阅读说明：本技术 可变响应旋转输入控制装置 (Variable response rotary input control device ) 是由 马克西姆·弗拉索夫 尼古拉斯·雷蒙德 让-克劳德·迪南 帕特里克·塞里西耶 于 2019-06-27 设计创作，主要内容包括：描述了一种可变响应旋转输入控制装置。本文还描述了包括旋转输入控制装置的用户输入设备。旋转输入控制装置包括：第一铁氧体衬底和第二铁氧体衬底；在第一铁氧体衬底与第二铁氧体衬底之间延伸以形成磁路的第一永磁体和第二永磁体；卷绕在第一永磁体周围的一个或更多个磁化线圈；以及限定中心容积的轮,第一铁氧体衬底和第二铁氧体衬底、第一永磁体和第二永磁体以及一个或更多个磁化线圈位于该中心容积内。用户输入设备还包括控制系统,该控制系统被配置成将电流引导至一个或更多个磁化线圈以改变第一永磁体的磁化来对旋转输入控制装置的阻力分布进行调节。(A variable response rotary input control device is described. User input devices including a rotational input control apparatus are also described herein. The rotation input control device includes: a first ferrite substrate and a second ferrite substrate; a first permanent magnet and a second permanent magnet extending between the first ferrite substrate and the second ferrite substrate to form a magnetic circuit; one or more magnetizing coils wound around the first permanent magnet; and a wheel defining a central volume within which the first and second ferrite substrates, the first and second permanent magnets, and the one or more magnetizing coils are located. The user input device further comprises a control system configured to direct current to the one or more magnetizing coils to change the magnetization of the first permanent magnet to adjust the resistance profile of the rotary input control device.)

1. A user input device, comprising:

a rotary input control device, comprising:

a wheel; and

an electropermanent magnet assembly, comprising:

a magnetizing device, and

a permanent magnet coupled to the magnetizing apparatus and emitting a magnetic field; and

a control system configured to modulate an amount of electrical energy supplied to the magnetizing means to change a resistance profile of the rotating input control means, the modulation switching the permanent magnet from a first state in which the magnetic field has a first magnetic flux to a second state in which the magnetic field has a second magnetic flux greater than the first magnetic flux, the magnetic field having a first polarity in both the first state and the second state.

2. The user input device of claim 1, wherein the electrical permanent magnet assembly further comprises ferrite substrates located at opposite ends of the electrical permanent magnet assembly, each ferrite substrate comprising a first plurality of teeth projecting radially from the ferrite substrate and toward the wheel.

3. The user input device of claim 2, wherein the wheel defines a central opening within which the electropermanent magnet assembly is disposed, and wherein the wheel includes a second plurality of teeth that protrude from the wheel and into the central opening.

4. A user input device as in claim 3 wherein the resistance profile is a ratchet resistance profile when the permanent magnet is in the first state, the resistance profile being generated by magnetic flux emitted by the electropermanent magnet assembly flowing through the first plurality of teeth to interact with respective teeth of the second plurality of teeth protruding from the wheel.

5. A user input device as in claim 3 wherein the permanent magnet is a first permanent magnet and the electropermanent magnet assembly further comprises a second permanent magnet, the first and second permanent magnets being aligned and cooperating with the poles of the ferrite substrate to form a magnetic circuit.

6. The user input device of claim 5, further comprising a shaft rotatably coupling the electropermanent magnet assembly to the wheel.

7. The user input device of claim 6, wherein the permanent magnet is a first permanent magnet and the electropermanent magnet assembly further comprises a second permanent magnet, wherein the shaft extends between the first permanent magnet and the second permanent magnet.

8. The user input device of claim 1, wherein in the first state, the resistance profile does not apply a force to the wheel, and wherein in the second state, the resistance profile applies a ratcheting force to the wheel.

9. A user input device according to claim 1 wherein in the first state the resistance profile is imposed by interaction between the magnetic field emitted by the electropermanent magnet assembly and the magnetically attractable material of the wheel.

