Haptic feedback transducer unit, haptic feedback interface and driving method thereof
阅读说明:本技术 触觉反馈换能器单元、触觉反馈接口及其驱动方法 (Haptic feedback transducer unit, haptic feedback interface and driving method thereof ) 是由 全真汉 苏永兴 T·福克 于 2019-08-29 设计创作,主要内容包括:提供一种用于触觉反馈接口的触觉反馈换能器单元,包括:传感器,配置为根据机械刺激发出电信号;以及一个或多个致动器,配置为响应于电刺激提供机械响应;其中传感器配置为从一个或多个致动器独立地电寻址;其中一个或多个致动器并排设置在基底上;其中传感器电活性层位于传感器底部电极和形成传感器表面的传感器顶部电极之间。此外提供一种触觉反馈接口,包括多个触觉接口点,每个触觉接口点包括触觉反馈换能器单元;并且其中基底对于每个触觉接口点是公共的。此外提供一种用于驱动触觉反馈的方法,该方法包括:在由触摸控制器接收到来自触摸接口点之一的传感器的触摸事件信号时,在触觉接口点之一上提供致动。(A haptic feedback transducer unit for a haptic feedback interface is provided, comprising: a sensor configured to emit an electrical signal in accordance with a mechanical stimulus; and one or more actuators configured to provide a mechanical response in response to an electrical stimulus; wherein the sensors are configured to be independently electrically addressable from the one or more actuators; wherein the one or more actuators are disposed side-by-side on the substrate; wherein the sensor electroactive layer is located between the sensor bottom electrode and the sensor top electrode forming the sensor surface. Further provided is a haptic feedback interface comprising a plurality of haptic interface points, each haptic interface point comprising a haptic feedback transducer unit; and wherein the base is common to each tactile interface point. Further provided is a method for driving haptic feedback, the method comprising: upon receiving a touch event signal by the touch controller from a sensor of one of the touch interface points, an actuation is provided on one of the tactile interface points.)
1. A haptic feedback transducer unit (100.. 1300) for a haptic feedback interface, comprising:
a sensor (110.. 1310) configured to emit an electrical signal in accordance with a mechanical stimulus; and one or more actuators (130.. 1330, 150.. 1350) configured to provide a mechanical response in response to an electrical stimulus, wherein the sensor (110.. 1310) is configured to be independently electrically addressed from the one or more actuators (130.. 1330, 150.... 1350);
wherein the sensor (110.. 1310) and the one or more actuators (130.. 1330, 150.. 1350) are disposed side-by-side on a substrate (102.. 1302); and is
Wherein the sensor (110.. 1310) comprises a sensor electroactive layer (116.. 1316) located between a sensor bottom electrode (114.. 1314) and a sensor top electrode (118.. 1318), the sensor top electrode forming a sensor surface (112.. 1312);
wherein each of the one or more actuators (130.. 1330, 150.. 1350) comprises an actuator electroactive layer (136.. 1336, 156.. 1356) located between an actuator bottom electrode (134.. 1334, 154.. 1354) and an actuator top electrode (138.. 1338, 158.. 1358), the actuator top electrode forming an actuator surface (132.. 1332, 152.. 1352).
2. The haptic feedback transducer unit (100.. 1300) of claim 1, wherein,
(i) the sensor bottom electrode (114.. 1314) and the actuator bottom electrode (134.. 1334, 154.. 1354) share a common bottom electrode layer (104.. 1304), and/or wherein
(ii) The sensor top electrode (118.. 1318) and the actuator top electrode (138.. 1338, 158.. 1358) share a common top electrode layer (108.. 1308).
3. The haptic feedback transducer unit (700.. 1300) according to claim 1 or 2, wherein the sensor electro-active layer (716.. 1316) and the actuator electro-active layer (736.. 1336, 756.. 1356) are different layers.
4. The haptic feedback transducer unit (100, 200, 300, 400, 500, 1200) of claim 1 or 2, wherein the sensor electroactive layer (116, 216, 316, 416, 516, 1216, 1276) and the actuator electroactive layer (136, 156, 236, 256, 336, 356, 436, 456, 536, 556, 1236, 1256, 1246, 1266) are provided by a common electroactive layer (106, 206, 306, 406, 506, 1206, 1209), and wherein the common electroactive layer (106, 206, 306, 406, 506, 1206, 1209) is selectably continuous.
5. The haptic feedback transducer unit (1200) according to claim 4, wherein the common electroactive layer (1206, 1209) is continuous between the sensor (1210) and the actuator (1230, 1250).
6. The haptic feedback transducer unit (600, 1100, 1200) according to any one of claims 1 to 3, wherein the sensor electro-active layer (616, 1116, 1216) is disposed above the actuator electro-active layer (636, 656, 1136, 1156, 1236, 1256).
7. The haptic feedback transducer unit (600, 1100, 1200) according to claim 6, wherein the sensor bottom electrode (614, 1114, 1214) is arranged above the common electroactive layer (606, 1106, 1206).
