ELECTRONIC DEVICE INCLUDING SPACED APART HALL EFFECT SENSOR BASED HAPTIC ACTUATOR DRIVING AND RELATED METHODS

• US 20170090574A1
• Filed: 08/29/2016
• Published: 03/30/2017
• Est. Priority Date: 09/30/2015
• Status: Active Grant

• Current Assignee: Apple Inc.
• Original Assignee: Apple Inc.
• Inventors: BAER, Richard L., HAJATI, Arman
• Granted Patent: US 9,851,798 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G06F 1/163 Wearable computers, e.g. on a belt
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

An electronic device may include a haptic actuator that includes an actuator housing, coils carried within the actuator housing, and a field member movable within the actuator housing responsive to the coils. The haptic actuator may also include spaced apart Hall Effect sensors carried within the actuator housing between the coils and for sensing a temperature of the field member. The electronic device may also include a controller coupled to the haptic actuator and configured to determine a temperature of the field member based upon the spaced apart Hall Effect sensors and drive the haptic actuator based upon the temperature.

Claims

1. An electronic device comprising:

a haptic actuator comprising

an actuator housing,

a plurality of coils carried within the actuator housing,

a field member movable within the actuator housing responsive to the plurality of coils, and

a plurality of spaced apart Hall Effect sensors carried within the actuator housing between the plurality of coils and configured to sense a temperature of the field member; and

a controller coupled to the haptic actuator and configured to

determine a temperature of the field member based upon the plurality of spaced apart Hall Effect sensors, and

drive the haptic actuator based upon the temperature.

2. The electronic device of claim 1 wherein the controller is configured to determine the temperature based upon an output resistance of the plurality of spaced apart Hall Effect sensors.

3. The electronic device of claim 1 wherein the controller comprises a closed-loop controller.

4. The electronic device of claim 1 wherein the controller is configured to sense a drive current of the haptic actuator, and drive the haptic actuator based upon the drive current.

5. The electronic device of claim 4 wherein the controller is configured to

determine a calibration of the haptic actuator based upon drive current and the sensed temperature of the field member, and

drive the haptic actuator in a closed-loop configuration based upon the calibration of the haptic actuator and at least one reference pattern of movement of the field member.

6. The electronic device of claim 5 wherein the at least one reference pattern of movement comprises a plurality of different reference patterns of movement, each corresponding to a desired one of a plurality of different operating modes of haptic feedback.

7. The electronic device of claim 6 wherein each of the plurality of different reference patterns of movement has a different drive waveform associated therewith.

8. The electronic device of claim 1 further comprising a flexible circuit substrate carrying the plurality of spaced apart Hall Effect sensors within the actuator housing.

9. The electronic device of claim 1 wherein the controller comprises a closed-loop controller configured to determine the temperature of the field member and an actuator driver carried within the actuator housing and configured to drive the haptic actuator based upon the temperature.

10. The electronic device of claim 1 further comprising a power amplifier coupled between the controller and the haptic actuator.

11. The electronic device of claim 1 further comprising a position sensor configured to sense a position of the field member during movement thereof, and wherein the controller is configured to drive the haptic actuator based upon the position of the field member.

12. An electronic device comprising:

a haptic actuator comprising

an actuator housing,

at least one first coil carried within the actuator housing,

at least one second coil carried within the actuator housing,

a field member movable within the actuator housing between the at least one first and second coils and responsive thereto, and

a plurality of spaced apart Hall Effect sensors carried within the actuator housing between the at least one first and second coils and configured to sense motion of the field member; and

a controller coupled to the haptic actuator and configured to drive the haptic actuator based upon the sensed motion of the field member from the plurality of spaced apart Hall Effect sensors.

13. The electronic device of claim 12 wherein the controller comprises a closed-loop controller.

14. The electronic device of claim 12 wherein the controller is configured to sense a drive current of the haptic actuator, and driving the haptic actuator based upon the drive current.

15. The electronic device of claim 14 wherein the controller is configured to

determine a calibration of the haptic actuator based upon drive current, and

drive the haptic actuator in a closed-loop configuration based upon the calibration of the haptic actuator and at least one reference pattern of movement of the field member.

16. The electronic device of claim 15 wherein the at least one reference pattern of movement comprises a plurality of different reference patterns of movement, each corresponding to a desired one of a plurality of different operating modes of haptic feedback.

17. The electronic device of claim 12 further comprising a flexible circuit substrate carrying the plurality of spaced apart Hall Effect sensors within the actuator housing.

18. A method of controlling a haptic actuator comprising an actuator housing, a plurality of coils carried within the actuator housing, a field member movable within the actuator housing responsive to the at least one coil, the method comprising:

using a controller coupled to the haptic actuator for

determining a temperature of the field member based upon a plurality of spaced apart Hall Effect sensors carried within the actuator housing between the plurality of coils and configured to sense a temperature of the field member, and

driving the haptic actuator based upon the temperature.

19. The method of claim 18 wherein the controller is used to determine the temperature based upon an output resistance of the plurality of spaced apart Hall Effect sensors.

20. The method of claim 18 wherein the controller comprises a closed-loop controller.

21. The method of claim 18 wherein the controller is used to sense a drive current of the haptic actuator, and drive the haptic actuator based upon the drive current.

22. The method of claim 21 wherein the controller is used to

determine a calibration of the haptic actuator based upon drive current and the sensed temperature of the field member, and

drive the haptic actuator in a closed-loop configuration based upon the calibration of the haptic actuator and at least one reference pattern of movement of the field member.