10. A user input device, comprising:

a rotary input control device comprising:

a wheel;

a magnetizing coil;

a first permanent magnet extending through the magnetizing coil;

a second permanent magnet, the first and second permanent magnets configured to set a drag profile for the wheel by cooperatively emitting a magnetic field operable to oppose rotation of the wheel; and

a control system configured to switch between three or more different resistance profiles of the wheel by varying an amount of electrical energy supplied to the magnetizing coil.

11. The user input device of claim 10, wherein the user input device is a mouse.

12. The user input device of claim 10, wherein the control system comprises a capacitor configured to deliver current to the one or more magnetizing coils to control an amount of electrical energy supplied by the magnetizing coils.

13. The user input device of claim 10, wherein the control system comprises an analog feedback loop.

14. A user input device as in claim 10 further comprising a shaft about which the wheel rotates, the shaft extending between the first and second permanent magnets.

15. A user input device as in claim 10 wherein the wheel defines a central volume, the first permanent magnet, the second permanent magnet and the magnetizing coil being located within the central volume.

16. The user input device of claim 15, further comprising: a first ferrite substrate comprising a first plurality of teeth and a second ferrite substrate comprising a second plurality of teeth, wherein the first and second permanent magnets extend between the first and second ferrite substrates to form a magnetic circuit.

17. The user input device of claim 15, wherein the wheel is mechanically decoupled from the first and second permanent magnets.

18. A user input device, comprising:

a rotary input control device, comprising:

a wheel; and

an electropermanent magnet assembly, comprising:

a magnetizing coil is arranged on the outer side of the coil,

a first permanent magnet extending through the magnetizing coil, and

a second permanent magnet adjacent to the first permanent magnet, the electropermanent magnet assembly configured to set a drag profile for the wheel by emitting a magnetic field operable to oppose rotation of the wheel; and

a controller configured to adjust the drag profile of the wheel by adjusting an amount of electrical energy supplied to the magnetizing coil according to a predetermined calibration curve associated with the electropermanent magnet assembly.

19. A user input device as in claim 18 wherein the predetermined calibration curve defines an amount of resistance to rotation of the wheel resulting from supplying different amounts of electrical energy to the magnetizing coil.

20. The user input device of claim 18, wherein the electric permanent magnet assembly further comprises a first ferrite substrate located at a first end of the first and second permanent magnets and a second ferrite substrate located at a second end of the first and second permanent magnets, the first and second ferrite substrates comprising radially protruding teeth.

Technical Field

The present application relates to the field of user input devices, and in particular to a rotational input control apparatus and a user input device comprising a rotational input control apparatus.

Background

Unless otherwise indicated herein, the materials described in this section are not prior art to the claims in this application and are not admitted to be prior art by inclusion in this section.

Physical computer peripheral interface devices may include a keyboard, mouse, joystick, wheel, etc., which may be physical devices that a user manipulates to interface with a computer device. The physical computer peripheral interface device may include a wheel input element that a user may manipulate. For example, a computer mouse may include a scroll wheel that may be used to translate a viewing window over an image or document displayed by the computer device in response to rotating the scroll wheel about an axis. The interface wheel may be operated across multiple resistance profiles. For example, the mouse wheel may be selectively operated between a free-wheeling mode and a ratcheting mode, each of which corresponds to a respective drag profile. What is desired is a mechanism that more effectively switches between one or more resistance profiles.

Disclosure of Invention

The present disclosure describes various mechanisms by which the feedback response of a rotary input control device can be varied in an energy efficient and reliable manner.

Disclosed is a user input device, including: a rotary input control device comprising a wheel and an electropermanent magnet assembly comprising a magnetizing device and a permanent magnet coupled to the magnetizing device and emitting a magnetic field; and a control system configured to modulate an amount of electrical energy supplied to the magnetizing means to change a resistance profile of the rotating input control means, the modulation switching the permanent magnet from a first state in which the magnetic field has a first magnetic flux to a second state in which the magnetic field has a second magnetic flux greater than the first magnetic flux, the magnetic field having a first polarity in both the first state and the second state. In some aspects, the electric permanent magnet assembly further includes ferrite substrates located at opposite ends of the electric permanent magnet assembly, each ferrite substrate including a first plurality of teeth projecting radially from the ferrite substrate and toward the wheel. The wheel may define a central opening within which the electropermanent magnet assembly is disposed, and wherein the wheel includes a second plurality of teeth protruding from the wheel and into the central opening. In some embodiments, the user input device is a computer mouse.

