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公开(公告)号：US20210175831A1
公开(公告)日：2021-06-10
申请号：US17033578
申请日：2020-09-25
Applicant: Apple Inc.
Inventor： Denis G. Chen , Juil Lee , Hari Vasudevan , Riccardo Tarelli , Darya Amin-Shahidi
IPC: H02P25/092 , G06F3/01 , H02P25/086
Abstract: A haptic system includes a haptic engine in which a reluctance motor is driven by a driver controller operated in conjunction with an impedance-estimator that uses amplitude-modulated calibration signals. An enveloped-calibration signal is superimposed on a haptic-drive signal to quickly, and accurately, estimate the driving coil's impedance, while minimizing power penalty.
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公开(公告)号：US10691211B2
公开(公告)日：2020-06-23
申请号：US16146243
申请日：2018-09-28
Applicant: Apple Inc.
Inventor： Darya Amin-Shahidi , Alex M. Lee , Brenton A. Baugh
Abstract: A module includes a permanent magnet biased electromagnetic haptic engine having a stator and a rotor; a constraint coupled to the stator and the rotor; and a force sensor at least partially attached to the permanent magnet biased electromagnetic haptic engine and configured to sense a force applied to the rotor. The constraint is configured to constrain closure of a gap between the rotor and the stator and bias the rotor toward a rest position in which the rotor is separated from the stator by the gap.
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公开(公告)号：US10599223B1
公开(公告)日：2020-03-24
申请号：US16146384
申请日：2018-09-28
Applicant: Apple Inc.
Inventor： Darya Amin-Shahidi , Alex M. Lee
Abstract: A module includes a permanent magnet biased electromagnetic haptic engine, a constraint, and a force sensor. The force sensor includes a stator and a shuttle. The constraint is coupled to the stator and the shuttle. The force sensor is at least partially attached to the permanent magnet biased electromagnetic haptic engine and configured to sense a force applied to the module. The constraint is configured to constrain closure of a gap between the stator and the shuttle and bias the shuttle toward a rest position in which the shuttle is separated from the stator by the gap.
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14.发明授权公开(公告)号：US11936269B2
公开(公告)日：2024-03-19
申请号：US17482210
申请日：2021-09-22
Applicant: Apple Inc.
Inventor： Darya Amin-Shahidi , Alex M. Lee , Denis G. Chen
Abstract: In one embodiment of the present disclosure a haptic actuator is disclosed. The haptic actuator includes a housing, a movable mass, and a pivot assembly attaching the movable mass to the housing. The pivot assembly defines a pivot axis, and the movable mass has a mass center offset from the pivot axis along a lever arm extending perpendicular to the pivot axis. The haptic actuator includes a spring extending between the movable mass and the housing. The spring stores and releases energy received from movement of the movable mass. The spring prevents full rotation of the movable mass about the pivot axis. The haptic actuator includes an electric coil attached to the movable mass. The electric coil intersects the lever arm. The haptic actuator includes at least one magnet attached to the housing. The magnet is at least partially aligned with the electric coil. The movable mass moves with respect to the at least one magnet when a signal is applied to the coil.
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公开(公告)号：US20230086204A1
公开(公告)日：2023-03-23
申请号：US17482210
申请日：2021-09-22
Applicant: Apple Inc.
Inventor： Darya Amin-Shahidi , Alex M. Lee , Denis G. Chen
Abstract: In one embodiment of the present disclosure a haptic actuator is disclosed. The haptic actuator includes a housing, a movable mass, and a pivot assembly attaching the movable mass to the housing. The pivot assembly defines a pivot axis, and the movable mass has a mass center offset from the pivot axis along a lever arm extending perpendicular to the pivot axis. The haptic actuator includes a spring extending between the movable mass and the housing. The spring stores and releases energy received from movement of the movable mass. The spring prevents full rotation of the movable mass about the pivot axis. The haptic actuator includes an electric coil attached to the movable mass. The electric coil intersects the lever arm. The haptic actuator includes at least one magnet attached to the housing. The magnet is at least partially aligned with the electric coil. The movable mass moves with respect to the at least one magnet when a signal is applied to the coil.
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Patent Agency Ranking
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
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.
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公开(公告)号：US20210096647A1
公开(公告)日：2021-04-01
申请号：US16584443
申请日：2019-09-26
Applicant: Apple Inc.
Inventor： Darya Amin-Shahidi , Alex M. Lee , Denis G. Chen , Alex J. Lehmann , Alex J. Speltz , Etienne Marecal
Abstract: A reluctance haptic engine for an electronic device includes a core, an attractor, and one or more flexible support members. The core and/or the attractor may be coupled to an input structure, such as a button cap, trackpad cover, touchscreen cover, or the like. In an unactuated configuration, flexible support members maintain a gap between the core and the attractor. An electrical current may be applied to one or more conduction loops of the core to actuate the reluctance haptic engine and provide a haptic output by moving the input structure. The electrical current may cause a magnetic flux that results in a reluctance force that pulls the attractor and the core together and causes the input structure to move (e.g., translate, rotate, oscillate, vibrate, or deform) to produce a haptic output.
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公开(公告)号：US12223110B1
公开(公告)日：2025-02-11
申请号：US17901470
申请日：2022-09-01
Applicant: Apple Inc.
Inventor： Denis G. Chen , Matthew T. Metzler , Eric M. Innis , Darya Amin-Shahidi , Shingo Yoneoka , Chi Kin Ho , Adriane S. Niehaus , Matthew N. Weege , Michael S. Weinstein , Tristan R. Hudson , Parin Patel , Jonathan A. Gordon
Abstract: A software defined button includes a force sensor and a haptic output element. The button further includes an immutable logic core and a mutable logic core. The mutable logic core is configured to define one or more thresholds against which input received from the force sensor can be compared to determine whether a user input has been provided. The immutable logic core is configured to verify actual force input has been received when the mutable logic core signals that user input has been received. In response to receiving a verified force input, the haptic output element can be caused to be driven by one of the mutable or immutable logic cores to provide a haptic output to a user.
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公开(公告)号：US11763971B2
公开(公告)日：2023-09-19
申请号：US17855116
申请日：2022-06-30
Applicant: Apple Inc.
Inventor： Darya Amin-Shahidi , Hari Vasudevan , Juil Lee , Denis G. Chen
CPC classification number: H01F7/1844 , G06F3/016 , G06F3/041 , H02P25/08 , H02P25/092 , H01F2007/185 , H01F2007/1855 , H01F2007/1861 , H01H2047/046
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.
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公开(公告)号：US11522483B2
公开(公告)日：2022-12-06
申请号：US17033578
申请日：2020-09-25
Applicant: Apple Inc.
Inventor： Denis G. Chen , Juil Lee , Hari Vasudevan , Riccardo Tarelli , Darya Amin-Shahidi
IPC: H02P25/092 , H02P25/086 , G06F3/01
Abstract: A haptic system includes a haptic engine in which a reluctance motor is driven by a driver controller operated in conjunction with an impedance-estimator that uses amplitude-modulated calibration signals. An enveloped-calibration signal is superimposed on a haptic-drive signal to quickly, and accurately, estimate the driving coil's impedance, while minimizing power penalty.
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