Patent Grant
9355536
This document discusses, among other things, apparatus and methods for controlling a haptic transducer. In an example, a haptic controller can include an active termination driver having a configurable output impedance. The active termination driver can be configured to drive a haptic transducer and to process back electro-magnetic force (EMF) of the haptic transducer to provide motion feedback of the haptic transducer. In an example, the haptic controller can include a processor to provide a command signal to the active termination driver and to determine a resonant frequency of the haptic device using the motion feedback of the haptic transducer.
This overview is intended to provide a general overview of subject matter of the present patent application. It is not intended to provide an exclusive or exhaustive explanation of the invention. The detailed description is included to provide further information about the present patent application.
Haptic reproduction can refer to, among other things, techniques that can provide a corresponding touch sensation when a finger touches a display, for example. The touch sensation can be produced by control of a certain physical effect prompt associated with, or part of, the display.
Haptic reproduction can provide physical feedback to electronic man-machine interactions. Haptic response in consumer electronics may improve user experience. For example, a physical touch response to a display pushbutton can provide a user with assurance that a button of a display was activated without seeing a visual indication or hearing an audio indication of the activation.
In the drawings, which are not necessarily drawn to scale, like numerals may describe similar components in different views. Like numerals having different letter suffixes may represent different instances of similar components. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments discussed in the present document.
The present inventors have recognized apparatus and methods for providing improved control of resonant haptic devices.
With regards to determining the resonant frequency of the haptic transducer 203, more robust and efficient control of the haptic transducer 203 can be maintained if the actual resonant frequency of the haptic transducer 203 is known. In most cases, a nominal resonant frequency of the haptic transducer 203 is known. However, environmental conditions such as temperature and humidity can affect the resonant frequency of the haptic transducer 203. The processor can execute a method of driving the haptic transducer 203, such as driving the haptic transducer 203 at or near the nominal resonant frequency and then monitoring the motion of the haptic transducer 203 to determine the actual resonant frequency. In certain examples, the back electromagnetic force (EMF) of the haptic transducer 203 can be monitored. In certain examples, the negative impedance converter 205 can filter and amplify the back EMF of the haptic transducer 203 to provide more robust measurements, and in turn, more accurate determination of the resonant frequency of the haptic transducer 203. In an example, the processor can drive the haptic transducer 203 at the nominal frequency, the processor, or the active termination driver 205, can then measure the maximum peak, and minimum peak of the amplified back EMF of the resulting motion of the haptic transducer 203, for example, using a peak detector. The maximum peak and the minimum peak of the amplified back EMF can then be used to determine the period of the resonant frequency of the haptic transducer 203. In some examples, the timing between the maximum and minimum peak can be used to determine the resonant frequency. In some examples, the maximum and minimum peaks can provide a threshold zero-crossing value for a zero-crossing detector to use to determine the period of the resonant frequency. In certain examples, the zero-crossing value can be a value approximately halfway between the maximum peak and the minimum peak. In some examples, timing information associated with two sequential zero-crossing detections of the back EMF of the haptic transducer can provide an indication of the period of the resonant frequency of the haptic transducer.
With regards to providing additional braking control, the processor can provide commands, such as digital commands, to the negative impedance converter 205 to change the impedance of the active termination driver output to allow the haptic transducer 203 to decelerate more quickly in certain examples. In certain example, the negative impedance converter can provide current feedback (IFB) to assist in calibrating or configuring operation of the active termination driver 202 with haptic transducer 203.
In Example 1, a haptic controller can include an active termination driver having a configurable output impedance, the active termination driver configured to drive a haptic transducer and to process back electro-magnetic force (EMF) of the haptic transducer to provide motion feedback of the haptic transducer, and a processor to provide a command signal to the active termination driver and to determine a resonant frequency of the haptic device using the motion feedback of the haptic transducer.
In Example 2, the active termination driver of Example 1 optionally includes an active element configured to provide the configurable output impedance.
In Example 3, the active element of any one or more of Examples 1-2 optionally includes a negative impedance converter.
In Example 4, the negative impedance converter of any one or more of Examples 1-3 optionally is configured to provide an amplified voltage indicative of the back EMF.
In Example 5, the negative impedance converter of any one or more of Examples 1-4 optionally is configured to receive a digital output from the processor and to provide a negative impedance based on the digital output.
In Example 6, the processor of any one or more of Examples 1-5 optionally is configured to adjust a braking rate of the haptic transducer using the negative feedback converter.
In Example 7, the haptic controller of any one or more of Examples 1-6 optionally includes a peak detector configured to detect at least one of a minimum peak or a maximum peak of the back EMF; and a zero-crossing detector configured to provide timing information to the processor relative to the back EMF crossing a voltage value approximately halfway between the minimum peak and the maximum peak of the back EMF.
In Example 8, a method of operating a haptic transducer controller can include receiving a command signal at an active termination driver from a processor, driving a haptic transducer using the active termination driver and the command signal, processing back EMF of the haptic transducer using the active termination driver to provide motion feedback of the haptic transducer, and determining a resonant frequency of the haptic transducer using the motion feedback of the haptic transducer.
In Example 9, the processing the back EMF of any one or more of Examples 1-8 optionally includes amplifying the back EMF of the haptic transducer to provide the motion feedback using a negative impedance converter.
In Example 10, the method of any one or more of Examples 1-9 optionally includes braking resonant motion of the haptic transducer using the negative impedance converter.