In some aspects, the resistance profile is a ratchet resistance profile when the permanent magnet is in the first state, the resistance profile being generated by magnetic flux emitted by the electropermanent magnet assembly flowing through the first plurality of teeth to interact with respective teeth of the second plurality of teeth protruding from the wheel. The permanent magnet may be a first permanent magnet, and the electropermanent magnet assembly further includes a second permanent magnet, the first and second permanent magnets being aligned and cooperating with the poles of the ferrite substrate to form a magnetic circuit. The user input device also includes a shaft rotatably coupling the electropermanent magnet assembly to the wheel. The permanent magnet may be a first permanent magnet and the electropermanent magnet assembly further includes a second permanent magnet, wherein the shaft extends between the first permanent magnet and the second permanent magnet. In some implementations, the resistance profile does not apply a force to the wheel when in the first state and applies a ratcheting force to the wheel when in the second state. In some cases, in the first state, the drag force profile is imposed by an interaction between a magnetic field emitted by the electropermanent magnet assembly and the magnetically attractable material of the wheel.

Another user input device is disclosed, the user input device comprising: a rotational input control device comprising a magnetizing coil, a first permanent magnet extending through the magnetizing coil, and a second permanent magnet, the first and second permanent magnets configured to set a drag profile for the wheel by cooperatively emitting a magnetic field operable to oppose rotation of the wheel; and a control system configured to switch between three or more different resistance profiles of the rotary input control device by varying the amount of electrical energy supplied to the magnetizing coil. In some cases, the user input device may be a computer mouse. The control system may include a capacitor configured to deliver current to the one or more magnetizing coils to control an amount of electrical energy supplied by the magnetizing coils. The control system may include an analog feedback loop. The user input device may further include a shaft about which the wheel rotates, the shaft extending between the first permanent magnet and the second permanent magnet. In some aspects, the wheel may define a central volume within which the first permanent magnet, the second permanent magnet, and the magnetizing coil are located. Some embodiments may further include: a first ferrite substrate comprising a first plurality of teeth and a second ferrite substrate comprising a second plurality of teeth, wherein the first permanent magnet and the second permanent magnet extend between the first ferrite substrate and the second ferrite substrate to form a magnetic circuit. In some embodiments, the wheel may be mechanically decoupled from the first and second permanent magnets.

In some embodiments, the user input device may include: a rotary input control device comprising a wheel and an electropermanent magnet assembly comprising a magnetizing coil, a first permanent magnet extending through the magnetizing coil, and a second permanent magnet adjacent to the first permanent magnet; and a controller configured to set a resistance profile of the rotary input control device by adjusting an amount of electrical energy supplied to the magnetizing coil according to a predetermined calibration curve associated with the electropermanent magnet assembly. In some aspects, the predetermined calibration curve defines an amount of resistance to rotation of the wheel resulting from supplying different amounts of electrical energy to the magnetizing coil. The electropermanent magnet assembly may further include a first ferrite substrate located at a first end of the first and second permanent magnets and a second ferrite substrate located at a second end of the first and second permanent magnets, the first and second ferrite substrates including radially protruding teeth.

Other aspects and advantages of the invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, illustrating by way of example the principles of the described embodiments.

Drawings

The present disclosure will be readily understood by the following detailed description in conjunction with the accompanying drawings, wherein like reference numerals designate like structural elements, and in which:

FIG. 1 illustrates an exemplary user input device 100 suitable for use in the described embodiments and in the form of a wireless mouse;

2A-2B illustrate an exemplary electropermanent magnet;

FIG. 3A illustrates a perspective view of an exemplary implementation in which an electro-permanent magnet is configured to change a resistance profile of a rotary input control device compatible with the apparatus shown in FIG. 1;

3B-3C illustrate a support structure of the rotary input control device;