8. The haptic feedback transducer unit (1200) according to any one of claims 1-5, wherein the actuator electroactive layer is disposed above the sensor electroactive layer.
9. The haptic feedback transducer unit (1200) of claim 8, wherein the actuator bottom electrode is disposed above the common electroactive layer.
10. The haptic feedback transducer unit (100, 200, 300, 500.. 800, 1000.. 1300) according to any one of claims 1 to 9, wherein the actuator bottom electrode (134, 234, 334.... 154, 254, 354.....) and the sensor bottom electrode (114.. 314, 514.. 814, 1014.. 1314) are separated by a gap between an edge (114.1.. 1314.1, 114.2.. 1314.2) of the actuator electrode (135.. 1315, 155.. 1355) and an edge (114.1.. 1314.1, 114.2.. 1314.2) of the sensor bottom electrode (114.. 314, 514.. 814, 1014.. 1314).
11. The haptic feedback transducer unit (200, 500, 600, 700, 1000, 1100) of claim 10, wherein,
(i) the actuator electroactive layer (236, 256, 536, 556, 636, 656, 736, 756, 1036, 1056, 1136, 1156) is disposed over an edge (235, 255, 535, 555, 635, 655, 735, 755, 1035, 1055, 1135, 1155) of the actuator electrode (234, 254, 534, 554, 634, 654, 734, 754, 1034, 1054, 1134, 1154) and partially in the gap, or wherein
(ii) The actuator electroactive layer (236, 256, 736, 756) is disposed over an edge (235, 255, 735, 755) of the actuator electrode (234, 254, 734, 754), in the gap, and is disposed over an edge (214.1, 214.2, 714.1, 714.2) of the sensor bottom electrode (214, 714).
12. The haptic feedback transducer unit (300, 500, 600, 800, 1000, 1100, 1200) of claim 10, wherein,
(i) the sensor electroactive layer (316, 516, 616, 816, 1016, 1116, 1216) is disposed above an edge (314.1, 314.2, 514.1, 514.2, 614.1, 614.2, 814.1, 814.2, 1014.1, 1014.2, 1114.1, 1114.2, 1214.1, 1214.2) of the sensor bottom electrode (314, 514, 614, 814, 1014, 1114, 1214) and partially in the gap, or wherein
(ii) The sensor electroactive layer (316, 816) is disposed over an edge (314.1, 314.2, 814.1, 814.2) of the sensor bottom electrode (314, 814), in the gap, and over an edge (335, 355, 835, 855) of the actuator electrode (334, 354, 834, 854).
13. The haptic feedback transducer unit (100.. 1300) according to any one of claims 1 to 12, wherein two or more actuators (130.. 1330, 150.. 1350) are arranged around the sensor (110.. 1310), preferably around the sensor (1310).
14. The haptic feedback transducer unit (100.. 1300) of any one of claims 1 to 13, wherein the sensor is further configured to provide a mechanical response in response to an electrical stimulus.
15. A haptic feedback interface comprising a plurality of haptic interface points, wherein each haptic interface point comprises a haptic feedback transducer unit (100.. 1300) according to any one of the preceding claims, wherein the substrate (102.. 1302) is common for each haptic interface point.
16. The haptic feedback interface of claim 15, further comprising a touch controller and a haptic controller.
17. A method (1400) for driving the haptic feedback interface of claim 16, comprising: providing actuation on one of the tactile interface points upon receiving a touch event signal (1410) by the touch controller from a sensor of a haptic feedback transducer unit of the one of the tactile interface points.
18. The method (1400) of claim 17, wherein providing actuation on the one of the tactile interface points comprises: configuring (1430) an actuation signal with the haptic controller, amplifying the actuation signal to an amplified signal, and applying (1435) the amplified signal to one or more actuators of a haptic feedback transducer unit of the one of the haptic interface points.
19. The method (1400) of claim 17 or 18, wherein providing actuation on the one of the tactile interface points comprises: generating (1441) an additional actuation signal and applying (1442) the additional actuation signal to a sensor of a haptic feedback transducer unit of the one of the haptic interface points.
Technical Field
The present disclosure relates to a haptic feedback transducer unit for a haptic feedback interface. The invention also relates to a haptic feedback interface and a method of driving the same.
Background
The trend is increasing for haptic applications such as touch display interfaces for consumer electronics. Haptic feedback conveys information to the user by transmitting mechanical force, pressure, or vibration, thereby reproducing haptic sensations in the user interface device. In particular, haptic actuators are a primary component of haptic systems that provide mechanical actuation to deliver haptic sensations for enhancing the user experience.
Today's smart phones, touch pads and touch screen displays feature mainly vibrotactile feedback driven by inertial-type actuators, such as Eccentric Rotating Mass (ERM) and Linear Resonant Actuator (LRA). These actuators only provide vibration of the entire device and have some limitations, in particular being bulky, lacking real feedback and complex mechanical design.
