Self-calibration of force sensors and inertial compensation

• US 10,139,959 B2
• Filed: 11/26/2013
• Issued: 11/27/2018
• Est. Priority Date: 11/26/2013
• Status: Active Grant

• Current Assignee: Apple Inc.
• Original Assignee: Apple Inc.
• Inventors: Butler, Christopher J., Grunthaner, Martin P., Richards, Peter W., Teil, Romain A., Filiz, Sinan
• Primary Examiner(s): Eisen, Alexander
• Assistant Examiner(s): Almeida, Cory A
• Application Number:
  US15/038,972
• Publication Number:
  US 20160378255A1
• Time in Patent Office: 1,827 Days
• CPC Class Codes: G01L 1/14 by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators
• CPC Class Codes: G01L 1/146 for measuring force distributions, e.g. using force arrays G01L1/148 takes precedence
• CPC Class Codes: G01L 25/00 Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
• CPC Class Codes: G06F 1/1694 the I/O peripheral being a single or a set of motion sensors for pointer control or gesture input obtained by sensing movements of the portable computer
• CPC Class Codes: G06F 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• CPC Class Codes: G06F 3/0412 Digitisers structurally integrated in a display
• CPC Class Codes: G06F 3/04144 using an array of force sensing means position sensing using the local deformation of sensor cells G06F3/0447
• CPC Class Codes: G06F 3/0418 for error correction or compensation, e.g. based on parallax, calibration or alignment
• CPC Class Codes: G06F 3/0445 using two or more layers of sensing electrodes, e.g. using two layers of electrodes separated by a dielectric layer
• CPC Class Codes: G06F 3/0447 Position sensing using the local deformation of sensor cells
• CPC Class Codes: G06F 3/046 by electromagnetic means

Abstract

A method of calibrating a force sensor that includes an input surface and an array of sensing elements. The input has a number of test locations and is deformable under applied force. The force sensor is mounted in a predetermined test orientation. For each test location of the plurality of test locations on the input surface of the force sensor a predetermined test force to the test location. An element calibration value is measured for each sensing element of the array of sensing elements of the force sensor. An (x, y) deformation map of the input surface of the force sensor corresponding to the application of the predetermined test force to the test location is determined based on the measured element calibration values.

Claims

1. A personal electronics device, comprising:

a force sensor including an input surface, the force sensor adapted to provide a sensor signal representative of a total force normal to the input surface measured by the force sensor, the force sensor including first and second sensor plates;

a first accelerometer adapted to provide a first accelerometer signal representative of acceleration of the first sensor plate;

a second accelerometer adapted to provide a second accelerometer signal representative of acceleration of the second sensor plate; and

inertial compensation circuitry coupled to the first and second accelerometers and the force sensor, the inertial compensation circuitry adapted to;

receive the sensor signal and the first and second accelerometer signals;

determine an inertial compensation signal based on the first and second accelerometer signals and at least one inertial compensation parameter of the force sensor, the inertial compensation signal representative of an inertial force measurable by the force sensor; and

bias the sensor signal responsive to the inertial compensation signal to generate an acceleration compensated force signal.

2. The personal electronics device of claim 1, further comprising:

a housing coupled to the input surface of the force sensor; and

an internal structural member coupled to the housing;

wherein;

the first sensor plate is fixedly coupled to the input surface of the force sensor;

the second sensor plate is fixedly coupled to the internal structural member of the personal electronic device;

the first sensor plate and the second sensor plate are separated by a compressible gap;

the sensor signal is a function of a width of the compressible gap; and

the inertial compensation circuitry is further adapted to determine the inertial compensation signal based on the first and second accelerometer signals and a predetermined inertial rate of change of the width of the compressible gap of the force sensor.

3. The personal electronics device of claim 2, wherein:

the force sensor is one of;

a capacitive force sensor;

or

an inductive force sensor.

4. The personal electronics device of claim 2, further comprising:

a cover glass coupled to the housing, the cover glass having an external surface and an internal surface; and

a display stack fixedly coupled to the internal surface of the cover glass;

wherein;

the external surface of the cover glass is the input surface of the force sensor;

the first sensor plate is fixedly coupled to the display stack;

the internal structural member has a member inertial rate of displacement relative to the housing in a direction normal to the input surface of the force sensor relative to the housing;

the cover glass has a cover glass inertial rate of displacement relative to the housing in the direction normal to the input surface of the force sensor; and

the predetermined inertial rate of change of the width of the compressible gap of the force sensor is approximately equal to a difference between the member inertial rate of displacement and the cover glass inertial rate of displacement.