4A-4B show cross-sectional views of a rotary input control device in which the polarities of the magnetic fields emitted by the permanent magnets are oriented in the same direction;

FIG. 4C shows another cross-sectional view of the rotary input control device, where the polarity of the permanent magnet 308 has been reversed;

FIG. 5A shows a graph representing first and second input profiles indicative of an amount of torque applied by an electropermanent magnet as a function of applied magnetomotive force (MMF);

FIG. 5B shows the indication input profile T₁、T₂、T₃And T₄Another graph of (a);

FIG. 5C shows a flow chart illustrating a method for calibrating a control system;

FIG. 6 illustrates an exemplary linear continuous current controller for regulating current to one or more magnetizing coils of an electropermanent magnet;

FIG. 7A shows a side view of an electropermanent magnet assembly for varying the drag force profile of a rotary input control device;

FIG. 7B illustrates how the magnetic field emitted from the electropermanent magnet extends through one or more walls of the housing when the electropermanent magnet assembly is in the second state; and

FIG. 8 illustrates a system for implementing certain features of the peripheral devices disclosed herein.

Detailed Description

While certain embodiments have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of protection. The devices and systems described herein may be embodied in various other forms. Furthermore, various omissions, substitutions and changes in the form of the example methods and example systems described herein may be made without departing from the scope of protection.

A peripheral input device serving as an interface between a user and a computer device may comprise a rotational input control as a physical element. The user may rotate the input control device to cause a corresponding command to be sent to the computer apparatus. An example of such an input control device is a scroll wheel that may be located between the left and right buttons on top of the peripheral input device. The scroll wheel may be used to translate the field of view of the computer display. For example, a user may use a scroll wheel to scroll a view of a document displayed on a computer screen. Other possible control means are compatible with the described embodiments and may include, for example, a rotary dial or a rotary encoder. However, for simplicity, the example of a scroll wheel will be used, but this should not limit the intended scope of the described embodiments.

The scroll wheel may have different modes of operation. For example, one mode of operation may be a free-wheeling mode in which the roller is rotatable about an axis, with a relatively constant and low coefficient of friction (which may be referred to as a first drag profile). Using such a mode, a user can rotate the wheel with a single finger movement to quickly pan their view across the document. Another mode may be a ratcheted mode in which the roller encounters periodic segments of relatively high friction (which may be referred to as a resistance profile different from the first resistance profile) with segments of lower friction therebetween. Such a mode may allow a user to have greater control in translating a document because a single finger movement to rotate a wheel may result in a metered translation of a view.

Some peripheral input devices allow a user to selectively enable different drag force profiles to be applied to the scroll wheel to alter the behavior of the scroll wheel depending on, for example, the respective computer application, intended use, or user preference. Various mechanisms are disclosed that may be used to vary the distribution of resistance applied to the wheels of a peripheral input device. Each mechanism provides different power usage, noise, user feel, and actuation time characteristics. In some embodiments, the resistance profile may be varied according to parameters provided by the activated application. For example, the drag profile may sharply increase to represent a brief pause/stop in scrolling to emphasize a particular feature. The additional force applied to overcome the increased resistance profile may allow rolling to continue and may in some cases initiate a change back to the initial resistance profile.

These and other embodiments are discussed below with reference to fig. 1-8, however, one skilled in the art will readily appreciate that the detailed description given herein with respect to these figures is for explanatory purposes only and should not be construed as limiting.

FIG. 1 illustrates an exemplary user input device 100 suitable for use in the described embodiments and in the form of a wireless mouse. The wireless mouse 100 includes a housing 102 and input buttons 106 and 104. Located between the input buttons 106 and 104 is a rotational input control device 150 in the form of a scroll wheel. Rotational input control device 150 may include a mechanism operable to implement a ratchet resistance profile for rotation of rotational input control device 150 about axis 152. The rotational input control device 150 may include or be coupled to a recess 154 having a "saw-like" cross-sectional profile. The mechanism may include an electro-permanent magnetic actuator for varying a resistance profile associated with rotation of the rotary input control device 150.

