substrate 102 in a first vertical direction, which: attracts the first magnetic element 181 (which is arranged to face the multilayer inductor 150 with a first polarity); repels the second magnetic element 182 (which is arranged to face the multilayer inductor 150 with a second polarity); generates a first lateral force in a first lateral direction; and moves the substrate 102 laterally in the first lateral direction. When the controller 190 reverses the voltage across the multilayer inductor 150 during the tactile feedback cycle, the multilayer inductor 150 can generate a magnetic field extending vertically through the substrate 102 in opposite vertical directions, which magnetic field: repels the first magnetic element 181; attracts the second magnetic element 182; generates a second lateral force in an opposite second lateral direction; and causes the substrate 102 to move laterally in the second lateral direction.

[0103] Thus, by oscillating the polarity of the multilayer inductor 150, the controller 190 can: induce an oscillatory interaction (i.e., alternating attractive and repulsive forces) between the multilayer inductor 150 and the magnetic element parallel to the touch sensor surface 172; and thereby cause the substrate 102 and the touch sensor surface 172 to oscillate horizontally (e.g., in a plane parallel to the touch sensor surface 172).

[0104] Thus, in this implementation, the spiral trace of the single core multilayer inductor 150 may define: a first length (e.g., 1.5 inches) along the major axis of the multilayer inductor 150; and a first width (e.g., 0.5 inches) along the minor axis of the multilayer inductor 150, the first width being less than the first length. Additionally, the first magnetic element 181 may define: a length parallel to the major axis and offset from the major axis and approximating the first length of the spiral trace; and a second width parallel to the minor axis of the multilayer inductor 150 and approximately half of the first width of the spiral trace. The second magnetic element 182 may similarly define: a length parallel to the major axis and offset from the major axis and approximating the first length of the spiral trace; and a width parallel to the minor axis of the multilayer inductor 150 and approximately half of the first width of the spiral trace. The first magnetic element 181 and the second magnetic element 182 may be adjacent to and disposed on each side of the major axis of the multilayer inductor 150.

[0105] For example, the magnetic element collection may include a permanent dipole magnet arranged in the receptacle 194 of the device and centered below the multilayer inductor 150 such that the poles of the magnetic element collection are located on opposite sides of the major axis of the multilayer inductor 150. As described above, the magnetic element collection may also include a permanent dipole magnet collection arranged in an anti-polarity configuration (e.g., a Halbach array).

[0106] Thus, the controller 190 (or driver) can polarize the multilayer inductor 150 by applying an AC voltage across the first and second terminals of the multilayer inductor 150, thereby inducing an AC current through the set of spiral traces, inducing an AC magnetic field perpendicular to the touch sensor surface, inducing an oscillating magnetic coupling between the multilayer inductor 150 and the set of magnetic elements, and thereby causing the substrate 102 to vibrate in a plane parallel to the touch sensor surface 172 during a tactile feedback cycle.

[0107] 5.2 Horizontal Oscillation: Dual-core Multilayer Inductor

[0108] Similarly, in the above implementation in which the substrate 102 includes two adjacent single-core multilayer inductors 150 connected in series, the system 100 may include: a first magnetic element 181, which is arranged in the receptacle 194, defines a first magnetic polarity facing the first single-core multilayer inductor 150 and extends along a first side of a first main axis of the first single-core multilayer inductor 150; a second magnetic element 182, which is arranged in the receptacle 194, defines a second magnetic polarity facing the first single-core multilayer inductor 150; polarity, and extending adjacent to the first magnetic element 181 along the second side of the first main axis; a third magnetic element, which is arranged in the receptacle 194, defines a second magnetic polarity facing the second single-core multilayer inductor 150, and extends along the first side of the second main axis of the second single-core multilayer inductor 150; and a fourth magnetic element, which is arranged in the receptacle 194, defines a first magnetic polarity facing the second single-core multilayer inductor 150, and extends adjacent to the third magnetic element along the second side of the second main axis, as Figure 6 shown.

[0109] Thus, by oscillating the polarity of the first single-core multilayer inductor 150 and the second single-core multilayer inductor 150 which include traces spiraling in the same direction and are therefore in phase, the controller 190 can: induce an oscillatory interaction parallel to the touch sensor surface 172 between the first single-core multilayer inductor 150, the first magnetic element 181 and the second magnetic element 182, and between the second single-core multilayer inductor 150, the third magnetic element and the fourth magnetic element; and thereby cause the substrate 102 and the touch sensor surface 172 to oscillate horizontally (e.g., in a plane parallel to the touch sensor surface 172).

[0110] 5.3 Vertical Oscillation

[0111] In another implementation, the set of magnetic elements is arranged relative to the multilayer inductor 150 so as to induce an oscillating force between the multilayer inductor 150 and the magnetic elements perpendicular to the touch sensor surface 172, so that the substrate 102 oscillates vertically within the chassis 192 during the tactile feedback cycle, as shown in FIG. Figure 1 and Figure 4B shown.

[0112] In the above implementation in which substrate 102 includes a single-core multilayer inductor 150, system 100 can include a first magnetic element 181 that: is disposed in a receptacle 194 of chassis 192; defines a first magnetic polarity facing the single-core multilayer inductor 150; is approximately centered below the multilayer inductor 150; and extends laterally across a major axis of the multilayer inductor 150. Thus, first magnetic element 181 can generate a magnetic field that extends primarily vertically toward the multilayer inductor 150 and is approximately centered below the multilayer inductor 150. More specifically, first magnetic element 181 can generate a magnetic field that extends primarily perpendicular to touch sensor surface 172 near the center of the multilayer inductor 150. As shown in FIG. Figure 4B As shown, when the controller 190 drives the multilayer inductor 150 to a positive voltage during a haptic feedback cycle, the multilayer inductor 150 can generate a magnetic field extending vertically through the substrate 102 in a first vertical direction, which: repels the first magnetic element 181 (which is arranged to face the multilayer inductor 150 with a first polarity); generates a first vertical force in the first vertical direction; and lifts the substrate 102 vertically away from the first magnetic element 181. When the controller 190 reverses the voltage across the multilayer inductor 150 during the haptic feedback cycle, the multilayer inductor 150 can generate a magnetic field extending vertically through the substrate 102 in an opposite second vertical direction, which: attracts the first magnetic element 181; generates a second vertical force in the opposite second vertical direction; and pulls the substrate 102 back downward toward the first magnetic element 181.

[0113] Thus, by oscillating the polarity of the multilayer inductor 150, the controller 190 can: induce an oscillating interaction (i.e., alternating attractive and repulsive forces) between the multilayer inductor 150 and the first magnetic element 181 that is perpendicular to the touch sensor surface 172; and thereby cause the substrate 102 and the touch sensor surface 172 to oscillate vertically (e.g., perpendicular to the touch sensor surface 172).

[0114] Furthermore, system 100 can be reconfigured for vertical and horizontal oscillation of touch sensor surface 172 by swapping a single magnetic element spanning the entire width of and centered beneath multilayer inductor 150 for a pair of opposing magnetic elements disposed beneath and on each side of a major axis of multilayer inductor 150 with no or minimal other modifications to system 100, such as Figure 6 shown.

[0115] 5.4 Vertical Oscillation Dual-Core Multilayer Inductor

[0116] Similarly, in the above implementation where the substrate 102 includes two adjacent single-core multilayer inductors 150 connected in series and in phase (i.e., with a phase difference of zero degrees), the system 100 may include a first magnetic element 181 that: is disposed in the receptor 194; defines a first magnetic polarity facing the first single-core multilayer inductor 150; is approximately centered under the first single-core multilayer inductor 150; and extends laterally across the main axis of the first single-core multilayer inductor 150. The system 100 may similarly include a second magnetic element 182 that: is disposed in the receptor 194 adjacent to the first magnetic element 181; defines a first magnetic polarity facing the second single-core multilayer inductor 150; is approximately centered under the second single-core multilayer inductor 150; and extends laterally across the main axis of the second single-core multilayer inductor 150, as shown in FIG. Figure 3 and Figure 4B shown.

[0117] Therefore, by oscillating the polarity of the first single-core multilayer inductor 150 and the second single-core multilayer inductor 150 in phase, the controller 190 can: induce an oscillatory interaction perpendicular to the touch sensor surface 172 between the first single-core multilayer inductor 150 and the first magnetic element 181 and between the second single-core multilayer inductor 150 and the second magnetic element 182; and thereby cause the substrate 102 and the touch sensor surface 172 to oscillate vertically (e.g., perpendicular to the touch sensor surface 172).

[0118] 6. Chassis integration + force sensor

[0119] As described above, the substrate 102 is flexibly mounted to the chassis 192 (e.g., within or above the receptacle 194 defined by the chassis 192) so that the substrate 102 can oscillate horizontally or vertically relative to the chassis 192 during a haptic feedback cycle. In general, the system 100 may include: a substrate 102 including a first set of electrodes 146 (e.g., sensing electrodes); and a substrate 166 including a second set of electrodes 147 (e.g., drive electrodes) that cooperate with the first set of electrodes 146 to form an array of force sensors (e.g., capacitive force sensors). Specifically, the substrate 166: is mounted within the chassis 192; and includes the second set of electrodes 147 arranged (e.g., printed) on the top surface of the substrate 166. In addition, the substrate 102: includes the first set of electrodes 146 arranged on the bottom layer 140 of the substrate 102; and is coupled to the substrate 166 via a set of spacer elements 160, which position the first set of electrodes 146 to align with the second set of electrodes 147 to form an array of force sensors. As described below, the first set of electrodes 146 disposed on substrate 102 may be interchanged between a set of sense electrodes and / or a set of drive electrodes. Similarly, the second set of electrodes 147 disposed on substrate 166 may be interchanged between a set of sense electrodes and / or a set of drive electrodes.