In Example 11, the braking the resonant motion of any one or more of Examples 1-10 optionally includes receiving a impedance information from the processor at the negative impedance converter, and adjusting a negative impedance of the negative impedance converter using the impedance information.
In Example 12, the impedance information of any one or more of Examples 1-11 optionally includes digital impedance information.
In Example 13, the determining a resonant frequency of any one or more of Examples 1-12 optionally includes detecting a period of the resonant frequency using the motion feedback of the haptic transducer.
In Example 14, the detecting a period of any one or more of Examples 1-13 optionally includes driving an output of the active termination driver to predetermined value, and detecting two sequential zero crossings of the back EMF using a zero-crossing detector.
In Example 15, the detecting a period of any one or more of Examples 1-14 optionally includes detecting a maximum peak of the back EMF using a peak detector, detecting a minimum peak of the back EMF using the peak detector, and detecting two sequential crossings of the back EMF of a value halfway between the minimum peak and the maximum peak using a zero-crossing detector.
In Example 16, a system can include a resonant haptic transducer; and a haptic controller configured to couple to the resonant haptic transducer. The haptic controller can include an active termination driver configured to drive a haptic transducer and to process back electro-magnetic force (EMF) to provide motion feedback of the haptic transducer, and a processor to provide a command signal to the active termination driver and to determine a resonant frequency of the haptic device using the motion feedback of the haptic transducer.
In Example 17, the active termination driver of any one or more of Examples 1-16 optionally includes a negative impedance converter.
In Example 18, the negative impedance converter of any one or more of Examples 1-17 optionally is configured to provide an amplified voltage indicative of the back EMF.
In Example 19, the negative impedance converter of any one or more of Examples 1-18 optionally is configured to receive a digital output from the processor and to provide a negative impedance based on a value of the digital output.
In Example 20, the processor of any one or more of Examples 1-19 optionally is configured to adjust a braking rate of the haptic transducer using the negative feedback converter. In Example 21, the haptic controller of any one or more of Examples 1-20 optionally includes a peak detector configured to detect at least one of a minimum peak or a maximum peak of the back EMF, and a zero-crossing detector configured to provide timing information to the processor relative to the back EMF crossing a voltage value approximately halfway between the minimum peak and the maximum peak of the back EMF.
Example 22 can include, or can optionally be combined with any portion or combination of any portions of any one or more of Examples 1 through 21 to include, subject matter that can include means for performing any one or more of the functions of Examples 1 through 21, or a machine-readable medium including instructions that, when performed by a machine, cause the machine to perform any one or more of the functions of Examples 1 through 21.
The above detailed description includes references to the accompanying drawings, which form a part of the detailed description. The drawings show, by way of illustration, specific embodiments in which the invention can be practiced. These embodiments are also referred to herein as “examples.” All publications, patents, and patent documents referred to in this document are incorporated by reference herein in their entirety, as though individually incorporated by reference. In the event of inconsistent usages between this document and those documents so incorporated by reference, the usage in the incorporated reference(s) should be considered supplementary to that of this document; for irreconcilable inconsistencies, the usage in this document controls.
In this document, the terms “a” or “an” are used, as is common in patent documents, to include one or more than one, independent of any other instances or usages of “at least one” or “one or more.” In this document, the term “or” is used to refer to a nonexclusive or, such that “A or B” includes “A but not B,” “B but not A,” and “A and B,” unless otherwise indicated. In the appended claims, the terms “including” and “in which” are used as the plain-English equivalents of the respective terms “comprising” and “wherein.” Also, in the following claims, the terms “including” and “comprising” are open-ended, that is, a system, device, article, or process that includes elements in addition to those listed after such a term in a claim are still deemed to fall within the scope of that claim. Moreover, in the following claims, the terms “first,” “second,” and “third,” etc. are used merely as labels, and are not intended to impose numerical requirements on their objects.
The above description is intended to be illustrative, and not restrictive. For example, the above-described examples (or one or more aspects thereof) may be used in combination with each other. Other embodiments can be used, such as by one of ordinary skill in the art upon reviewing the above description. Also, in the above Detailed Description, various features may be grouped together to streamline the disclosure. This should not be interpreted as intending that an unclaimed disclosed feature is essential to any claim. Rather, inventive subject matter may lie in less than all features of a particular disclosed embodiment. Thus, the following claims are hereby incorporated into the Detailed Description, with each claim standing on its own as a separate embodiment. The scope of the invention should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.
This application claims the benefit of priority under 35 U.S.C. 119 to Crawley et al., U.S. Provisional Patent Application No. 61/706,343, filed Sep. 27, 2012, which is hereby incorporated by reference herein in its entirety.
| Number | Name | Date | Kind |
|---|---|---|---|
| 20110102162 | Gregorio et al. | May 2011 | A1 |
| 20110243537 | Wilson et al. | Oct 2011 | A1 |
| Number | Date | Country |
|---|---|---|
| 103699215 | Apr 2014 | CN |
| Entry |
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| “Chinese Application Serial No. 201320603071.1, Notification to Make Rectification mailed Jan. 9, 2014”, w/English Translation, 3 pgs. |
| “Chinese Application Serial No. 201320603071.1, Response filed Feb. 28, 2014 to Notification to Make Rectification mailed Jan. 9, 2014”, w/English Claims, 24 pgs. |
| Number | Date | Country | |
|---|---|---|---|
| 20140085064 A1 | Mar 2014 | US |
| Number | Date | Country | |
|---|---|---|---|
| 61706343 | Sep 2012 | US |