Fig. 2A-2B illustrate an exemplary electropermanent magnet 200. In particular, the electropermanent magnet 200 includes a first permanent magnet 202 and a second permanent magnet 204. The first permanent magnet 202 may have a higher intrinsic coercivity than the second permanent magnet 204. In some embodiments, the permanent magnet 202 may take the form of a rare earth (e.g., neodymium iron boron or samarium cobalt) magnet and the second permanent magnet 204 may take the form of a ferromagnetic (e.g., alnico or ferrite) magnet. The lower intrinsic coercivity of the second permanent magnet 204 allows the magnetizing apparatus in the form of the magnetizing coil 206 to emit a magnetic field of sufficient strength to reverse the polarity of the magnetic field emitted by the second permanent magnet 204 without affecting the magnetization of the first permanent magnet 202. For example, in some embodiments, the intrinsic coercivity of the first permanent magnet 202 may be more than ten times the intrinsic coercivity of the second permanent magnet 204. The lower intrinsic coercivity of the second permanent magnet 204 also reduces the amount of electrical energy expended to reverse the polarity of the second permanent magnet 204, allowing the electropermanent magnet 200 to operate more efficiently. The first permanent magnet 202 and the second permanent magnet 204 are both positioned between the ferrite substrates 208 and are in direct contact with the ferrite substrates 208 or at least in intimate contact with the ferrite substrates 208. The ferrite substrate 208 may be formed of a ferrite material, such as mild steel, having an even lower intrinsic coercivity than the second permanent magnet 204. The ferrite substrate 208 helps to direct the magnetic field emitted by the first permanent magnet 202 and the second permanent magnet 204. In some embodiments, the ferrite substrate 208 may be sized and shaped to generate a magnetic field having a desired size and shape.

Fig. 2A shows a dashed line 210 depicting the magnetic flux emitted by an electropermanent magnet 200, which shows how magnetic flux is released from the electropermanent magnet 200 by both the first permanent magnet 202 and the second permanent magnet 204 oriented in the same direction to produce well-defined north and south poles. As described, the magnetic fields emitted by the two permanent magnets are symmetrical when the magnetic fields are approximately the same strength.

Fig. 2B shows how the electropermanent magnet 200 can be switched from a first state in which the magnetic field extends out of the electropermanent magnet 200 to a second state in which the magnetic field is contained within the electropermanent magnet 200. Transitioning the electropermanent magnet 200 from the first state to the second state may be performed by reversing the polarity of the first permanent magnet 202 such that it is oriented in a direction opposite the polarity of the second permanent magnet 204. The magnetic flux, represented by dashed line 210 and produced by the cooperation of both permanent magnet 202/permanent magnet 204, remains substantially contained within and circulates through the ferrite substrate 208, the first permanent magnet 202, and the second permanent magnet 204. This results in the electropermanent magnet 200 emitting little magnetic field. It should be noted that in some embodiments, the electropermanent magnet 200 may have more than two states. For example, by varying the amount of energy provided by the magnetizing coil 206 during a remagnetization operation, the magnitude and strength of the field emitted by the electropermanent magnet 200 can be adjusted to provide a desired strength. It should be appreciated that the described state changes may be applied to any of the embodiments described herein.

Fig. 3A illustrates a perspective view of an exemplary implementation in which an electro-permanent magnet is configured to change the resistance profile of a rotary input control device 150 compatible with the apparatus described in fig. 1. An electropermanent magnet 300 is disposed within a central opening defined by a ferromagnetic wheel 302. Ferromagnetic wheel 302 includes a plurality of teeth 304 that protrude into the central opening and toward electropermanent magnet 300. The electropermanent magnet 300 includes a first permanent magnet 306 and a second permanent magnet 308. Magnetizing coil 310 and magnetizing coil 312 are wound around different portions of second permanent magnet 308 and are configured to reverse the polarity of the magnetic field emitted by second permanent magnet 308 in order to change the resistance profile of rotary input control device 150. It should be noted. Although a particular magnetizing coil configuration is shown, it should be understood that the re-magnetizing field may be generated in other ways, for example by applying a magnetic field using a strong permanent magnet. The ferrite substrates 314 each include radially projecting teeth 316 spaced at the same intervals as the teeth 304 of the ferromagnetic wheel 302. The radially protruding teeth 316 concentrate the magnetic field emitted by the electro-permanent magnet 300 such that rotation of the ferromagnetic wheel 302 generates a drag force profile that provides a user with a varying amount of drag force, wherein the variation in drag force occurs at a rate corresponding to the speed at which the ferromagnetic wheel 302 rotates. The change in resistance is caused by the interaction between the magnetic field emitted by the electropermanent magnet 300 and the ferromagnetic material in the teeth of the ferromagnetic wheel 302.