Accordingly, there is a need for improved haptic actuators.
Disclosure of Invention
It is therefore an object of the present invention to provide an improved haptic feedback transducer unit for a haptic feedback interface.
Various embodiments may provide a haptic feedback transducer unit for a haptic feedback interface. The haptic feedback transducer unit may comprise a sensor, which may be configured to emit an electrical signal in dependence of the mechanical stimulus. The haptic feedback transducer unit may comprise one or more actuators, which may be configured to provide a mechanical response in response to an electrical stimulus. The sensors may be configured to be independently electrically addressable from one or more actuators. The sensor and the one or more actuators may be disposed side-by-side on the substrate. The sensor may comprise a sensor electroactive layer located between a sensor bottom electrode and a sensor top electrode, the sensor top electrode forming a sensor surface. Each of the one or more actuators may include an actuator electroactive layer between an actuator bottom electrode and an actuator top electrode, the actuator top electrode forming an actuator surface.
Various embodiments may provide a haptic feedback interface. The haptic feedback interface may include a plurality of haptic interface points. Each haptic interface point may comprise a haptic feedback transducer unit. The base may be common to each tactile interface point.
Various embodiments may provide a method for driving a haptic feedback interface, which may include: upon receiving, by the touch controller, a touch event signal from a sensor of one of the tactile interface points, an actuation is provided on the one of the tactile interface points.
Drawings
In the following description, various embodiments of the present disclosure are described with reference to the following drawings, in which:
fig. 1 shows a schematic diagram of a haptic
fig. 2 shows a schematic diagram of a haptic
fig. 3 shows a schematic diagram of a haptic
FIG. 4 shows a schematic diagram of a haptic feedback transducer unit 400 in which the sensor bottom electrode 414 and the actuator bottom electrode 434(454) share a common and continuous electrode layer 404, according to various embodiments;
fig. 5 shows a schematic diagram of a haptic feedback transducer unit 500 in accordance with various embodiments, wherein the sensor top electrode 518 and the actuator top electrode 538(558) share a common and continuous electrode layer 508;
fig. 6 shows a schematic diagram of a haptic
fig. 7 shows a schematic diagram of a haptic
fig. 8 shows a schematic diagram of a haptic
fig. 9 shows a schematic diagram of a haptic
fig. 10 shows a schematic diagram of a haptic feedback transducer cell 1000 according to various embodiments, which is the same as the haptic feedback transducer cell 500 of fig. 5, except that the material from the sensor electroactive layer 1016 and the material from the actuator electroactive layers 1036(1056) may be different from each other. In the haptic feedback transducer unit 1000, the sensor top electrode 1018 and the actuator top electrode 1038(1058) share a common and continuous electrode layer 1008;
fig. 11 shows a schematic diagram of a haptic
fig. 12 shows a schematic diagram of a haptic feedback transducer cell 1200 comprising two common electroactive layers and three common electrode layers, according to various embodiments;
fig. 13A shows a schematic top view of a haptic
FIG. 13B shows a cross-sectional view A-A of the haptic
FIG. 14 shows a flow diagram of a method for driving a haptic feedback interface, in accordance with various embodiments;
FIG. 15 illustrates a block diagram of a haptic feedback interface, in accordance with various embodiments.
Detailed Description
The following detailed description describes specific details and embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. Other embodiments may be utilized and changes may be made without departing from the scope of the present invention. The various embodiments are not necessarily mutually exclusive, as some embodiments may be combined with one or more other embodiments to form new embodiments.
Features described in the context of an embodiment may apply correspondingly to the same or similar features in other embodiments. Features described in the context of an embodiment may also be applied to other embodiments accordingly, even if not explicitly described in these other embodiments. Furthermore, additions and/or combinations and/or substitutions as described for features in the context of an embodiment may be correspondingly applied to the same or similar features in other embodiments.
The invention illustratively described herein suitably may be practiced in the absence of any element, limitation or limitations which is not specifically disclosed herein. Thus, for example, the terms "comprising", "including" … "," containing ", and the like are to be construed broadly and without limitation. Thus, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated integer or group of integers but not the exclusion of any other integer or group of integers. Furthermore, the terms and expressions which have been employed herein are used as terms of description and not of limitation, and there is no intention in the use of such terms and expressions of excluding any equivalents of the features shown and described or portions thereof, but it is recognized that various modifications are possible within the scope of the invention claimed. Thus, it should be understood that although the present invention has been specifically disclosed by exemplary embodiments and optional features, modification and variation of the inventions herein disclosed may be resorted to by those skilled in the art, and that such modifications and variations are considered to be within the scope of this invention.
The inclusion of reference signs in parentheses in the claims is intended to facilitate understanding of the present invention and does not limit the scope of the claims.