[0120] 6.1 Substrate

[0121] As mentioned above and Figure 1 , the substrate 102 may include: a top layer 104; and a bottom layer 140 defining a set of support locations. The substrate 102 also includes a first set of electrodes 146 (e.g., sensing electrodes) disposed on the bottom layer 140 and adjacent to (e.g., surrounding, abutting) the support locations. The first set of electrodes 146 (e.g., sensing electrodes) may be directionally printed on the bottom layer 140 of the substrate 102 and / or may be integrated into a rigid or flexible PCB stacked on the bottom layer 140 of the substrate 102.

[0122] 6.1.1 Sensing Electrodes

[0123] In one implementation, system 100 includes: each support location in a set of support locations arranged around a perimeter of a bottom layer 140 of substrate 102; and a first set of electrodes 146 (eg, sensing electrodes) arranged on bottom layer 140 adjacent to the support locations.

[0124] For example, the set of support locations may include: a first subset of support locations disposed proximate corner edges of the bottom layer 140 of the substrate 102; and a second subset of support locations disposed proximate lateral side edges of the bottom layer 140 of the substrate 102 between the corner edges. In this example, each sensing electrode in the first set of electrodes 146 (e.g., sensing electrodes): may be disposed adjacent to a first side of a support location in the set of support locations; and define a shape surrounding the support location on the first side of the support location, such as a semicircular shape surrounding the support location (e.g., a horseshoe, a crescent shape) and / or a crenellation shape surrounding the support location.

[0125] Additionally or alternatively, in this example, the sensing electrodes in the first group of electrodes 146 (e.g., sensing electrodes) may be arranged: proximate to a lateral side edge of the bottom layer 140 of the substrate 102, adjacent to a set of support locations around the periphery of the bottom layer 140 of the substrate 102; and / or proximate to a center of the bottom layer 140 of the substrate 102, adjacent to a support location around the center of the bottom layer 140 of the substrate 102. Specifically, the sensing electrodes may partially extend around a first lateral side edge of the bottom layer 140 of the substrate 102, and / or be arranged proximate to a corner edge around the bottom layer 140 of the substrate 102, adjacent to a set of support locations around the periphery of the bottom layer 140 of the substrate 102.

[0126] Thus, the system 100 can: accommodate sensing electrodes of different shapes and sizes on the bottom layer 140 of the substrate 102 to maintain uniformity across the substrate 102; and reduce sensitivity to noise during a scan cycle via the controller 190 to read capacitance values ​​from a first set of electrodes 146 (e.g., sensing electrodes) on the bottom layer 140 of the substrate 102.

[0127] 6.1.2 Mutual Capacitive Force Sensor

[0128] exist Figure 1 In one implementation shown, a capacitive force sensor array formed by a second set of electrodes 147 (eg, drive electrodes) of base plate 166 and a first set of electrodes 146 (eg, sense electrodes) of substrate 102 is arranged proximate each support location in a mutual capacitance configuration.

[0129] For example, each capacitive force sensor may include a sensing electrode disposed on the bottom layer 140 of the substrate 102 adjacent to the first side of the support location, and a drive electrode (e.g., a conductive trace) fabricated on the top layer 104 of the substrate 166 opposite the first side of the support location and vertically aligned with the sensing electrode. In this example, the first set of electrodes 146 (e.g., sensing electrodes) and the second set of electrodes 147 (e.g., drive electrodes) within the capacitive force sensor array may be capacitively coupled to each other, and an air gap between the substrate 102 and the substrate 166 may form an air dielectric between the first set of electrodes 146 (e.g., sensing electrodes) and the second set of electrodes 147 (e.g., drive electrodes).

[0130] In the foregoing example, in response to applying a force input on the touch sensor surface 172, the adjacent spring elements may then yield (i.e., displace from the nominal plane) such that the first set of electrodes 146 (e.g., sensing electrodes) of the substrate 102 move closer to the second set of electrodes 147 (e.g., drive electrodes) on the substrate 166, thereby reducing the air gap between the first set of electrodes 146 (e.g., sensing electrodes) and the second set of electrodes 147 (e.g., drive electrodes). Thus, the reduced distance between the substrate 102 and the substrate 166 increases the effective dielectric between the first set of electrodes 146 (e.g., sensing electrodes) and the second set of electrodes 147 (e.g., drive electrodes), thereby increasing the capacitance of the first set of electrodes 146 (e.g., sensing electrodes) and the second set of electrodes 147 (e.g., drive electrodes). Thus, when the touch sensor surface 172 is pressed over the capacitive force sensor, the capacitance value of the capacitive force sensor may deviate from the baseline capacitance value, such as in the form of an increase in the charging time of the capacitive force sensor, an increase in the discharge time of the capacitive force sensor, or a decrease in the resonant frequency of the capacitive force sensor.

[0131] In another example, the system 100 includes: a first set of electrodes 146 defining a set of sense electrodes arranged across the perimeter of the bottom layer 140 of the substrate 102; and a second set of electrodes 147 defining a set of drive electrodes arranged around the top surface of the substrate 166 and aligned with the set of sense electrodes. Thus, the set of sense electrodes cooperates with the set of drive electrodes to form a capacitive force sensor array arranged below the touch sensor surface 172. Thus, the system 100 can: drive the set of drive electrodes to induce capacitive coupling between the set of sense electrodes and the set of drive electrodes; read capacitance values ​​from the set of sense electrodes on the substrate 102; and interpret the magnitude of the force applied to the touch sensor surface 172 based on the capacitance values ​​representing the vertical displacement of the set of sense electrodes toward the set of drive electrodes.

[0132] Thus, in this implementation, the controller 190 may, during a scan cycle: drive each drive electrode in the drive electrode set (serially), such as by a target voltage, during a target time interval, or using an AC voltage of a specific frequency; read a set of capacitance values ​​from each sense electrode in the sense electrode set, the set of capacitance values ​​representing a measurement of the mutual capacitance between the sense electrode set and the drive electrode set of the capacitive force sensor array; and interpret the distribution of force applied to the touch sensor surface 172 based on the set of capacitance values.

[0133] 6.1.3 Self-capacitive force sensor

[0134] In one implementation, a capacitive force sensor array formed by a second set of electrodes 147 (eg, drive electrodes) of baseplate 166 and a first set of electrodes 146 (eg, sense electrodes) of substrate 102 is arranged proximate each support location in a self-capacitance configuration.

[0135] For example, each capacitive force sensor can include a single electrode disposed at a support location on (e.g., surrounding) bottom layer 140 of substrate 102, and substrate 166 can be grounded to serve as a common second electrode for each capacitive sensor. In this example, the single electrode within the capacitive sensor and substrate 166 can be capacitively coupled, and an air gap between substrate 102 and substrate 166 can form an air dielectric between the capacitive force sensor and substrate 166.

[0136] Thus, in this implementation, the controller 190 can: drive the substrate 166 to a reference (e.g., ground) potential during a scan cycle; drive each capacitive sensor (serially), such as by a target voltage, during a target time interval, or using an AC voltage of a particular frequency; read a set of capacitance values ​​from each sensing electrode in the first set of electrodes 146 (e.g., sensing electrodes), the set of capacitance values ​​representing a measurement of the self-capacitance between the capacitive force sensor and the substrate 166; and interpret the distribution of force applied to the touch sensor surface 172 based on the set of capacitance values ​​and known spring constants in the set of spring elements 162.

[0137] In another implementation, the system 100 can implement a combination of mutual capacitance force sensors and self capacitance force sensors to interpret the force applied to the touch sensor surface 172. In this implementation, the controller 190 can sequentially perform scanning cycles to read mutual capacitance values ​​and self capacitance values ​​from electrodes on the substrate 102 and the baseplate 166.

[0138] 6.1.4 Capacitive Coupling

[0139] In one implementation, the system 100 includes a first group of electrodes 146 (e.g., sensing electrodes) vertically aligned with a second group of electrodes 147 (e.g., drive electrodes) offset from the first group of electrodes 146 to form a force sensor set. Specifically, the sensing electrodes in the first group of electrodes 146 (e.g., sensing electrodes) are vertically aligned with the drive electrodes in the second group of electrodes 147 (e.g., drive electrodes) to form a capacitive force sensor. In this implementation, the manufacturing process and / or the load applied to the touch sensor surface 172 can cause a skewed (or "slanted") alignment between the sensing electrodes and the drive electrodes, which can cause imperfect capacitive coupling between the sensing electrodes and the drive electrodes of the force sensor. Therefore, the system 100 can include: a sensing electrode spanning a first area; and a drive electrode spanning a second area constrained within the first area below the sensing electrode to ensure vertical alignment between the sensing electrodes and the drive electrodes in the force sensor, regardless of the manufacturing process and / or the load applied to the touch sensor surface 172. The system 100 may then include this configuration on the first set of electrodes 146 and the second set of electrodes 147 to ensure capacitive coupling between the first set of electrodes 146 (eg, sensing electrodes) and the second set of electrodes 147 (eg, driving electrodes).

[0140] For example, the system 100 may include a sensing electrode in the first set of electrodes 146 (e.g., sensing electrodes): the sensing electrode spans a first area on the bottom layer 140 of the substrate 102; and the sensing electrode surrounds a support location for the substrate 102 at the bottom layer 140. In addition, the system 100 includes a drive electrode in the second set of electrodes 147 (e.g., drive electrodes): the drive electrode spans a second area on the top surface of the substrate 166 that is smaller than the first area; and the drive electrode is aligned within the first area of ​​the sensing electrode to form a capacitive force sensor.

[0141] Thus, system 100 can: receive the application of a load on touch sensor surface 172, which results in a deflection displacement between first group of electrodes 146 (e.g., sensing electrodes) and second group of electrodes 147 (e.g., drive electrodes); read a set of electrical values ​​from first group of electrodes 146 (e.g., sensing electrodes); and interpret the magnitude of force applied to touch sensor surface 172 based on a deviation of the set of electrical values ​​from a baseline electrical value across a set of force sensors.