Fig. 3B to 3C show a support structure of the rotational input control apparatus 150. Fig. 3B shows a side view of the rotational input control device 150 raised above the support surface 315 by the support structure 317. The central opening of ferromagnetic wheel 302 is covered by a non-magnetic bearing assembly 318, the non-magnetic bearing assembly 318 including a self-lubricating shaft 320, the self-lubricating shaft 320 may be configured to stabilize ferromagnetic wheel 302 during use by engaging bearings (not shown) of housing 102. In some embodiments, the support surface 315 may take the form of a wall of an input device housing, such as the housing 102 shown in FIG. 1. In some embodiments, the support structure 317 may be integrated or somehow incorporated into a wall of the input device housing.

Fig. 3C shows an exploded view of the rotational input control device 150 and the support structure 317. In particular, the teeth 304 do not extend axially through the central opening defined by the ferromagnetic wheel 302, but rather leave room for a portion of the bearing assembly 318 to engage the ferromagnetic wheel 302 by an interference fit. The interference fit provides a simple way for the bearing assembly 318 to be axially aligned with the ferromagnetic wheel 302. Alternatively, the ferromagnetic wheel 302 may also be adhesively coupled to one side of the ferromagnetic wheel 302. Fig. 3C also shows how the electropermanent magnet 300 can be coupled to the support structure 317 and how the shaft 322 extends through a central region of the electropermanent magnet 300. In particular, the shaft 322 may extend between the first permanent magnet 306 and the second permanent magnet 308. The shaft 322 engages an opening defined by the self-lubricating shaft 320 to couple the ferromagnetic wheel 302 to the support structure 317. It should be noted that in some embodiments, both the bearing assembly 318 and the support structure 317 may be constructed of a polymer material to avoid any undesirable interference with the electropermanent magnet 300.

Fig. 4A-4B show cross-sectional views of rotary input control device 150 in which the polarities of the magnetic fields emitted by permanent magnets 306 and 308 are oriented in the same direction. Fig. 4A illustrates how the magnetic flux emitted from the radially protruding tooth 316 interacts with the ferromagnetic material comprising the tooth 304. In the depicted position, each tooth 304 is located between two adjacent radially projecting teeth 316, which results in a low resistance to rotation of ferromagnetic wheel 302 in either direction. However, when the radially projecting teeth 316 are aligned with a respective one of the teeth 304, as shown in fig. 4B, rotation of the ferromagnetic wheel 302 becomes more difficult as the teeth 304 are moved away from a respective one of the radially projecting teeth 316 by rotation in either direction. In this manner, the resistance profile may provide ratcheting feedback to the user without requiring any movement of the electropermanent magnet 300. In some embodiments, the ferromagnetic wheel may include tactile ribs to improve the grip of the user's finger on the rotary input control device 150.

Fig. 4C shows another cross-sectional view of the rotary input control device 150 in which the polarity of the permanent magnet 308 has been reversed. Because the polarity of the permanent magnets allows the magnetic flux 402 to circulate within the magnetic circuit defined by the permanent magnets 306/308 and the ferrite substrate 314, this results in the magnetic flux 402 being contained within the ferrite substrate 314. This results in little interaction between the electropermanent magnet 300 and the ferromagnetic wheel 302, which allows the user to experience no tactile feedback during rotation of the rotary input control device 150.