Within the scope of the present disclosure and according to various embodiments, the term "sensor" may refer to a layer stack comprising a sensor electroactive layer disposed between a sensor bottom electrode and a sensor top electrode. The sensor may be configured to emit an electrical signal upon receiving the mechanical stimulus. For example, when a user touches the sensor, the electroactive layer may convert the mechanical input into an electrical signal that may be detected at the electrodes.
Within the scope of the present disclosure and according to various embodiments, the term "actuator" may refer to a layer stack comprising an actuator electroactive layer disposed between an actuator bottom electrode and an actuator top electrode. The actuator may be configured to provide a mechanical response in response to an electrical stimulus. For example, when electrical stimulation is applied to the actuator via the actuator bottom electrode and the actuator top electrode, the actuator may provide haptic feedback to a user contacting the actuator.
Within the scope of the present disclosure and according to various embodiments, the term "actuator" may refer to one or more actuators, e.g., a first actuator and a second actuator, or a first actuator, a second actuator and other actuators. The further actuator may be configured in the same way as the first actuator or the second actuator.
According to various embodiments, the sensor may be used to provide further tactile feedback by applying electrical stimulation to the sensor via the sensor bottom electrode and the sensor top electrode. Such further haptic feedback may be provided in addition to the haptic feedback from the one or more actuators, thereby enhancing the user experience.
For purposes of explaining various embodiments, the haptic feedback transducer unit shown in fig. 1-13B shows a first actuator and a second actuator for illustration purposes. However, various embodiments should be understood to include one or more actuators, each of which may be configured as either a first actuator or a second actuator. The one or more actuators may include a first actuator, or a first actuator and a second actuator, for example, 1, 2, 3, 4, 5, 6, or more actuators. Further details of the actuator may be described herein, for example, by describing the first actuator.
Fig. 1 shows a schematic diagram of a haptic
As shown in fig. 1 and in accordance with various embodiments, the
As shown in fig. 1 and in accordance with various embodiments, the sensor electroactive layer 116 and the first
As shown in fig. 1 and in accordance with various embodiments, the sensor top electrode 118 and the first
The following explanation may be applied to various embodiments or some embodiments.
According to various embodiments, the term "electroactive layer" may denote a layer that may undergo a shape change in response to an applied electric field. The electroactive layer may comprise an electroactive material, such as an electroactive polymer. In the context of the present disclosure and according to various embodiments, an electroactive material, such as an electroactive polymer (EAP), is a material (polymer in the case of an EAP) that undergoes a shape change in response to an applied electric field. An exemplary class of electroactive materials is ferroelectric active polymers (FerroEAP).
According to various embodiments, the sensor electroactive layer and the one or more actuator electroactive layers may be transparent.
According to various embodiments, the haptic feedback transducer cell may comprise a sensor electroactive layer having layer characteristics different from the one or more actuator electroactive layers, e.g. different from at least one of the first and second actuator electroactive layers. In this case, the sensor electroactive layer may not share a common layer with one or more actuator electroactive layers. This allows integrated touch sensing and tactile feedback features, e.g. obtained by piezo-and electrostrictive FerroEAP via patterning of the transparent electrode and the FerroEAP layer, respectively. The layer properties may be selected from: different layer thicknesses, different materials, different material compositions, or combinations thereof. One layer property may be material composition.
The sensor electroactive layer can include a sensor electroactive material. The sensor electroactive material is an electroactive material suitable for use in a sensor. An example of a sensor electroactive material is a piezoelectric material, such as a piezoelectric ferroelectric active copolymer.
According to various embodiments, one or more actuator electroactive layers (e.g., a first actuator electroactive layer and/or a second actuator electroactive layer) may include an actuator electroactive material, such as an electrostrictive electroactive material. An example of an electrostrictive electroactive material is a ferroelectric relaxor polymer. The first actuator electroactive layer and the second actuator electroactive layer may share a common electroactive layer. In some embodiments, the actuator electroactive material may be a piezoelectric material, for example, a piezoelectric ferroelectric active copolymer.
Where the sensor electroactive layer comprises layer properties that are different from the layer properties of the one or more actuators, the sensor electroactive layer may not share a common layer with the one or more actuators.
For example, this approach enables piezoelectric touch sensing and electrostrictive vibration features to be implemented in a single haptic feedback transducer element without the need for interlayer isolators and individual touch sensors that would result in a multi-array (pattern) design. For example, a piezoelectric FerroEAP-based touch sensor may be centrally located, and electrostrictive FerroEAP actuators may be located around the piezoelectric touch sensor. Good optical properties can also be obtained from this particular design due to the reduced number of layers used.
According to various embodiments, examples of sensor electroactive materials are piezoelectric materials, such as piezoelectric ferroelectric active copolymers (piezoelectric FerroEAP), such as poly [ (vinylidene fluoride-co-trifluoroethylene) ] (P (VDF-TrFE)), poly [ (vinylidene fluoride-co-hexafluoropropylene) ] (P (VDF-HFP)), poly [ (vinylidene fluoride-co-chlorotrifluoroethylene) ] (P (VDF-CTFE)). The copolymer piezoelectric FerroEAP (e.g., the previous examples) may also be referred to herein as a FerroEAP copolymer.
