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    Mass displacement estimation using back EMF and magnetic reference crossing
    1.
    发明授权
    Mass displacement estimation using back EMF and magnetic reference crossing 有权

    公开(公告)号：US10746570B2

    公开(公告)日：2020-08-18

    申请号：US15698477

    申请日：2017-09-07

    Applicant: Apple Inc.

    Inventor： Denis G. Chen ,  Hari Vasudevan

    IPC: G01D5/14 ,  G08B6/00 ,  G06F3/01

    Abstract: In an embodiment, a single-sided or double-sided moving magnet haptic engine comprises: a frame; one or more magnetic field sources mounted to the frame and operable to generate a magnetic field and a back electromotive force (EMF) voltage; a magnetic mass positioned within the frame and operable to move within the frame along a movement axis; a comparator mounted to the frame, the comparator operable to detect the magnetic field and to generate a signal indicating a crossing of one or more magnetic references by the magnetic field; and a processor coupled to the one or more sensors and operable to estimate a displacement of the magnetic mass on the movement axis based on the back EMF voltage and the signal. Other embodiments are directed to a single-sided or double-sided moving coil haptic engine.

    Methods to control force in reluctance actuators based on flux related parameters
    2.
    发明授权
    Methods to control force in reluctance actuators based on flux related parameters 有权

    公开(公告)号：US11380470B2

    公开(公告)日：2022-07-05

    申请号：US16581686

    申请日：2019-09-24

    Applicant: Apple Inc.

    Inventor： Darya Amin-Shahidi ,  Hari Vasudevan ,  Juil Lee ,  Denis M. Chen

    IPC: H01F7/18 ,  G06F3/01 ,  G06F3/041 ,  H02P25/08 ,  H02P25/092 ,  H01H47/04

    Abstract: Disclosed herein are reluctance actuators and methods for feedback control of their applied force. Embodiments of the reluctance actuators include an electromagnet positioned to deflect a metallic plate to provide a haptic output. The control of the force is provided without force sensors (sensorless control) by monitoring voltage and/or current (V/I) applied during an actuation. For a given intended force output, an electrical parameter value (flux, current, or other parameter) is read from a look up table (LUT). The LUT may store a present value of the inductance of the reluctance actuator. The feedback control may be a quasi-static control in which the LUT is updated after actuation based on the monitored V/I. The feedback control may be real-time, with a controller comparing an estimated electrical parameter value based on the measured V/I with the value from the LUT.

    ELECTRONIC DEVICE INCLUDING SENSOR DRIVEN HAPTIC ACTUATOR AND RELATED METHODS
    3.
    发明申请
    ELECTRONIC DEVICE INCLUDING SENSOR DRIVEN HAPTIC ACTUATOR AND RELATED METHODS 有权

    公开(公告)号：US20210064137A1

    公开(公告)日：2021-03-04

    申请号：US16989489

    申请日：2020-08-10

    Applicant: Apple Inc.

    Inventor： Kathryn K. WOPAT ,  Hari Vasudevan

    IPC: G06F3/01

    Abstract: An electronic device may include a haptic actuator that includes a field member including at least one permanent magnet, and at least one coil configured to cause relative movement with the field member. The electronic device may also include at least one inductance sensor configured to sense relative movement between the at least one coil and field member and a processor configured to drive the at least one coil based upon the at least one inductance sensor.

    GRAVITY-INDUCED POSITION OFFSET TRACKING FOR DYNAMIC MANAGEMENT OF HAPTIC MODULE MECHANICAL OFFSET
    6.
    发明申请
    GRAVITY-INDUCED POSITION OFFSET TRACKING FOR DYNAMIC MANAGEMENT OF HAPTIC MODULE MECHANICAL OFFSET 审中-公开

    公开(公告)号：US20200081536A1

    公开(公告)日：2020-03-12

    申请号：US16127139

    申请日：2018-09-10

    Applicant: Apple Inc.

    Inventor： Hari Vasudevan

    IPC: G06F3/01 ,  G01C9/06

    Abstract: Disclosed is a system, method and apparatus for dynamic management of haptic module mechanical offset with gravity-induced position offset tracking. In an embodiment, a method comprises: determining, by a processor, a gravity-induced position offset of a mass in a haptic module; generating, by the processor, a position command for moving the mass from a sensor reference position to a mechanical resting position based at least in part on the gravity-induced position offset; and moving, by a closed-loop controller, the mass from the sensor reference position to the mechanical resting position in accordance with the position command.

    MASS DISPLACEMENT ESTIMATION USING BACK EMF AND MAGNETIC REFERENCE CROSSING
    8.
    发明申请
    MASS DISPLACEMENT ESTIMATION USING BACK EMF AND MAGNETIC REFERENCE CROSSING 审中-公开

    公开(公告)号：US20180266849A1

    公开(公告)日：2018-09-20

    申请号：US15698477

    申请日：2017-09-07

    Applicant: Apple Inc.

    Inventor： Denis G. Chen ,  Hari Vasudevan

    IPC: G01D5/14 ,  G08B6/00

    Abstract: In an embodiment, a single-sided or double-sided moving magnet haptic engine comprises: a frame; one or more magnetic field sources mounted to the frame and operable to generate a magnetic field and a back electromotive force (EMF) voltage; a magnetic mass positioned within the frame and operable to move within the frame along a movement axis; a comparator mounted to the frame, the comparator operable to detect the magnetic field and to generate a signal indicating a crossing of one or more magnetic references by the magnetic field; and a processor coupled to the one or more sensors and operable to estimate a displacement of the magnetic mass on the movement axis based on the back EMF voltage and the signal. Other embodiments are directed to a single-sided or double-sided moving coil haptic engine.

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