[0142] 6.1.5 Capacitive Touch Sensor

[0143] As described above, system 100 may further include a capacitive touch sensor disposed on top layer 104 of substrate 102. In one implementation, the capacitive touch sensor includes: an array of drive electrodes and sense electrodes disposed on top layer 104 of substrate 102; and a cover layer 170 (e.g., a glass film) disposed over substrate 102 to surround the array of drive electrodes and sense electrodes and form a touch sensor surface 172 (e.g., a "tactile surface") over substrate 102. In this implementation, system 100 may include: a first number of capacitive force sensors that form a first number of pressure sensors between substrate 102 and baseplate 166; and a second number of drive electrodes and sense electrodes that form a second number of pixels in the capacitive touch sensor that is at least two orders of magnitude greater than the first number.

[0144] Thus, system 100 may output: a location (e.g., (x, y) coordinates) of a touch input applied on touch sensor surface 172; and a force magnitude of the touch input applied at the location on touch sensor surface 172. For example, system 100 may: read a first set of electrical values ​​from an array of drive and sense electrode pairs 105 on top layer 104 of substrate 102; and interpret a lateral position and a longitudinal position of a first touch input on touch sensor surface 172 based on the first set of electrical values. Then, system 100 may: read a second set of electrical values ​​from a first group of electrodes 146 (e.g., sense electrodes) disposed on bottom layer 140 of substrate 102; interpret a first force magnitude of the first touch input on touch sensor surface 172 based on the second set of electrical values; and output a lateral position, a longitudinal position, and a first force magnitude of the first touch input.

[0145] 6.2 Spring elements

[0146] Typically, system 100 includes a collection of spring elements 162 that are: coupled (e.g., bonded, riveted, welded) to substrate 102 at a collection of support locations; configured to support substrate 102 on base plate 166, which is coupled to chassis 192 of a computing device; and configured to yield to displacement of substrate 102 downward toward base plate 166 in response to a force applied to touch sensor surface 172.

[0147] 6.2.1 Overall spring element and base plate structure

[0148] In one implementation, the system 100 includes a base plate 166 that: includes an integral structure spanning the bottom layer 140 of the substrate 102 ; and defines a set of spring elements 162 that align with a set of support locations on the substrate 102 .

[0149] In one example, the base plate 166 comprises a thin-walled structure (e.g., a 20-gauge or 0.8 mm thick stainless steel sheet) that is machined, stamped, punched, etched, or laser cut to form flexures aligned with each support location. Thus, in this example, each spring element may define a flexure (such as a multi-arm helical flexure) that is configured to laterally and longitudinally position the system 100 above the chassis 192 and deflect inwardly and outwardly from a nominal plane defined by the thin-walled plate.

[0150] More specifically, in this example, base plate 166 may include an integral metal sheet structure disposed between substrate 102 and chassis 192 and defining a nominal plane. Each spring element: may be formed (e.g., fabricated) in the integral metal structure; may define a stage coupled to the spacer, opposite bottom layer 140 of substrate 102; may include a flexure, which is fabricated in the integral metal sheet structure; and may be configured to return to an approximately nominal plane in response to no touch input being applied to touch sensor surface 172.

[0151] 6.2.2 Spring element position

[0152] In one implementation, the substrate 102 defines a rectangular geometry with the following support locations: near the perimeter of the rectangular geometry; and near the center of the rectangular geometry. Thus, the set of spring elements 162 can cooperate to support the perimeter and center of the substrate 102 against the base plate 166 of the computing device. In this implementation, the substrate 102 and the cover layer 170 disposed above the capacitive touch sensor can cooperate to form a semi-rigid structure that resists deflection between the set of support locations.

[0153] For example, with the perimeter of substrate 102 supported by a set of spring elements 162, when a force of about 1.6 Newtons (i.e., 165 grams, equal to a "click" input force threshold) is applied to the center of touch sensor surface 172, substrate 102 and cover layer 170 can exhibit a deflection from a nominal plane of less than 0.3 millimeters. Thus, substrate 102 and cover layer 170 can cooperate to transfer this applied force to the perimeter of substrate 102, and thus to the underlying set of spring elements 162. As described above, the set of spring elements 162 can support the perimeter and center of substrate 102, and substrate 102 and cover layer 170 can form a substantially rigid structure to achieve a ratio of applied force to vertical displacement of substrate 102 that varies substantially uniformly or linearly across the total area of ​​touch sensor surface 172.

[0154] In another example, the system 100 includes a substrate 166 including a set of spring elements 162: the set of spring elements 162 is formed around a perimeter of the substrate 166; and faces the bottom layer 140 of the substrate 102. Specifically, each spring element in the set of spring elements 162: is arranged proximate to a side edge of the substrate 166; defines a first stage that faces a support position in the set of support positions on the bottom layer 140 of the substrate 102; and is configured to yield to displacement of the substrate 102 downward toward the substrate 166 in response to a force applied to the touch sensor surface 172. In this example, the system 100 includes each spacing element that: couples adjacent support positions in the set of support positions (e.g., via the spacing element) on the bottom layer 140 of the substrate 102; and is arranged facing the substrate 102 adjacent to a drive electrode in the second set of electrodes 147 (e.g., drive electrodes).

[0155] Therefore, the system 100 can: receive the application of a touch input on the touch sensor surface 172 to yield (i.e., displace from the nominal plane) the set of spring elements 162 arranged below the substrate 102, thereby causing the displacement of the substrate 102 toward the base plate 166; and based on the displacement, affect the capacitance value between the first group of electrodes 146 (e.g., sensing electrodes) and the second group of electrodes 147 (e.g., driving electrodes). Therefore, the system 100 can: read electrical values ​​from the first group of electrodes 146 (e.g., sensing electrodes) during the displacement of the substrate 102 and the base plate 166; and interpret the magnitude of the force applied to the touch sensor surface 172 based on the electrical values.

[0156] 6.2.3 Spring force

[0157] In addition, in the foregoing implementation, the system 100 may include: a first subset of spring elements 162 (characterized by a first spring constant), which is coupled to a first subset of support positions near the corners of the substrate 102; and a second subset of spring elements 162 (characterized by a second spring constant that is less than the first spring constant), which is coupled to a second subset of support positions near the edge of the substrate 102.

[0158] 6.2.4 Single spring element

[0159] In another implementation, the system 100 includes a discrete set of spring elements arranged in (e.g., bonded to, pressed into) individual spring receptacles 194 in the base plate 166 and coupled (e.g., bonded to) the bottom layer 140 of the substrate 102 across a set of support locations.

[0160] 6.2.5 Preloaded spring elements

[0161] As described above, the substrate 102 can also be biased against the set of spring elements 162 of the substrate 166 so as to: preload the spring elements; achieve a target nominal air gap between the set of sensing electrodes of the substrate 102 and the second set of electrodes 147 (e.g., drive electrodes) of the substrate 166; and achieve a baseline capacitance value that falls within a reasonable range for each capacitive sensor.

[0162] Thus, system 100 can enable controller 190 to detect movement of each sense electrode toward and away from their corresponding drive electrode on substrate 166 based on changes in capacitance, such as in response to: force applied to touch sensor surface 172 above the capacitive sensor; and force applied to touch sensor surface 172 away from the capacitive sensor.

[0163] 6.3 Substrate

[0164] Generally, baseplate 166 is configured to: couple to substrate 102 adjacent the set of spring elements 162 ; and affect a capacitance value of the capacitive force sensor array in response to displacement of substrate 102 toward baseplate 166 .

[0165] 6.3.1 Driving Electrode Structure

[0166] In one implementation, the system 100 includes a substrate 166 that includes: an integral structure spanning a bottom layer 140 of a substrate 102; and a second set of electrodes 147 (e.g., drive electrodes) arranged on a top layer 104 of the substrate 166 that are vertically aligned with a first set of electrodes 146 (e.g., sense electrodes) on the bottom layer 140 of the substrate 102.

[0167] In one example, the second set of electrodes 147 (e.g., drive electrodes) include conductive traces (such as formed of conductive ink (e.g., Ag, C, Cu, etc.), conductive polymers (e.g., PEDOT:PSS), patternable conductive materials (e.g., graphene, ITO, metal mesh), and / or rolled annealed metal) on the top layer 104 of the substrate 102 that are aligned with the first set of electrodes 146 (e.g., sense electrodes) on the bottom layer 140 of the substrate 102. In this example, the second set of electrodes 147 (e.g., drive electrodes) can be directly printed across the top layer 104 of the substrate 166 and / or can be integrated into a rigid or flexible PCB stacked above the top layer 104 of the substrate 166. Thus, in this example, each drive electrode can define a segment of a conductive trace (such as a continuous trace across the substrate 166) that is configured to align with the first set of electrodes 146 (e.g., sense electrodes) across the bottom layer 140 of the substrate 102 to define a capacitive sensor array.

[0168] Thus, the system 100 can: drive the second set of electrodes 147 (e.g., drive electrodes) across the top layer 104 of the substrate 166, such as by a target voltage (e.g., 6 volts), during a target time interval, and / or using an AC voltage of a specific frequency; and read a set of capacitance values ​​from the sensing electrodes across the bottom layer 140 of the substrate 102 aligned with the second set of electrodes 147 (e.g., drive electrodes), the set of capacitance values ​​representing the measured value of the mutual capacitance in the capacitive force electrode array. As a result, the system 100 can increase the signal-to-noise ratio based on the capacitance values ​​read from the capacitive force sensor, such as by implementing a drive voltage of less than 6 volts, to interpret the accurate magnitude of the force input applied to the touch sensor surface 172.

[0169] In another implementation, the second group of electrodes 147 (e.g., drive electrodes) includes: a first subset of drive electrodes that are arranged across a first area of ​​the top layer 104 of the substrate 166 and aligned with a first subset of sense electrodes that are arranged across the bottom layer 140 of the substrate 102; and a second subset of drive electrodes that are arranged across a second area of ​​the top layer 104 of the substrate 166 and aligned with a second subset of sense electrodes that are arranged across the bottom layer 140 of the substrate 102.

[0170] In one variation of this implementation, the first subset of drive electrodes and the second subset of drive electrodes may be connected by a single driver across the top layer 104 of the substrate 166. Additionally, each sense electrode in the first subset of sense electrodes and the second subset of electrodes is individually connected to a sense line across the bottom layer 140 of the substrate 102.