According to various embodiments, an example of an electrostrictive electroactive material is a ferroelectric relaxor polymer, such as a ferroelectric ferro eap terpolymer. Examples of ferroelectric ferro eap terpolymers are: poly (vinylidene fluoride-trifluoroethylene-chlorotrifluoroethylene) (abbreviated as P (VDF-TrFE-CTFE)), poly (vinylidene fluoride-trifluoroethylene-chlorofluoroethylene) (abbreviated as P (VDF-TrFE-CFE)), poly (vinylidene fluoride-trifluoroethylene-hexafluoropropylene) (P (VDF-TrFE-HFP)).
According to various embodiments, to improve material properties, electroactive materials such as P (VDF-TrFE) may be irradiated with high energy, e.g., at a dose of 0.5X 105Gy and 106Gy (1Gy ═ 100rads), electron beam irradiation at 1 atmosphere pressure, electron energy of 1.0MeV to 3.0MeV, temperature range of 20 degrees celsius to 120 degrees celsius. Alternatively or additionally, to improve material properties, the electroactive material, such as a ferroelectric ferro-eap terpolymer (e.g., P (VDF-TrFE-CTFE)), may include a plasticizer, such as di (2-ethylhexyl) phthalate (DEHP).
According to some embodiments, the layer thickness of the electroactive layer may be optimized, for example one or more of a sensor electroactive layer for providing a touch function or an actuator electroactive layer for providing an actuation function. In this case, the sensor electroactive layer may share a common layer, e.g., a continuous layer, with the one or more actuator electroactive layers. According to some embodiments, the sensor electroactive layer (e.g., a piezoelectric FerroEAP copolymer layer) can be operated (e.g., by a switch) as a touch sensor or actuator, as further described below in conjunction with fig. 14 and 15.
According to various embodiments, the electrode may comprise an electrode material, for example, selected from at least one of the following materials: silver nanowires (AgNW), copper nanowires (CuNW), PEDOT: PSS, or a combination thereof. The electrodes (e.g., all electrodes) may be transparent. The term "electrode" may include a bottom electrode, a top electrode, an intermediate electrode, and a common electrode layer.
According to various embodiments, the area of the sensor surface is smaller than the area of the actuator surface. For example, the area of the sensor surface may be smaller than at least one of: (i) the surface area of one of the actuators, (ii) the sum of the areas of each actuator.
According to various embodiments, known processing techniques may be used for the deposition of the layers. For example, screen printing and roll-to-roll processes may be employed to fabricate the sensors and actuators.
The term "common" used in connection with a "layer" may mean that the layer is shared by all other elements so that it is common, according to various embodiments. The common layer may be interrupted, for example, including a gap between the sensor and the at least one actuator. Alternatively, the layer may be continuous, for example between the sensor and the at least one actuator. According to various embodiments, one skilled in the art will appreciate that even in a continuous layer, patterned features may be provided in certain portions, for example to provide exposed substrate areas for wiring. For example, wiring may be used to enable electrical coupling with other haptic feedback transducer cell elements or circuits.
According to some embodiments, wherein the electroactive layer is common, e.g. continuous between the sensor and the one or more actuators, the common electroactive layer may comprise a material that may be used for sensing and for actuation, e.g. a piezoelectric ferroelectric active copolymer.
Fig. 2 shows a schematic diagram of a haptic
Fig. 2 shows that the
For example, by providing the respective electroactive layer with a suitable geometry, e.g. extending over an end (edge) of the respective bottom electrode, it may be provided to provide the actuator electroactive layer over the edge of the actuator electrode, and e.g. over the edge of the sensor bottom electrode. For example, a continuous common electroactive layer as previously described may be used to cover the edges and gaps between the bottom electrodes. Covering the edges of the electrodes provides the advantage that when the top electrode is deposited, the bottom electrode is isolated (and therefore insulated) and thus not in direct contact with the top electrode, thus avoiding defects due to short circuits.
Another measure for avoiding defects due to short circuits is to provide the top electrode with a suitable size relative to the underlying electroactive layer. For example, as shown in fig. 2, the first
Fig. 3 shows a schematic diagram of a haptic
Fig. 3 shows that the
Fig. 4 shows a schematic diagram of a haptic feedback transducer cell 400 in accordance with various embodiments, wherein the sensor bottom electrode 414 and the actuator bottom electrode 434(454) share a common and continuous layer, i.e. a common and continuous bottom electrode layer 404. As shown, the sensor 410 can include a sensor bottom electrode 414, where the sensor bottom electrode 414 is part of the continuous bottom electrode layer 404, which can be disposed on the substrate 402. The sensor 410 may also include a sensor electroactive layer 416 located between the sensor bottom electrode 414 and the sensor top electrode 418. As shown, the first actuator 430 can include a first actuator bottom electrode 434, where the first actuator bottom electrode 434 can be a portion of the continuous bottom electrode layer 404. The first actuator 430 can also include a first actuator electroactive layer 436 positioned between a first actuator bottom electrode 434 and a first actuator top electrode 438. As further shown, the second actuator 450 may include a second actuator bottom electrode 454, wherein the second actuator bottom electrode 454 may be a portion of the continuous bottom electrode layer 404. The second actuator 450 can also include a second actuator electroactive layer 456 between a second actuator bottom electrode 454 and a second actuator top electrode 458.