5. The personal electronics device of claim 4, wherein the member inertial rate of displacement is significantly greater than the cover glass inertial rate of displacement, such that the predetermined inertial rate of change of the width of the compressible gap of the force sensor is approximately equal to the member inertial rate of displacement.

6. The personal electronics device of claim 2, wherein the accelerometer is attached to one of:

the housing;

or

the internal structural member.

7. The personal electronics device of claim 2, wherein:

the first sensor plate and the second sensor plate of the force sensor are designed to form an array of sensing elements;

the sensor signal includes a multiplexed plurality of element sub-signals, each element sub-signal corresponding to one sensing element and being a function of an element width of the compressible gap in the one sensing element;

the predetermined inertial rate of change of the width of the compressible gap of the force sensor includes a predetermined inertial rate of change of the element width of the compressible gap corresponding to each sensing element of the array of sensing elements of the force sensor; and

the inertial compensation circuitry is further adapted to;

demultiplex the plurality of element sub-signals;

determine an inertial compensation sub-signal corresponding to each sensing element of the force sensor based on the first and second accelerometer signals and the predetermined inertial rate of change of the element width of the compressible gap corresponding to the sensing element, each inertial compensation sub-signal representative of the inertial force measurable by the corresponding sensing element;

bias each element sub-signal responsive to the inertial compensation sub-signal of the corresponding sensing element to generate an acceleration compensated force sub-signal; and

multiplex the acceleration compensated force sub-signals to generate an acceleration compensated force signal.

8. The personal electronics device of claim 1, wherein:

the sensor signal includes a sequence of sensor values measured periodically, each sensor value representative of the total force normal to the input surface measured by the force sensor during a corresponding sensor time interval;

the first accelerometer signal includes a first sequence of acceleration values measured periodically, each first acceleration value representative of the acceleration of the first sensor plate measured by the first accelerometer during a corresponding accelerometer time interval;

the second accelerometer signal includes a second sequence of acceleration value measured periodically, each second acceleration value representative of the acceleration of the second sensor plate measured by the second accelerometer during the corresponding accelerometer time interval;

the acceleration compensated force signal includes a sequence of acceleration compensated force values, each acceleration compensated force value corresponding to one sensor time interval; and

the inertial compensation circuitry is further adapted to;

synchronize the received sensor signal and the received first and second accelerometer signals, such that at least one accelerometer time interval is temporally correlated to each sensor time interval;

determine an inertial compensation value for each sensor time interval based on at least one first and second acceleration value of the at least one accelerometer time interval temporally correlated to the sensor time interval and the at least one inertial compensation parameter of the force sensor; and

generate the sequence of acceleration compensated force values by subtracting the inertial compensation value from the sensor value for each sensor time interval.

9. The personal electronics device of claim 1, wherein the inertial compensation circuitry is further adapted to:

compare an amplitude of the first or second accelerometer signals to a predetermined maximum operating amplitude;

if the amplitude of the first or second accelerometer signals is greater than the predetermined maximum operating amplitude, set a jerk flag; and

if the jerk flag is set;

suspend generation of the acceleration compensated force signal; and

unset the jerk flag when a reset criterion is met.

10. The personal electronics device of claim 9, wherein the reset criterion of the inertial compensation circuitry includes at least one of:

a predetermined period of time;

the amplitude of the first or second accelerometer signals falling below a predetermined reset acceleration amplitude;

or

an amplitude of the sensor signal measured at a resonant frequency of the force sensor falling below a predetermined reset signal amplitude.

11. The personal electronics device of claim 1, wherein the inertial compensation circuitry includes at least one of:

one or more discrete circuitry elements;

one or more general purpose integrated circuits;

one or more programmable integrated circuits, instructed to execute processes of the inertial compensation circuitry;

one or more application specific integrated circuits;

or

one or more general purpose processor elements, instructed to execute processes of the inertial compensation circuitry.

12. The personal electronics device of claim 1, wherein the first accelerometer signal provided by the first accelerometer is representative of a translational acceleration of the first sensor plate device along an axis normal to the input surface of the force sensor measured by the first accelerometer.

13. A method of inertial compensation for a force sensor included in a personal electronics device, the force sensor including an input surface and first and second sensor plates, the method comprising:

characterizing the force sensor to determine at least one inertial compensation parameter of the force sensor;

measuring a first acceleration value of the first sensor plate;

measuring a second acceleration value of the second sensor plate;

determining an inertial force offset value based on the measured first acceleration value of the first sensor plate, the second acceleration value of the second sensor plate, and the at least one inertial compensation parameter of the force sensor;

measuring a force value for a force applied to the input surface of the force sensor; and

calculating an acceleration compensated force value based on the force value and the inertial force offset value.