[0171] exist Figure 4A and Figure 4B , a first subset of drive electrodes and a second subset of drive electrodes are connected in pairs of drive lines across a top layer 104 of substrate 102. Additionally, a first subset of sense electrodes may be connected via first sense lines, and a second subset of sense electrodes may be connected via second sense lines across a bottom layer 140 of substrate 102. Thus, system 100 may selectively drive electrode pairs across specific areas of touch sensor surface 172, and selectively read capacitance values ​​from sense electrodes across these specific areas of touch sensor surface 172 to interpret input and force magnitudes on these specific areas.

[0172] For example, a first subset of drive electrodes includes a first conductive trace that: spans a first area on the top layer 104 of the substrate 166; and defines a first segment that is aligned with a first subset of sense electrodes across the bottom layer 140 of the substrate 102. Additionally, in this example, a second subset of drive electrodes includes a second conductive trace that: spans a second area on the top layer 104 of the substrate 166; and defines a second segment that is aligned with a second subset of sense electrodes disposed across the bottom layer 140 of the substrate 102.

[0173] Thus, in response to detecting a touch input on touch sensor surface 172 at a first area, system 100 may: drive a first subset of drive electrodes across top layer 104 of substrate 166, such as by a target voltage (e.g., 6 volts), during a target time interval, and / or using an alternating voltage at a particular frequency; and read a set of capacitance values ​​from a first subset of sense electrodes arranged across bottom layer 140 of substrate 102 and aligned with the first subset of drive electrodes, the set of capacitance values ​​representing a measurement of mutual capacitance in the capacitive force electrode array in the first area. Thus, system 100 may selectively interpret the magnitude of force input applied across an area of ​​touch sensor surface 172 to increase the accuracy of capacitance values ​​read from sense electrodes while saving power during a scan cycle of system 100.

[0174] 6.3.2 Overall base plate and spring element

[0175] In one implementation, the base plate 166 defines a single unitary (e.g., metal) structure that: defines a second set of electrodes 147 (e.g., drive electrodes) and a set of spring elements 162 arranged across a top layer 104 of the base plate 166; and is arranged below the substrate 102. In this implementation, the unitary metal structure can define: a nominal plane between the chassis 192 receiver 194 and the substrate 102; and a set of capacitive coupling regions adjacent to (e.g., aligned with, coaxial with) a set of support locations on the bottom layer 140 of the substrate 102 and the first set of electrodes 146 (e.g., sense electrodes).

[0176] In this implementation, each spring element: can be formed in an integral metal structure (e.g., by etching, laser cutting); can extend from its adjacent capacitive coupling region; can define a stage coupled to a corresponding support position on the bottom layer 140 of the substrate 102 (e.g., via a spacer element); and can be configured to return to an approximately nominal plane in response to no touch input being applied to the touch sensor surface 172.

[0177] Additionally, in this implementation, a second set of electrodes 147 (e.g., drive electrodes): can be formed in the integral metal structure (e.g., by conductive traces printed on substrate 166); can be located proximal to its adjacent capacitive coupling region; and can be configured to capacitively couple to sensing electrodes on bottom layer 140 of substrate 102 to define a capacitive force sensor set.

[0178] In the foregoing implementation, the overall structure can be rigidly mounted to the chassis 192 of the computing device, thereby: rigidly positioning the capacitive coupling region relative to the substrate 102 and within a nominal plane; and enabling the stage of the spring element to move vertically relative to the nominal plane and the capacitive coupling region defined by the overall metal structure.

[0179] Thus, each sense electrode on the bottom layer 140 of the substrate 102 can: capacitively couple to an adjacent drive electrode on an adjacent capacitive coupling area on the integral metal structure; and move toward the adjacent capacitive coupling area in response to the application of a force on the touch sensor surface 172 proximate to the capacitive force sensor, which changes the capacitance value of the capacitive force sensor, which is proportional to the compression of the adjacent spring element and, therefore, proportional to the portion of the force carried by the spring element.

[0180] Furthermore, in this implementation, the unitary metal structure can be fastened directly to the chassis 192 of the computing device. Alternatively, the unitary metal structure can be mounted (e.g., fastened, riveted, welded, crimped) to a separate chassis 192 interface, which is then fastened or otherwise mounted to the chassis 192.

[0181] 6.3.3 Spacer elements

[0182] As described in U.S. Patent Application No. 17 / 191,631, the entire contents of which are incorporated by reference: the top layer 104 of the substrate 102 includes an array of drive and sense electrode pairs 105 arranged in a grid array and arranged at a first density; and the bottom layer 140 of the substrate 102 includes a first set of electrodes 146 (e.g., a sparse peripheral array of sense electrodes as described above) positioned near the perimeter of the substrate 102 at a second density less than the first density. In this implementation, the system 100 also includes a set of spacing elements 160 (e.g., short elastic posts or buttons, adhesive films) coupled to the bottom layer 140 of the substrate 102 at each support location in a set of support locations at the substrate 102 to support the substrate 102 on the chassis 192 of the device. Specifically, each spacer element 160: is arranged (e.g., bonded) to a supporting position near a first group of electrodes 146 (e.g., sensing electrodes) at the bottom layer 140 of the substrate 102; and is configured to compress in response to a load applied to the touch sensor surface 172, which compresses the spacer element 160 against the substrate 102, thereby affecting the electrical value between the first electrode on the substrate 102 and the second electrode arranged below the substrate 102.

[0183] Thus, in this implementation, the controller 190 may: read a first set of electrical values ​​from the set of drive and sense electrode pairs 105 representing capacitive coupling between the drive and sense electrode pairs 105; and detect a first input at a first location on the touch sensor surface 172 based on a deviation of the electrical values ​​read from a subset of the drive and sense electrode pairs 105 adjacent to the first location from a baseline capacitance value stored for the subset of the drive and sense electrode pairs 105. During this same scanning cycle, the controller 190 may also: read a second set of electrical values ​​(e.g., capacitive coupling) from the first set of electrodes 146 representing compression of the set of spacing elements 160; interpret a force magnitude of the first input based on a magnitude of the deviation of the electrical (e.g., capacitance) values ​​across the set of electrodes from the baseline electrical values; and drive an oscillating voltage across the multilayer inductor 150 during a haptic feedback cycle in response to the force magnitude of the first input exceeding a threshold input force.

[0184] Generally, in this configuration, the spacer elements 160 are: interposed between the bottom layer 140 of the substrate 102 and the base of the receptacle 194 ; and vertically support the substrate 102 within the receptacle 194 .

[0185] In one implementation, each spacing element 160 includes a coupon that is: bonded to the bottom surface of substrate 102 and bonded to the base of receptor 194; and formed of a low-durometer or elastic material that deflects (or "shears") laterally to enable substrate 102 to translate laterally within receptor 194 during a haptic feedback cycle in response to alternating magnetic coupling between multilayer inductor 150 and the collection of magnetic elements. In another implementation, each spacing element 160 includes: a coupon bonded to the bottom surface of substrate 102; and a bottom surface coated with or including a low-friction material that is configured to slide across the base of receptor 194 to enable substrate 102 to translate laterally within receptor 194 during a haptic feedback cycle while also supporting substrate 102 vertically above receptor 194. In yet another implementation, as described below, each spacing element 160 is mounted to a spring or flexure element mounted to the chassis 192 that enables the spacing element 160 to move laterally within the receptacle 194 while vertically supporting the substrate 102 within the receptacle 194.

[0186] In this configuration, the bottom conductive layer of the substrate 102 may include a pair of drive and sense electrodes near each spacing element location around the perimeter of the substrate 102 to form a force sensor. Thus, the controller 190 may: read the electrical value (or voltage representing resistance) across the force sensor near the spacing element location; and convert the electrical value into a force magnitude carried from the touch sensor surface 172. Specifically, the system 100 may include multiple spacing elements 160, and the controller 190 may: read electrical values ​​from the electrodes near each spacing element location; convert these electrical values ​​into a force magnitude carried by each spacing element 160; and aggregate these force magnitudes into a total force magnitude of the input on the touch sensor surface 172.

[0187] Thus, in this configuration, the substrate 102 can define an overall structure that includes a dense array of drive and sense electrode pairs 105 that form a touch sensor, a spiral trace column that forms a multilayer inductor 150, and a sparse array of drive and sense electrode pairs 105 that form a force sensor set that supports the substrate 102 on the chassis 192.

[0188] 6.4 Force Flexure Layer

[0189] In one implementation, the system 100 includes: a first set of electrodes 146 (e.g., sense electrodes) arranged (e.g., printed) across a first force flexing layer 152 (e.g., a flexible PET layer) and a second set of electrodes 147 (e.g., drive electrodes) arranged (e.g., printed) across a second force flexing layer 154 (e.g., a flexible PET layer) that is parallel to and offset from the first force flexing layer 152 to define a force sensor set. Specifically, the system 100 includes: a first force flexing layer 152 that is arranged (e.g., bonded) to a bottom surface of the substrate 102; and a second force flexing layer 154 that is arranged (e.g., bonded) to a top surface of the base plate 166 that faces the bottom surface of the substrate 102. Thus, when substrate 102 and substrate 166 are arranged in parallel within chassis 192 and / or receptor 194, a first set of electrodes 146 (e.g., sense electrodes) across substrate 102 are aligned with a second set of electrodes 147 (e.g., drive electrodes) across substrate 166 to form a force sensor set beneath touch sensor surface 172.

[0190] In one example, the first force flex layer 152: defines a rectangular geometry that cooperates with the bottom layer 140 of the substrate 102; and includes a first set of electrodes 146 (e.g., sense electrodes) positioned around the perimeter of the first force flex layer 152. Thus, when the first force flex layer 152 is arranged (e.g., bonded) across the bottom surface of the substrate 102, the first set of electrodes (e.g., sense electrodes) are located proximal to (e.g., surround) the set of support locations on the substrate 102. Similarly, the second force flex layer 154: defines a rectangular geometry that cooperates with the top surface of the substrate 166; and includes a second set of electrodes 147 (e.g., drive electrodes) positioned around the perimeter of the second force flex layer 154. Thus, when the second force flex layer 154 is arranged (e.g., bonded) across the substrate 166, the second set of electrodes 147 (e.g., drive electrodes) are located proximal to (e.g., surround) the set of spring elements 162 across the substrate 102 that are aligned with the support locations on the substrate 102.