Fig. 4 shows that the first actuator 430 may include a first actuator surface 432. The second actuator 450 may include a second actuator surface 452.
According to various embodiments, and as shown in fig. 4, the sensor electroactive layer 416, the first actuator electroactive layer 436, and the second actuator electroactive layer 456 are shown as separate layers. Any two or three of the sensor electroactive layer 416, the first actuator electroactive layer 436, and the second actuator electroactive layer 456 may be part of the common electroactive layer 406. Alternatively to fig. 4, the common electroactive layer 406 may be a continuous layer. In other words, there is no gap as shown in fig. 4.
Fig. 5 shows a schematic diagram of a haptic feedback transducer cell 500 in which the sensor top electrode 518 and the actuator top electrode 538(558) share a common and continuous layer 508, according to various embodiments. As shown in fig. 5, in the haptic feedback transducer cell 500, the sensor electroactive layer 516 is disposed over the edge 514.1(514.2) of the sensor bottom electrode 514, and the actuator electroactive layer 536(556) is disposed over the edge 535(555) of the actuator electrode 534 (554). Thus, the edges 514.1, 514.2, 535, 555 are covered by the respective electroactive layers.
As shown in fig. 5, the sensor 510 may include a sensor electroactive layer 516 located between a sensor bottom electrode layer 514 and a sensor top electrode layer 518, where the sensor top electrode layer 518 may be part of the continuous top electrode layer 508. As further shown, the first actuator 530 can include a first actuator electroactive layer 536 located between the first actuator bottom electrode 534 and the first actuator top electrode 538. The first actuator top electrode 538 may be part of the continuous top electrode layer 508 as shown. As further shown, the second actuator 550 can include a second actuator electroactive layer 556 located between a second actuator bottom electrode 554 and a second actuator top electrode 558. The second actuator top electrode 558 may be part of the continuous top electrode layer 508, as shown.
Fig. 5 shows that the first actuator 530 may include a first actuator surface 532. The second actuator 550 may include a second actuator surface 552.
According to various embodiments and as shown in fig. 5, the sensor electroactive layer 516, the first actuator electroactive layer 536, and the second actuator electroactive layer 556 are shown as separate layers. Any two or three of the sensor electroactive layer 516, the first actuator electroactive layer 536, and the second actuator electroactive layer 556 can be part of the common electroactive layer 506. As shown in fig. 5, the common electroactive layer 506 may be a continuous layer. In other words, there is no gap as shown in fig. 5.
Fig. 6 shows a schematic diagram of a haptic
Fig. 6 shows that the
Fig. 6 also shows a sensor electroactive layer 616 formed between the sensor bottom electrode 614 and a
As shown in fig. 6, the sensor electroactive layer 616 can be a layer deposited on the sensor bottom electrode 614, which sensor electroactive layer 616 can further cover the edges of the sensor bottom electrode 614. The sensor electroactive layer 616 can be part of a
According to various embodiments and as shown in fig. 7-13B, as described below, the haptic feedback transducer cell may include one or more actuator electroactive layers having different layer characteristics than the sensor electroactive layers, i.e., at least one of the first actuator electroactive layer and the second actuator electroactive layer is different from the sensor electroactive layer. The layer properties may be selected from: different layer thicknesses, different materials, different material compositions, or combinations thereof. One layer property may be material composition. The sensor electroactive layer can include a sensor electroactive material. The one or more actuator electroactive layers, e.g., the first actuator electroactive layer and/or the second actuator electroactive layer, may include an actuator electroactive material. According to some embodiments, the first actuator electroactive layer and the second actuator electroactive layer may share a common bottom electroactive layer. Where the layer properties of the sensor electroactive layer are different from the layer properties of the one or more actuators, the sensor electroactive layer may not share a common layer with the one or more actuators.
Several design configurations of the haptic feedback transducer unit are shown in fig. 7-13B, according to various embodiments. These haptic feedback transducer elements may be implemented as a single active layer structure, which means that they comprise only one layer of electroactive material. The design configuration shown may include insulating regions with or without patterns for eliminating electrical shorts and noise issues and for simple preparation. Fig. 7 and 8 show a patterned sensor electroactive layer, e.g. a FerroEAP layer, and a transparent electrode with an overlying coating layer, e.g. a terpolymer or copolymer, of the actuator electroactive layer as an insulating region. Also, designs with a common and continuous bottom or top electrode are described (fig. 9 and 10). Further, a haptic feedback transducer unit with two layers, e.g. unpatterned FerroEAP copolymers and terpolymers, is depicted in fig. 11 and 12. These can be considered for simple preparation. As previously mentioned, all haptic feedback transducer elements with a single electro-active material may also be used as another possible configuration, as shown in fig. 1-6 above.