14. The method of claim 13, wherein characterizing the force sensor to determine at least one inertial compensation parameter of the force sensor includes;

placing the personal electronics device in a first characterization configuration such that;

approximately zero force is applied to the input surface of the force sensor; and

a normal to the input surface of the force sensor makes a first angle with a vertical axis;

measuring a first personal electronics device acceleration value;

measuring a first force value using the force sensor;

placing the personal electronics device in a second characterization configuration such that;

approximately zero force is applied to the input surface of the force sensor; and

the normal to the input surface of the force sensor makes a second angle with the vertical axis;

measuring a second personal electronics device acceleration value;

measuring a second force value using the force sensor; and

determining at least one inertial compensation parameter of the force sensor based on the first personal electronics device acceleration value, the first force value, the second personal electronics device acceleration value, and the second force value.

15. The method of claim 14, wherein:

the first angle is approximately 0°

; and

the second angle is one of approximately 90°

or approximately 180°

.

16. The method of claim 14, wherein determining at least one inertial compensation parameter of the force sensor includes calculating a slope of measured force value as a function of measured first and second personal electronics device acceleration values using the first personal electronics device acceleration value, the first force value, the second personal electronics device acceleration value, and the second force value.

17. The method of claim 16, wherein determining at least one inertial compensation parameter of the force sensor further includes calculating a zero offset of the measured force value as a function of the measured first and second personal electronics device acceleration values using the first personal electronics device acceleration value, the first force value, the second personal electronics device acceleration value, and the second force value.

18. The method of claim 13, wherein measuring the first acceleration value of the first sensor plate includes measuring the first acceleration value of the first sensor plate along an axis normal to the input surface of the force sensor.

19. The method of claim 13, wherein:

the first sensor plate is fixedly coupled to the input surface of the force sensor; and

the second sensor plate is fixedly coupled to an internal structural member of the personal electronics device;

the first sensor plate and the second sensor plate are separated by a compressible gap;

the at least one inertial compensation parameter of the force sensor includes;

an inertial rate of change of a width of the compressible gap; and

a sensor transfer function relating gap width to force value;

determining the inertial force offset value includes multiplying the measured first and second acceleration values of the first and second sensor plates times the inertial rate of change of a width of the compressible gap of the force sensor to calculate an inertial gap width difference; and

calculating the acceleration compensated force value includes;

calculating a measurement gap width difference from the force value using the sensor transfer function;

calculating a compensated gap width difference by subtracting the inertial gap width difference from the measurement gap width difference; and

calculating the acceleration compensated force value from the compensated gap width difference using the sensor transfer function.

20. The method of claim 13, further comprising:

comparing the first or second acceleration values to a predetermined maximum operating acceleration value before determining the inertial force offset value, and;

if the first or second acceleration values is greater than the predetermined maximum operating acceleration value, waiting to determine the inertial force offset value until a reset criterion is met;

otherwise

determining the inertial force offset value.

21. The method of claim 20, wherein the reset criterion includes at least one of:

a predetermined period of time;

or

remeasuring the first or second acceleration values until the first or second acceleration values is less than a predetermined reset acceleration value.

22. A personal electronic device, comprising:

a housing;

a display elastically coupled to the housing;

a force sensor coupled to the display, the force sensor including first and second sensor plates;

a first accelerometer;

a second accelerometer; and

circuitry coupled to the force sensor and the first and second accelerometers operable to;

receive a force signal from the force sensor indicating an amount of force exerted on the display;

receive a first acceleration signal from the first accelerometer indicating a first acceleration of the first sensor plate;

receive a second acceleration signal from the second accelerometer indicating a second acceleration of the second sensor plate; and

generate an inertially compensated force signal by adjusting the amount of force indicated by the force signal using the first and second acceleration signals.

23. The personal electronic device of claim 22, wherein the first accelerometer measures a portion of the first acceleration of the first sensor plate.

24. The personal electronic device of claim 22, wherein the first accelerometer ignores a portion of the first acceleration of the first sensor plate.

25. The personal electronic device of claim 22, wherein a force value measured by the force sensor is configured to have a relation to the first acceleration of the first sensor plate or the second acceleration of the second sensor plate.

26. The personal electronic device of claim 22, wherein:

the force sensor includes a compressible gap; and

a dimension of the compressible gap is configured to change as the first acceleration of the first sensor plate or the second acceleration of the second sensor plate changes.