[0191] Thus, the system 100 may include: a substrate 166 arranged within a chassis 192 and / or a receptor 194; and a substrate 102 coupled to the substrate 166 (e.g., via a spacer element) to position a first force flexing layer 152 on the substrate 102 to be parallel to and offset from a second force flexing layer 154 on the substrate 166 to form a force sensor assembly.

[0192] In the aforementioned implementation, the first set of electrodes 146 (e.g., sense electrodes) define a first set of conductive traces that: are arranged (e.g., etched) across the first force flex layer 152; and extend across a first tail connected to the first force flex layer 152. In this implementation, the first tail can be electrically connected (e.g., via SMT) to a controller 190 mounted on the substrate 102. Similarly, the second set of electrodes 147 (e.g., drive electrodes) define a second set of conductive traces that: are arranged (e.g., etched) across the second force flex layer 154; and extend across a second tail connected to the second force flex layer 154. The system 100 can then include a second tail that: is connected to an external controller 190 (e.g., a driver) separate from the first force flex layer 152; and / or extends toward the substrate 102 to couple to the controller 190 arranged on the substrate 102. System 100 can then drive second set of electrodes 147 (eg, drive electrodes) to capacitively couple first set of electrodes 146 (eg, sense electrodes) to form a first set of force sensors beneath touch sensor surface 172 .

[0193] 7. Ground Plane Geometry and Shielding

[0194] Substrate 102 may also include shielding traces fabricated in the conductive layer and configured to shield the touch sensor from electrical noise generated by multilayer inductor 150 , such as during and after a haptic feedback cycle.

[0195] In one implementation, substrate 102 further includes an intermediate layer 106 interposed between top layer 104, which includes drive and sense electrode pairs 105, and first inductive layer 110 of substrate 102, which includes the topmost spiral trace of multilayer inductor 150. In this implementation, intermediate layer 106 may include a continuous trace region defining an electrical shield 107, which is configured to shield the set of drive and sense electrode pairs 105 of the touch sensor from electrical noise generated by multilayer inductor 150 when multilayer inductor 150 is driven with an oscillating voltage by controller 190 during a haptic feedback cycle. Specifically, controller 190 may drive electrical shield 107 in intermediate layer 106 to a reference voltage potential (e.g., to ground, to an intermediate voltage) (such as continuously throughout operation or intermittently, such as during and / or slightly after a haptic feedback cycle). Thus, when the electrical shield 107 is driven to a reference potential, the electrical shield 107 may shield the drive and sense electrode pairs 105 of the touch sensor in the top layer 104 from electrical noise.

[0196] In addition, if Figure 1As shown, the electrical shield 107 may include cracks, such as in the form of serpentine breaks across the width of the electrical shield 107, so as to prevent eddy currents from circulating within the electrical shield 107, which otherwise may: generate noise at the drive and sense electrode pairs 105 in the touch sensor above; and / or induce a second magnetic field opposite to the magnetic field generated by the multilayer inductor 150, which second magnetic field may brake oscillations of the substrate 102 during a tactile feedback cycle.

[0197] Additionally or alternatively, in the above configuration in which the system 100 includes electrodes 146 located at the deflection spacer position on the bottom layer 140 of the substrate 102, the first inductive layer 110 on the substrate 102, which is arranged below the top layer 104 and / or the middle layer 106 and includes the first spiral trace 111 of the multilayer inductor 150, can include an electrical shield 107 separated from and surrounding the first spiral trace 111. In this implementation, the controller 190 can drive the electrical shield 107 and the multilayer inductor 150 in the first inductive layer 110 to a reference voltage potential (e.g., to ground, to an intermediate voltage) outside of a haptic feedback cycle in order to: shield the electrodes 146 from electrical noise from outside the system 100; and / or shield the drive and sense electrode pairs 105 in the touch sensor from electrical noise generated by the electrodes 146. Therefore, in this implementation, the first inductive layer 110 of the substrate 102 (which includes the first spiral trace 111 of the multilayer inductor 150) may also include a shielding electrode trace 112 adjacent to and offset from the first spiral trace 111; and the controller 190 may drive the shielding electrode trace 112 and the first spiral trace 111 to a reference potential so that when electrical values ​​are read from the first group of electrodes 146 at the spacing element position, these electrodes 146 are shielded from the influence of electrical noise.

[0198] For example, in this implementation, the controller 190 can drive the multilayer inductor 150 (or the topmost spiral trace in the multilayer inductor 150) at a virtual ground potential while scanning and processing resistance (or capacitance) data from the drive and sense electrode pairs 105 in the touch sensor in the top conductive layer of the substrate 102 during a scanning cycle. The controller 190 can then: detect input on the touch sensor surface 172 based on changes in resistance (or capacitance) values ​​read from the drive and sense electrode pairs 105 in the touch sensor; release the multilayer inductor 150 from the virtual reference potential; and in response to detecting the input on the touch sensor surface 172, polarize the multilayer inductor 150 via a time-varying current signal during a tactile feedback cycle. More specifically, the controller 190 can: ground the electrical shield 107 and the multilayer inductor 150 during a scanning cycle so that the touch sensor is shielded from electronic noise; and pause scanning of the touch sensor during a tactile feedback cycle (e.g., when the multilayer inductor 150 is polarized) so as to avoid generating and responding to a noisy touch image during the tactile feedback cycle.

[0199] Thus, in this variation, power electronics (e.g., the multilayer inductor 150) and sensor electronics in both the high-resolution sensor and the low-resolution sensor (e.g., the drive and sense electrode pairs 105 and the electrodes 146 at the spacing element locations in the touch sensor, respectively) can be fabricated on a single integral substrate 102, thereby eliminating the manufacture and assembly of multiple discrete substrates for different tactile feedback and touch sensing functions and enabling the system 100 to perform touch sensing, force sensing, and tactile feedback functions in a thinner package.

[0200] 8. Controller

[0201] During operation, the controller 190 can: detect input applied to the touch sensor surface 172 based on changes in electrical (e.g., capacitance or resistance, etc.) values ​​between drive and sense electrode pairs 105 in the touch sensor integrated into the top layer 104 of the substrate 102; characterize the force magnitude of the input based on these electrical values ​​read from the touch sensor and / or based on electrical values ​​read from electrodes 146 in the spacing element 160 integrated into the bottom layer 140 of the substrate 102; and / or interpret the input as a "click" input if the force magnitude of the input exceeds a threshold force magnitude (e.g., 160 grams). Then, in response to detecting the input and / or interpreting the input as a “click” input, the controller 190 may perform a tactile feedback cycle, such as by momentarily polarizing the multilayer inductor 150 so as to induce alternating magnetic coupling between the multilayer inductor 150 and the collection of magnetic elements and thereby causing the substrate 102 to vibrate within the chassis 192, providing tactile feedback to the user, and providing the user with a tactile perception of the touch sensor surface 172 moving downward (similar to the depression of a mechanical momentary switch, button, or key).

[0202] 8.1 Controller and Operation: Force Sensing

[0203] Typically, the system 100 includes a controller 190 that is configured to: read a set of capacitance values ​​from a capacitive force sensor array during a scanning cycle, the set of capacitance values ​​representing compression of a set of spring elements 162 between a base plate 166 and a substrate 102; and interpret a distribution of force applied to a touch sensor surface 172 during a scanning cycle based on the set of capacitance values ​​and a force model representing spring constants of the set of spring elements 162.

[0204] In one example, during a first time period in a setup routine or calibration cycle, in which no touch input is applied to touch sensor surface 172, controller 190 can read capacitance values ​​from the capacitive force sensor array and store those capacitance values ​​as baseline capacitances of those force sensors (corresponding to no touch input on touch sensor surface 172). Additionally, during a second time period in a setup routine or calibration cycle, in which a touch input is applied (e.g., with a stylus or finger) to a first area of ​​touch sensor surface 172 proximate to the first spring element: the first spring element yields to the touch input (i.e., is displaced from the nominal plane); and substrate 102 advances toward substrate 166 (thereby advancing the sense electrodes on substrate 102 toward the drive electrodes on substrate 166) a distance proportional to the force magnitude of the touch input.

[0205] Thus, the controller 190 can then: read a first capacitance value from the first capacitive force sensor during a scanning cycle spanning a first time period; calculate a first change in capacitance of the first capacitive force sensor during the first time period based on a difference between the first capacitance value and a stored baseline capacitance value from the first capacitive force sensor; and interpret a portion of the force magnitude of the touch input carried by the first spring element based on (e.g., proportional to) the first change in capacitance value and a stored force model, the stored force model (e.g., based on a spring constant of the first spring element) correlating deviations from the baseline capacitance to the force carried by the first spring element.

[0206] In this example, controller 190 can implement this process for each other discrete capacitive force sensor of system 100 to convert the change in capacitance value detected at each pressure sensor into a portion of the total force magnitude of the touch input carried by each spring element during the scanning cycle. Controller 190 can then sum these portions to calculate the total force magnitude of the touch input during the first time period. Additionally or alternatively, controller 190 can fuse these portions of the force magnitude carried by each capacitive force sensor, the known positions of the capacitive force sensors in system 100, and the positions of multiple simultaneous discrete inputs detected on touch sensor surface 172 via the capacitive touch sensors to estimate the force applied by each discrete input.

[0207] In another example, system 100 may: access a force model based on a spring constant representation of a spring element that represents a relationship between a deviation from a baseline electrical value (e.g., a capacitance value) and a force carried by the spring element; and interpret the force magnitude of the touch input based on the set of electrical values ​​and the force model. In another example, system 100 may interpret the force magnitude of the touch input on touch sensor surface 172 based on: a lateral position and a longitudinal position of the touch input; a deviation from a baseline electrical value of a set of electrical values ​​on first set of electrodes 146 (e.g., sensing electrodes); and a position of the spring element coupled to substrate 102 in a set of spring elements 162.