Fig. 7 shows a schematic diagram of a haptic
Fig. 8 shows a schematic diagram of a haptic
Fig. 9 shows a schematic diagram of a haptic
Fig. 10 shows a schematic diagram of a haptic feedback transducer cell 1000 according to various embodiments, which is the same as the haptic feedback transducer cell 500 of fig. 5, except that the material from the sensor electroactive layer 1016 and the material from the actuator electroactive layers 1036(1056) may be different from each other. In the haptic feedback transducer cell 1000, the sensor top electrode 1018 and the actuator top electrode 1038(1058) share a common and continuous layer 1008. In the haptic feedback transducer cell 1000 shown in fig. 10, the layer characteristics of the sensor electroactive layer 1016 are different (e.g., different compositions) than the first actuator electroactive layer 1036 and the second actuator electroactive layer 1056 (shown by different hatching), and thus the sensor electroactive layer 1016 may not share a common layer with the first actuator electroactive layer 1036 and the second actuator electroactive layer 1056.
Fig. 11 shows a schematic diagram of a haptic
Fig. 12 shows a schematic diagram of a haptic feedback transducer unit 1200 according to various embodiments. The haptic feedback transducer unit 1200 may comprise a first common bottom electrode layer 1204, which may be disposed on a substrate. The first common bottom electrode layer 1204 is illustratively shown as a continuous layer.
The haptic feedback transducer cell 1200 may further comprise a first common electroactive layer 1206, which may be disposed on the common bottom electrode layer 1204. The first common electroactive layer 1206 may include a first actuator electroactive layer and may also include a second actuator electroactive layer. The first common electroactive layer 1206 is illustratively shown as a continuous layer. The first common electroactive layer 1206 may include an actuator electroactive material, such as an electrostrictive electroactive material. An example of an electrostrictive electroactive material is a ferroelectric relaxor polymer, such as a ferroelectric ferro eap terpolymer. Alternatively, the first common electroactive layer 1206 may comprise a piezoelectric material, such as a piezoelectric ferroelectric active copolymer.
The haptic feedback transducer unit 1200 may further include an intermediate common electrode 1208, which may include a sensor bottom electrode 1214, a first actuator top electrode 1238, and the haptic feedback transducer unit may further include a second actuator top electrode 1258. The intermediate common electrode 1208 may be separated from each of the first actuator top electrode 1238 and the second actuator top electrode 1258 by a respective gap. Thus, the overlap of the layers 1214, 1216, 1218 may form a sensor 1210.
The haptic feedback transducer cell 1200 may further comprise a second common electroactive layer 1209, which may be disposed on the intermediate common electrode 1208. The second common electroactive layer 1209 includes a sensor electroactive layer 1216. The second common electroactive layer 1209 is illustratively shown as a continuous layer. The second common electroactive layer 1209 may include a sensor electroactive material. An example of a sensor electroactive material is a piezoelectric material, such as a piezoelectric ferroelectric active copolymer.
For example, the following material combinations are possible: (i) the first common actuator electroactive layer 1206 may comprise a piezoelectric ferroelectric active copolymer and the second common electroactive layer 1209 may comprise a piezoelectric ferroelectric active copolymer for the sensor layer 1216 and the actuator layers 1246 (1266); (ii) the first common actuator electroactive layer 1206 may comprise a ferroelectric ferro-electric eap terpolymer and the second common electroactive layer 1209 may comprise a piezoelectric ferro-electric active copolymer for the sensor layer 1216 and the actuator layers 2146 (1266). As another example, in a reverse configuration.
As another example, in the inverted structure, the following material combinations are possible: (i) the first common electroactive layer 1206 may comprise a piezoelectric ferroelectric active copolymer for the sensor layer 1276 and the actuator layer 1236(1256), and the second common actuator electroactive layer 1209 may comprise a ferroelectric ferro eap terpolymer; (ii) the first common electroactive layer 1206 may comprise a piezoelectric ferroelectric active copolymer for the sensor layer 1276 and the actuator layers 1236(1256), and the second common actuator electroactive layer 1209 may comprise a piezoelectric ferroelectric active copolymer.
The haptic feedback transducer unit 1200 may further comprise a second common top electrode 1298. The second common top electrode 1298 may include a first electroactive layer top electrode 1248 and may also include a second electroactive layer top electrode 1268. Thus, the overlap of the layers 1248, 1246, 1238 may form the first actuator 1230. Further, the overlap of the layers 1268, 1266, 1258 may form a second actuator 1250.
