HAPTIC ACTUATOR CONTROLLER
First Claim
1. A haptic actuator controller, comprising:
- a driver input amplifier;
an actuator feedback amplifier;
an actuator driver configured to drive a haptic actuator based on a difference of output of the input amplifier and output of the actuator feedback amplifier; and
a gain controller configured to;
determine a boost interval for initiating motion of the haptic actuator, the boost interval based on a boost threshold back-electromotive-force (BEMF) voltage value exceeding a BEMF voltage generated by the haptic actuator; and
apply boost gains in the input amplifier and the feedback amplifier during the boost interval, wherein the boost gains are higher than gains applied subsequent to the boost interval to maintain motion of the haptic actuator.
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Abstract
An apparatus and method for controlling a haptic actuator. A haptic actuator controller can includes driver input amplifier, an actuator feedback amplifier, an actuator driver, and a gain controller. The actuator driver is configured to drive a haptic actuator based on a difference of output of the input amplifier and output of the actuator feedback amplifier. The gain controller is configured to determine a boost interval for initiating motion of the haptic actuator, the boost interval based on a boost threshold back-electromotive-force (BEMF) voltage value exceeding a BEMF voltage generated by the haptic actuator. The gain controller is also configured to apply boost gains in the input amplifier and the feedback amplifier during the boost interval. The boost gains are higher than gains applied subsequent to the boost interval to maintain motion of the haptic actuator.
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Citations
20 Claims
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1. A haptic actuator controller, comprising:
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a driver input amplifier; an actuator feedback amplifier; an actuator driver configured to drive a haptic actuator based on a difference of output of the input amplifier and output of the actuator feedback amplifier; and a gain controller configured to; determine a boost interval for initiating motion of the haptic actuator, the boost interval based on a boost threshold back-electromotive-force (BEMF) voltage value exceeding a BEMF voltage generated by the haptic actuator; and apply boost gains in the input amplifier and the feedback amplifier during the boost interval, wherein the boost gains are higher than gains applied subsequent to the boost interval to maintain motion of the haptic actuator. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for driving a haptic actuator, comprising:
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identifying a boost interval, in which a back-electromotive-force (BEMF) voltage generated by the haptic actuator is less than a boost threshold BEMF voltage value, for initiating motion of the haptic actuator; applying an input boost gain to a driver input signal and a feedback boost gain to the BEMF voltage generated by the haptic actuator during the boost interval; applying a reduced input gain to the driver input signal and a reduced feedback gain to the BEMF voltage generated by the haptic actuator at termination of the boost interval; wherein the input boost gain exceeds the reduced input gain and the feedback boost gain exceeds the reduced feedback gain. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A tactile feedback system, comprising:
an actuator controller configured to control motion of a haptic actuator, the actuator controller comprising; an input amplifier; a feedback amplifier; an actuator driver; and an amplifier gain controller coupled to, and configured to control gain of, the input amplifier and the feedback amplifier, the gain controller further configured to; determine an end-of-braking interval for halting motion of the haptic actuator, the end-of-braking interval based on an end-of-braking threshold back-electromotive-force (BEMF) voltage value exceeding a BEMF voltage generated by the haptic actuator; and apply end-of-braking gains in the input amplifier and the feedback amplifier during the end-of-braking interval; wherein the end-of-braking gains are lower than gains applied in the input amplifier and the feedback amplifier prior to the end-of-braking interval. - View Dependent Claims (16, 17, 18, 19, 20)
Specification