[0208] 8.2 Negative force

[0209] In one implementation, controller 190 implements similar methods and techniques to detect increases and decreases in the force carried by the capacitive force sensor array during a scan cycle based on decreases and increases in capacitance detected on the capacitive sensor array, respectively. More specifically, applying a force on touch sensor surface 172 proximate a first corner of touch sensor surface 172 can simultaneously: press the first corner of touch sensor surface 172 into chassis 192; and lift a second opposing corner of substrate 102 from chassis 192; thereby increasing the force carried by the capacitive force sensor proximate the first corner and decreasing the force carried by the capacitive force sensor proximate the second corner.

[0210] Thus, the controller 190 can: detect both increases and decreases in capacitance at the first capacitive force sensor and the second capacitive pressure sensor in the first corner and the second corner of the substrate 102; interpret positive and negative changes in the forces carried by the first pressure sensor and the second pressure sensor based on these increases and decreases in capacitance at the first pressure sensor and the second pressure sensor; and combine (e.g., sum) these positive and negative changes in the carried forces to calculate the accurate total force applied to the touch sensor surface 172 near the first corner during the scanning cycle.

[0211] In one example, system 100 includes substrate 102, which includes: a first support location arranged near a first side edge of substrate 102; and a first subset of electrodes in a first set of electrodes 146 (e.g., sensing electrodes) arranged near the first location. In addition, substrate 102 includes: a second support location arranged near a second side edge of substrate 102 opposite the first side edge; and a second subset of electrodes in the first set of electrodes 146 (e.g., sensing electrodes) arranged near the second support location. System 100 also includes a second set of electrodes 147 (e.g., drive electrodes), which includes: a third subset of electrodes arranged below the first subset of electrodes to form a first force sensor near a first side edge of touch sensor surface 172; a fourth subset of electrodes arranged below the second subset of electrodes to form a second force sensor near a second side edge of touch sensor surface 172 opposite the first side edge. Then, system 100 may: read a first set of electrical values ​​from a first force sensor proximate to a first side edge of touch sensor surface 172; and interpret a first compressive force carried at a first support location in response to the first set of electrical values, the first set of electrical values ​​deviating from a baseline electrical value of the first force sensor in a first direction. In addition, system 100 may: read a second set of electrical values ​​from a second force sensor; and interpret a second tensile force carried at a second support location in response to the second set of electrical values, the second set of electrical values ​​deviating from a baseline electrical value of the second force sensor in a second direction opposite to the first direction. Thus, system 100 may: interpret the force magnitude of the first touch input applied to touch sensor surface 172 based on a combination of the first compressive force and the second tensile force.

[0212] 8.3 Device wake-up

[0213] In another implementation, the controller 190 may perform a scan cycle to detect an input on the touch sensor surface 172 and wake the device from the low power mode. In this implementation, the controller 190 may perform a scan cycle to: detect an input on the touch sensor surface 172; read a set of electrical values ​​from the sensing electrodes arranged around the bottom layer 140 of the substrate 102; interpret a force magnitude of the touch input based on the set of electrical values; and in response to the force magnitude exceeding a force threshold, stop the device low power mode to allow the user to fully operate the device.

[0214] 9. Haptic Feedback Cycle

[0215] In this variation, the multilayer inductor 150 integrated into the substrate 102 cooperates with a collection of magnetic elements housed within a chassis 192 beneath the multilayer inductor 150 to define a compact, integrated multilayer inductor 150 that is configured to cause the substrate 102 and the touch sensor surface 172 to oscillate in response to polarization of the multilayer inductor 150 by the controller 190 (e.g., in response to detecting a touch input on the touch sensor surface 172). More specifically, the controller 190, in conjunction with the drive circuit, can provide an alternating (i.e., time-varying) drive current to the multilayer inductor 150 during a tactile feedback cycle, thereby generating a time-varying magnetic field that periodically reverses direction through the multilayer inductor 150. Thus, the controller 190 and / or the drive circuit can instantaneously polarize the multilayer inductor 150 to generate a magnetic force between the multilayer inductor 150 and the magnetic element set, thereby causing the multilayer inductor 150 (and therefore the substrate 102 and the touch sensor surface 172) to be alternately attracted and repelled by the magnetic poles of the magnetic element set and causing the touch sensor surface 172 to oscillate relative to the chassis 192, as shown in FIG. Fig.16 and Fig.17 shown.

[0216] Specifically, in response to detecting a touch input on touch sensor surface 172 exceeding a threshold force (or pressure) magnitude, controller 190 drives multilayer inductor 150 during a “tactile feedback cycle” to tactilely simulate the actuation of a mechanical snap, such as Fig.16 and Fig.17 For example, in response to such a touch input, the controller 190 can trigger the motor driver to drive the multilayer inductor 150 with a square wave AC voltage for a target click duration (e.g., 250 milliseconds), thereby inducing an alternating magnetic field through the multilayer inductor 150, which is magnetically coupled to the set of magnetic elements, inducing an oscillating force between the magnetic elements and the multilayer inductor 150, and causing the substrate 102 to oscillate relative to the chassis 192 of the device.

[0217] 9.1 Standard Click and Deep Click

[0218] In one variation, controller 190: in response to the application of a force that exceeds the first force magnitude and remains less than a second force threshold (hereinafter referred to as a "standard click input"), performs a "standard click tactile feedback cycle" in blocks S110 and S120; and in response to the application of a force that exceeds the second force threshold (hereinafter referred to as a "deep click input"), performs a "deep tactile feedback cycle" in blocks S114 and S124. In this variation, during the deep tactile feedback cycle, controller 190 may drive multilayer inductor 150 at a higher amplitude (e.g., by driving the tactile feedback cycle with a higher peak-to-peak voltage) and / or at a different (e.g., lower) frequency for an extended duration (e.g., 750 milliseconds) to tactilely indicate to the user that a deep click input is detected at touch sensor surface 172.

[0219] In one example, controller 190 may: in response to detecting an input having a force magnitude between a small "standard" force threshold and a large "depth" force threshold, output a left click control command and perform a standard click tactile feedback cycle; and in response to detecting an input having a force magnitude greater than a large "depth" force threshold, output a right click control command function and perform a deep tactile feedback cycle. Thus, system 100 may: detect inputs of different force magnitudes on touch sensor surface 172; assign an input type to the input based on the magnitude of the input; provide different tactile feedback to the user by driving multilayer inductor 150 according to different modes based on the type of input detected; and output different control functions based on the type of input detected.

[0220] 9.2 Hysteresis

[0221] In one variation, controller 190 implements hysteresis techniques to trigger tactile feedback cycles during application and retraction of a single input on touch sensor surface 172. Specifically, in this variation, controller 190 may selectively: in response to detecting that a new input having a force greater than a large force threshold (e.g., 165 grams) is applied to touch sensor surface 172, drive multilayer inductor 150 according to a "down click" oscillation profile during a tactile feedback cycle; track the input in contact with touch sensor surface 172 over multiple scanning cycles; and then in response to detecting that the force magnitude of the input drops below a small force threshold (e.g., 60 grams), drive multilayer inductor 150 according to an "up click" oscillation profile during a later tactile feedback cycle. Thus, system 100 may: replicate the tactile "feel" of a mechanical snap being pressed and then released; and prevent "bouncing" tactile feedback as the force magnitude of the input on touch sensor surface 172 varies around the force threshold.

[0222] More specifically, when the force magnitude of the input on the touch sensor surface 172 reaches the high force threshold, the controller 190 can perform a single "down click" tactile feedback cycle (suggesting the pressing of a mechanical button) until the input is released from the touch sensor surface 172. However, when the force magnitude of the input drops below a second, smaller threshold magnitude, the controller 190 can also perform an "up click" tactile feedback cycle (suggesting the release of the pressed mechanical button). Thus, the controller 190 can implement hysteresis techniques to prevent "bounce" in the tactile response to the input on the touch sensor surface 172, to indicate to the user through tactile feedback that the force applied to the touch sensor surface 172 has been registered (i.e., the first threshold magnitude has been reached), and to indicate to the user through additional tactile feedback that the user's selection has been cleared and the force applied to the touch sensor surface 172 has been registered (i.e., the applied force has dropped below the second threshold magnitude).

[0223] 10. Multiple multilayer inductors

[0224] In one variation, the system 100 may also include a plurality of multilayer inductors 150 and magnetic element pairs. In one example, the system 100 includes: a first multilayer inductor 150 disposed proximate to a first edge of the substrate 102; and a first magnetic element 181 disposed in the chassis 192 below the first multilayer inductor 150 and thus proximate to the first edge of the substrate 102. In this example, the system 100 may also include: a second magnetic element 182 rigidly coupled to the chassis 192 and offset from the first magnetic element 181; and a second inductor coupled to the substrate 102 below the touch sensor surface 172, disposed proximate to a second edge of the substrate 102 opposite to the first edge, and configured to be magnetically coupled to the second magnetic element 182. In addition, in this example, the controller 190 can: in response to detecting a touch input near a first edge of the substrate 102 on the touch sensor surface 172, selectively polarize the first multilayer inductor 150 to cause the substrate 102 to oscillate in a vibration plane relative to the chassis 192 with a peak energy sensed near the first edge of the substrate 102; and in response to detecting a second touch input near a second edge of the substrate 102 on the touch sensor surface 172, selectively polarize the second inductor to cause the substrate 102 to oscillate in a vibration plane relative to the chassis 192 with a peak energy sensed near the second edge of the substrate 102.