The haptic feedback transducer cells shown in fig. 6, 11 and 12 can be implemented as an entire two-layer structure design without the need for patterning of the electroactive layer. A bilayer may mean that only two electroactive layers (a common bottom electroactive layer and a common top electroactive layer) may be required. The common and patterned electrode approach (e.g., by providing an intermediate common electrode) enables sensor touch functionality and actuator haptic feedback functionality in a two-layer structure design without the need for patterning of electroactive polymers. In other words, independent electrical addressing of the sensors from the actuators may be provided by patterning of the intermediate common electrode, and thus patterning of the electroactive layers (the common bottom electroactive layer and the common top electroactive layer) for that purpose may not be required.
The intermediate common electrode provides minimal impact on the optical properties of the haptic feedback transducer element. The sensor touch functionality may be implemented by, for example, piezoelectric FerroEAP. The actuator haptic feedback function may be implemented, for example, by an electrostrictive FerroEAP or a piezoelectric FerroEAP.
Fig. 13A shows a schematic top view of a haptic
The haptic
Fig. 13B shows a cross-sectional view a-a of the haptic
Fig. 13A and 13B show a haptic feedback transducer unit that may be transparent, the haptic feedback transducer unit including a centrally located and touch-sensing capable patterned sensor electroactive layer including a sensor electroactive material, such as a FerroEAP copolymer, and an actuator electroactive layer surrounding an element for actuation capability, the actuator electroactive layer including an actuator electroactive material, such as a FerroEAP terpolymer. When the central element (sensor 1310) is switched to the actuation mode, a magnification concept of 6 or 7 times the actuation vibration amplitude can be achieved due to the superposition of actuation amplitudes from each actuation element surrounding the central element (sensor 1310). In an alternative, the sensor and the actuator comprise the same material, for example a FerroEAP copolymer, and therefore possible configurations with all FerroEAP copolymer layers can also be employed (for example as explained in connection with fig. 1 to 6). Furthermore, since only a single material is used, ease of processing is one benefit of using all FerroEAP copolymers.
According to some embodiments, when the haptic feedback transducer unit is implemented with a layer structure as explained in connection with fig. 12, when the central element (sensor 1210) is switched to the actuation mode, a magnification concept of 12 or 14 times the actuation vibration amplitude may be achieved due to the superposition of actuation amplitudes from each actuation element surrounding the central element (sensor 1210).
Various embodiments may describe a combination of touch location and force sensing with haptic feedback. For example, the piezoelectric sensing capability of the FerroEAP copolymer film layer can be used without additional power supply and consumption, and a tactilely transparent FerroEAP terpolymer film layer (ferroelectric relaxor polymer) can be used. Embodiments according to various embodiments may be integrated into a single active layered transparent haptic feedback transducer unit by manipulating the patterned transparent electrode design and the EAP film manufacturing process. At the same time, the approach disclosed herein provides better optical properties (e.g., higher transmittance, lower reflection, and haze values) according to various embodiments, because no additional touch sensing layer and air gap are needed to detect touch and trigger haptic feedback. Several design configurations for eliminating electrical shorts and noise problems, as well as an overall bi-layer design including different layers of electroactive materials with electrode sharing methods, have also been proposed to minimize loss of optical properties and maximize touch sensing and tactile feedback capabilities.
According to various embodiments, for example, as shown in fig. 13A and 13B, a cooperative haptic system integration is disclosed in which different haptic feedback operational modes are combined. For example, FerrooEAP copolymer and terpolymer actuators can be used cooperatively to superimpose their haptic feedback outputs.
Fig. 14 illustrates a flow diagram of a method for driving a haptic feedback interface, in accordance with various embodiments. The
According to various embodiments, after the touch event,
According to various embodiments, providing actuation at the one of the tactile interface points may comprise executing branch (1) each time the tactile feedback is indicated (e.g. by a touch controller), and may further comprise controlling
According to various embodiments, the haptic feedback interface may comprise a plurality of haptic interface points, wherein each haptic interface point comprises a haptic feedback transducer unit (100.. 1300) according to various embodiments. The substrate may be a common layer that is common among the plurality of tactile interface points. Further, the bottom electrode may be a common layer shared among the haptic feedback transducer elements of the plurality of haptic interface points. Further, the top electrode may be a common layer shared among the haptic feedback transducer elements of the plurality of haptic interface points. In some embodiments, the common electroactive layer may be a common layer shared among the haptic feedback transducer elements of the plurality of haptic interface points.
According to some embodiments, the sensor electroactive layer, e.g., the piezoelectric FerroEAP copolymer layer, may be operated as a touch sensor or actuator, e.g., by
FIG. 15 illustrates a block diagram of a
As previously described and according to various embodiments, actuation of the one of the tactile interface points may be performed according to at least one of the branches (1) or (2). The decision as to which of branch (1) and branch (2) is to be activated in actuation may be performed by
Under branch (1), the
Under the branch (2), the
When branches (1) and (2) are selected for providing actuation at the one of the tactile interface points, combined
In the following, an example of a haptic feedback interface according to fig. 5 will be explained in more detail.
The
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