[0225] In a similar implementation, the system 100 may include a first multilayer inductor 150 (as described above) and a second inductor / magnetic element pair that cooperates with the first inductor-magnetic element pair to cause the substrate 102 to oscillate. In this variation, the first inductor-magnetic element pair may include a coil mounted to the substrate 102 that is offset a first distance to the right of the center of mass of the substrate 102. The first inductor-magnetic element pair may also include an array of magnets arranged in a row below the multilayer inductor 150. The array of magnets may cooperate with the multilayer inductor 150 of the first inductor-magnetic element pair to define a vibration axis of the first inductor-magnetic element pair. The second inductor-second magnetic element 182 pair may include a coil mounted to the substrate 102 that is offset a second distance to the left of the center of mass of the substrate 102. The second inductor-second magnetic element 182 pair may also include an array of magnets arranged in a row. The magnet array may cooperate with the multilayer inductor 150 of the second inductor-second magnetic element 182 pair to define a vibration axis of the second inductor-second magnetic element 182 pair.

[0226] In one implementation, the magnet array of the first inductor-magnetic element pair can be arranged in a row parallel to the magnet array of the second inductor-second magnetic element 182 pair, so that the vibration axis of the first inductor-magnetic element pair is parallel to the vibration axis of the second inductor-second magnetic element 182 pair. In this implementation, the multilayer inductor 150 of the first inductor-magnetic element pair can be mounted to the substrate 102, offset from the center of mass of the substrate 102 by a first distance, which is equal to a second distance between the multilayer inductor 150 of the second inductor-second magnetic element 182 pair and the center of mass. Therefore, the midpoint between the multilayer inductor 150 of the first inductor-magnetic element pair and the multilayer inductor 150 of the second inductor-second magnetic element 182 pair can be coaxial with the center of mass. Thus, the first inductor-magnetic element pair and the second inductor-second magnetic element 182 pair can cooperate to vibrate the substrate 102 along a general vibration axis that extends parallel to the vibration axes of the first magnet and the second magnet and passes through the center of mass of the substrate 102.

[0227] The controller 190 may drive the first inductor-magnetic element pair to oscillate the substrate 102 at a first frequency, and drive the second inductor-second magnetic element 182 pair to oscillate at a similar frequency that is in phase with the vibration of the first multilayer inductor 150. Thus, the first multilayer inductor 150 and the second multilayer inductor 150 may cooperate to oscillate the substrate 102 linearly along a general vibration axis. However, the controller 190 may additionally or alternatively drive the first multilayer inductor 150 to oscillate the substrate 102 at a first frequency, and drive the second multilayer inductor 150 to oscillate at a second frequency that is different from the first frequency and / or out of phase with the vibration of the first multilayer inductor 150. Thus, the first multilayer inductor 150 and the second multilayer inductor 150 may cooperate to rotate the substrate 102 about the center of mass in a plane parallel to the touch sensor surface 172.

[0228] Additionally or alternatively, the controller 190 may selectively drive the first multilayer inductor 150 or the second multilayer inductor 150 to oscillate at a particular time. The controller 190 may selectively (and exclusively) drive the first multilayer inductor 150 to simulate the feeling of a click on a section of the substrate 102 adjacent to the first multilayer inductor 150. The controller 190 may alternatively drive the second multilayer inductor 150 to simulate the feeling of a click on a section of the substrate 102 adjacent to the second multilayer inductor 150 while minimizing vibrations on a section of the substrate 102 adjacent to the first multilayer inductor 150. For example, the controller 190 may selectively drive the first multilayer inductor 150 to perform a tactile feedback cycle to simulate the feeling of a click (or "right" click) on the right side of the substrate 102 while the second multilayer inductor 150 remains inactive.

[0229] However, the controller 190 may also drive the first multilayer inductor 150 to oscillate according to a specific vibration waveform. At the same time, the controller 190 may drive the second multilayer inductor 150 to oscillate according to a vibration waveform that is out of phase (e.g., 180° out of phase) with the specific vibration waveform of the first multilayer inductor 150. For example, the second multilayer inductor 150 may output a vibration waveform having an amplitude less than the amplitude of the specific vibration waveform. In this example, the vibration waveform of the second multilayer inductor 150 may also be 180° out of phase with the specific vibration waveform of the first multilayer inductor 150. Therefore, the second multilayer inductor 150 may be configured to offset the specific vibration waveform output by the first multilayer inductor 150 (or reduce the amplitude of the specific vibration waveform).

[0230] 11. Discrete inductor

[0231] In one variation, regions of substrate 102 are routed or otherwise removed to form shallow recesses through a subset of the layers of substrate 102. For example, a three-layer thick region of substrate 102 near the lateral and longitudinal center of substrate 102 may be removed from the bottom surface of substrate 102. Discrete thin wire coils may be soldered to the set of vias exposed at the bottom of the recess and then mounted (e.g., bonded, potted) within the recess such that the exposed surface of the coil is approximately flush (e.g., within 100 microns) with the bottom surface of substrate 102.

[0232] Additionally or alternatively, the system 100 may include: as described, a first integrated inductor, the first integrated inductor being fabricated across multiple layers of the substrate 102; and a second coil, the second coil being disposed above and electrically coupled to the first integrated inductor, and configured to cooperate with the first integrated inductor to form a larger inductor that exhibits a stronger magnetic coupling to adjacent magnetic elements. For example, the second coil may include: a multi-loop wire coil; or a second integrated inductor, the second integrated inductor being fabricated across multiple layers of the second substrate 102, the second substrate 102 then being bonded and / or soldered to the (first) substrate 102 adjacent to the first integrated inductor.

[0233] 12. Waterproof

[0234] exist Fig. 9A and Fig. 9B In one variation shown, the waterproof membrane 164: is applied over the touch sensor; extends outward from the periphery of the substrate 102; is bonded, clamped, or otherwise retained near the periphery of the receptor 194; and thereby cooperates with the chassis 192 to seal the touch sensor, substrate 102, and spacing elements 160, etc. within the receptor 194, thereby preventing moisture and particles from entering the receptor 194 and onto the substrate 102.

[0235] For example, waterproof membrane 164 may include a silicone or PTFE (eg, expanded PTFE) membrane bonded to the touch sensor with an adhesive. System 100 may also include a glass or other cover layer 170 bonded over waterproof membrane 164 and extending to the perimeter of substrate 102.

[0236] In addition, the chassis 192 can define a flange (or "shelf", undercut) extending inwardly toward the lateral and longitudinal center of the receptacle 194. The outer portion of the waterproofing member extending beyond the substrate 102 can be inserted into the receptacle 194 and contact the underside of the flange. The circumferential retaining bracket or auxiliary chassis 192 member can then be fastened to the chassis 192 below the flange and (completely) above the perimeter of the receptacle 194 so as to clamp the waterproof membrane 164 between the chassis 192 and the circumferential retaining bracket or auxiliary chassis 192 member, thereby sealing the waterproof membrane 164 around the receptacle 194.

[0237] In one implementation, the waterproof membrane 164 includes a convolution between the perimeter of the substrate 102 and the perimeter of the receptor 194. In this implementation, the convolution can be configured to deflect or deform to accommodate oscillations of the substrate 102 during a haptic feedback cycle. For example, the waterproof membrane 164 can include a polyimide film having semicircular ridges extending along the gap between the outer perimeter of the substrate 102 and the inner perimeter of the receptor 194.

[0238] In a similar implementation, the substrate 102 and touch sensor are arranged above a waterproof membrane 164, which is sealed to the chassis 192 by a retaining bracket along the underside of the receptor 194, as described above, so that the touch sensor assembly is completely located above the waterproof barrier on the receptor 194 and so that when the multilayer inductor 150 is actuated, the waterproof membrane oscillates to cause the touch sensor assembly to vibrate.

[0239] The systems and methods described herein may be at least partially embodied and / or implemented as a machine configured to receive a computer-readable medium storing computer-readable instructions. Instructions may be performed by a computer-executable component integrated with an application, applet, host, server, network, website, communication service, communication interface, hardware / firmware / software element of a user's computer or mobile device, a wristband, a smart phone, or any suitable combination thereof. Other systems and methods of embodiments may be at least partially embodied and / or implemented as a machine configured to receive a computer-readable medium storing computer-readable instructions. Instructions may be performed by a computer-executable component integrated with a computer-executable component integrated with the above-mentioned type of device and network. Computer-readable media may be stored on any suitable computer-readable medium, such as stored in RAM, ROM, flash memory, EEPROM, optical device (CD or DVD), hard drive, floppy disk drive, or any suitable device. The computer-executable component may be a processor, but any suitable dedicated hardware device may (alternatively or additionally) execute instructions.

[0240] As those skilled in the art will recognize from the previous detailed description and from the accompanying drawings and claims, modifications and changes may be made to the embodiments of the invention without departing from the scope of the invention as defined in the appended claims.

Claims

1. A system comprising: A substrate comprising: - a first support location, which is arranged close to a side edge of the substrate; and - a first electrode arranged close to said first supporting location; a cover layer defining a touch sensor surface disposed over the substrate; First spacer element: - coupled to said substrate at said first support location; and - configured to couple the substrate to a substrate and to yield to displacement of the substrate relative to the substrate in response to a force applied to the touch sensor surface; Second electrode: - arranged below the substrate and opposite the first electrode to define a nominal gap between the first electrode and the second electrode; and - configured to affect an electrical value of the first electrode in response to a displacement of the first electrode towards the second electrode; and A controller configured to: - detecting a first touch input at a first location on the touch sensor surface; - reading a set of electrical values ​​from said first electrode; and - interpreting a first force magnitude of the first touch input based on the set of electrical values.

2. The system according to claim 1: in, The first electrode comprises a first sensing electrode in a set of sensing electrodes, the first sensing electrode being arranged to surround a periphery of a bottom layer of the substrate; wherein the second electrode comprises a second driving electrode in a driving electrode set, the second driving electrode being arranged to surround the top surface of the substrate and aligned with the first sensing electrode; and Wherein, the controller is configured to: - reading a first set of capacitance values ​​between the first sensing electrode on the substrate and the second driving electrode on the substrate; and - interpreting the first force magnitude of the first touch input based on the set of capacitance values.

3. The system according to claim 1: in, The substrate further includes an array of drive and sense electrode pairs disposed on a top surface of the substrate; wherein the cover layer is arranged above the array of driving and sensing electrode pairs; and Wherein, the controller is configured to: - reading a second set of electrical values ​​from the array of drive and sense electrode pairs; - detecting a lateral position and a vertical position of the first touch input on the touch sensor surface based on the second set of electrical values; and - Outputting the lateral position, the longitudinal position and the first force magnitude of the first touch input.

4. The system according to claim 1: in, The substrate comprises a first spring element, wherein the first spring element: - arranged around the periphery of the substrate; - defining a first platform facing said first supporting position; and - configured to yield to displacement of the substrate downwardly toward the baseplate in response to a force applied to the touch sensor surface; wherein the first spacing element is interposed between the first support location and the first stage of the first spring element; and The second electrode is arranged close to the first spring element and aligned with the first sensing electrode.

5. The system according to claim 4, wherein: The controller is configured to: accessing a force model that represents a relationship between a deviation from a baseline electrical value and a force carried by the first spring element based on a spring constant of the first spring element; and The first force magnitude of the first touch input is interpreted based on the first set of electrical values ​​and the force model.

6. The system according to claim 1: in, The first electrode: - defining a first sensing electrode; - spanning a first region on a bottom layer of said substrate; and - surrounding said first support location at said bottom layer of said substrate; and Wherein, the second electrode: - defining a second drive electrode, said second drive electrode being capacitively coupled to said first sense electrode; - spanning a second area on the substrate, the second area being smaller than the first area; and - aligned within the first region of the first electrode to form a first capacitive force sensor beneath the touch sensor surface.

7. The system according to claim 1: in, The substrate further comprises: a second supporting position arranged close to a second side edge of the substrate opposite to the first side edge; and - a third electrode, said third electrode being arranged close to said second supporting position; Also includes a fourth electrode: - arranged below the substrate and opposite the third electrode so as to define the nominal gap between the third electrode and the fourth electrode; and - configured to affect an electrical value of the third electrode in response to a displacement of the third electrode towards the fourth electrode; and Wherein, the controller is configured to: - in response to the first set of electrical values ​​deviating in a first direction from a baseline electrical value of the first electrode, interpreting a first compressive force carried by the first spacing element at the first support location; - reading a second set of electrical values ​​from said third electrode; - responsive to the second set of electrical values ​​deviating from the baseline electrical value of the third electrode in a second direction opposite to the first direction, interpreting a second tensile force carried by the second spacing element at the second support location; and - interpreting the first force magnitude of the first touch input applied to the touch sensor surface based on a combination of the first compressive force and the second tensile force.

8. The system according to claim 7: in, The second electrode and the fourth electrode are electrically coupled on the substrate; and The controller is configured to, in response to detecting the first touch input at the first position on the substrate close to the first electrode, perform the following operations: - driving a target voltage across the second electrode and the fourth electrode simultaneously; - reading said first set of electrical values ​​from said first electrode, said first electrode being proximate to said first location of said first touch input; and - reading said second set of electrical values ​​from said third electrode, said third electrode being located offset from said first position of said first touch input.

9. The system according to claim 1: in, The substrate defines: - A first region, which comprises: - the first support position is arranged close to a first side edge of the substrate; and - the first electrode is arranged below the first region of the substrate close to the first support location; and - a second area, which is adjacent to the first area, the second area comprising: a second support location arranged close to a second side edge of the substrate opposite to the first side edge; and a third electrode arranged close to the second support location and below the second region of the substrate; Also includes a fourth electrode: - arranged below the substrate and opposite the third electrode to define the nominal gap between the third electrode and the fourth electrode; and - configured to affect an electrical value of the third electrode in response to a displacement of the third electrode towards the fourth electrode; and Wherein, the controller is configured to: - detecting the first touch input at the first position within the first area of ​​the substrate; - reading a second set of electrical values ​​from said third electrode at said second region of said substrate; and - interpreting the first force magnitude at the first location within the first area based on a combination of the first set of electrical values ​​and the second set of electrical values.

10. The system according to claim 1: in, The substrate further includes a set of inductive layers, the set of inductive layers including a set of spiral traces arranged on the set of inductor layers to form a multilayer inductor; Also included is a first magnetic element defining a first polarity facing the multilayer inductor; wherein the controller is configured to, in response to the first force magnitude exceeding a target force magnitude, drive an oscillating voltage across the multilayer inductor to: - inducing alternating magnetic coupling between the multilayer inductor and the first magnetic element; and - causing the substrate and the cover layer to oscillate relative to the first magnetic element; and Wherein the first spacing element is configured to succumb to magnetic coupling of the multilayer inductor to the first magnetic element to enable the substrate and the touch sensor surface to oscillate relative to the base.

11. The system according to claim 1: Also included is a set of spring elements arranged below the substrate, each spring element in the set of spring elements comprising a flexure, wherein: - formed in said substrate; - Limited station; and - configured to return substantially to a nominal plane in response to the absence of touch input applied to the touch sensor surface; and Where each spacer element in the spacer element set: - interposed between said substrate and said set of spring elements; and - A stage coupling a support position of the set of support positions to a spring element of the set of spring elements.

12. The system according to claim 11, wherein: The controller is configured to interpret the first force magnitude of the first touch input based on: a first lateral position and a first longitudinal position of the first touch input; a deviation of the set of electrical values ​​at the first electrode from a baseline electrical value; and A location of a spring element in the set of spring elements coupled to the substrate.

13. The system according to claim 1: in, The substrate comprises a first force deflection layer, wherein the first force deflection layer: - comprising a first set of electrodes arranged on said first force flexing layer, said first set of electrodes comprising said first electrode; - bonded to the bottom surface of said substrate; and - extends around the periphery of said substrate; and Wherein, the substrate comprises a second force deflection layer, wherein the second force deflection layer: - comprising a second set of electrodes, said second set of electrodes: - aligned with the first set of electrodes on the substrate; -- arranged on said second force deflection layer; and -- comprising the second electrode; - bonded to the top surface of said substrate; and - extends around the periphery of said substrate.

14. The system according to claim 1: in, The substrate further comprises a third electrode, wherein: - arranged close to said first support position adjacent to said first electrode; and - electrically coupled to said first electrode; Also includes a fourth electrode, wherein the fourth electrode: - arranged adjacent to said second electrode; - arranged below the substrate and opposite the third electrode to define the nominal gap between the third electrode and the fourth electrode; and - configured to affect an electrical value of the third electrode in response to a displacement of the third electrode towards the fourth electrode; and Wherein, the controller is configured to: - reading said set of electrical values ​​from said first electrode and said third electrode; and - interpreting the first force magnitude of the first touch input on the touch sensor surface based on a deviation of the set of electrical values ​​from a baseline electrical value.

15. A system comprising: A substrate comprising: - bottom layer; - a first set of electrodes arranged on said bottom layer of said substrate; and - a set of support locations arranged on said bottom layer and adjacent to said first set of electrodes; a cover layer disposed over the substrate and defining a touch sensor surface; A spring element set, each spring element in the spring element set: - coupled to the substrate at a support location in the set of support locations; and - configured to yield to displacement of the substrate downwardly towards the baseplate in response to a force applied to the touch sensor surface; and The second set of electrodes: - arranged below the substrate and opposite the first set of electrodes to define a nominal gap between the first set of electrodes and the second set of electrodes; and - configured to influence an electrical value of the first set of electrodes in response to a displacement of the first set of electrodes on the substrate towards the second set of electrodes.

16. The system of claim 15, further comprising a controller configured to: detecting a first touch input at a first location on a surface of the touch sensor; reading a set of electrical values ​​from the first set of electrodes; and A first force magnitude of the first touch input is interpreted based on the set of electrical values.

17. The system according to claim 15: in, The assembly of spring elements includes an integral structure defining a nominal plane; Each spring element in the set of spring elements comprises a flexure, wherein: - formed in said integral structure; - limited stations; and - configured to return substantially to the nominal plane in response to the absence of touch input applied to the touch sensor surface; and Also included is a set of spacer elements, each spacer element in the set of spacer elements: - interposed between said substrate and said set of spring elements; and - a stage coupling a support location of the set of support locations to a spring element of the set of spring elements.

18. The system according to claim 15: in, The first set of electrodes defines a first set of sensing electrodes, the first set of sensing electrodes being arranged around a perimeter of the bottom layer of the substrate; wherein the second set of electrodes defines a second set of drive electrodes arranged around a top surface of the substrate in alignment with the first set of sense electrodes to form a capacitive force sensor array beneath the cover layer; and Wherein, the controller is configured to: - reading a set of capacitance values ​​from the capacitive force sensor array beneath the cover layer; and - interpreting the first force magnitude of the first touch input based on the set of capacitance values.

19. The system according to claim 15: in, The substrate further includes an array of drive and sense electrode pairs disposed on a top layer of the substrate; wherein the cover layer is arranged above the array of driving and sensing electrode pairs; and Wherein, the controller is configured to: - reading a second set of electrical values ​​from the array of drive and sense electrode pairs; - detecting a lateral position and a vertical position of the first touch input on the touch sensor surface based on the second set of electrical values; and - Outputting the lateral position, the longitudinal position and the first force magnitude of the first touch input.

20. A system comprising: a cover layer defining a touch surface; The first set of sensing electrodes: - arranged below the cover layer; and - arranged close to a set of support locations opposite to said touch surface; A spring element set, each spring element in the spring element set: - coupling to the substrate at a support location in the set of support locations; and - configured to yield to displacement of the substrate downwardly towards the chassis in response to a force applied to the touch surface; The second set of driving electrodes: - arranged below the first set of electrodes to define a nominal gap between the first set of sense electrodes and the second set of drive electrodes; and - configured to affect an electrical value of the first set of sense electrodes in response to a displacement of a nominal gap between the first set of sense electrodes and the second set of drive electrodes; and Spacer element collection: - inserted between said set of spring elements and said set of support locations; and - positioning the first set of sense electrodes in alignment with the second set of drive electrodes to form a set of force sensors beneath the touch surface.

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