Fig. 5A shows a graph illustrating a first input profile 502 and a second input profile 504, the first input profile 502 and the second input profile 504 indicating an amount of torque applied by a permanent magnet as a function of magnetomotive force (MMF) applied to the permanent magnet. A first input profile 502 shows how the torque output of the electro-permanent magnet increases when the MMF is applied in a first direction, and a second input profile 504 shows how the torque output decreases when the MMF is applied in a second direction opposite the first direction. The first input profile 502 illustrates how a minimum MMF of approximately 700A is required to sufficiently shift the polarity of an electropermanent magnet to generate a significant amount of torque in response to rotation of the rotary input control device by a user. Because the applied magnetization field is opposite to the magnetic flux flowing through the electropermanent magnet, the profile starts with a gentle slope and transitions to a linear profile from about 600A to 900A. The dashed lines show how torques of 0.9mNm and 1.2mNm can be achieved by providing different amounts of MMF. In this way, the resistance profile of the rotary input control device can be adjusted to a desired level such that it can be switched between three or more different operating states, including at least: a free wheel state, a first ratchet state and a second ratchet state.

FIG. 5B shows an illustration of an input profile T₁Input profile T₂Input profile T₃And input profile T₄Another graph of (a). The input profile indicates how the peak saturation of the electropermanent magnet decreases over time. Degradation of the electropermanent magnet may be caused by a number of factors including degradation of various components such as magnetizing coils, capacitors for providing electrical charge to the electropermanent magnet, degradation of the magnetic substrate due to thermal damage, and the like. Thus, to achieve the same amount of torque, the controller responsible for supplying electrical energy to the magnetizing coil may be increased, as the magnetic material of the switchable polarity permanent magnet degrades after a certain amount of polarity switching has been experienced. In some embodiments, the controller may include circuitry for achieving a desired amount of torque regardless of a degradation state of the magnetic material comprising the electropermanent magnet. In some embodiments, a controller associated with an electropermanent magnet may include a computer-readable memory storing analysis related to tracking aging of components of the electropermanent magnet over time. In some implementations, these analyses can be stored, accessed, and/or manipulated through a cloud-based portal. The control system may take a variety of forms including a linear continuous current control system, a feed forward control system, or a digital feedback loop with a switched mode current source. Each species ofThe same type of control system has its own advantages and disadvantages. For example, linear continuous current control systems benefit from providing little EMI, being easily integrated into existing systems, and being relatively inexpensive to produce. Switched mode continuous current control can save energy when a lower amount of electrical energy is required to change the magnetization of the electro-permanent magnet, but tends to be rather large and includes expensive components. Finally, the feedforward control system may also extend battery life when a relatively low amount of electrical energy is required to change the magnetization of the electropermanent magnet, but the feedforward control system should be periodically recalibrated during its service life to achieve a consistent resistance profile implementation and is often more expensive to implement.

FIG. 5C shows a flow chart 506 illustrating a method for calibrating a control system. Factory calibration is very important for proper operation of the EPM and corresponding control system because the initial factory calibration determines an initial input profile that tends to vary only slightly over time. If the amount of magnetomotive force (MMF) required to determine the desired amount of torque deviates slightly, the resulting over-magnetized or under-magnetized permanent magnets of the EPM may severely affect the performance of the rotary input control feedback. This is due in part to the very precise amount of MMF required to achieve the desired torque output due to the steep slope of the linear portion of the input profile. Periodic recalibration may be helpful in certain situations including where various components in the electropermanent magnet assembly degrade over time, thereby changing the amount of charge needed to achieve a desired magnetic field strength. Periodic recalibration may be more or less useful depending on the type of control system used. Flow chart 506 illustrates a method for calibrating or recalibrating the amount of resistance provided by the rotating control wheel. At 508, an estimation of the free-wheeling friction may be made by requiring the user to rotate the rotation control device with the electro-permanent-magnet assembly in a first state in which the strength of the magnetic field emitted by the electro-permanent-magnet assembly is minimized. The RPM of the rotating control device may then be tracked using the position sensor to measure the rate of decay of the RPM. This measurement can then be used to establish a new baseline resistance to rotation caused by factors such as bearing wear, additional friction caused by the build-up of contaminants within and near the rotating control wheel, and the like. The detection of a higher baseline resistance may be used to reduce the amount of resistance that needs to be provided by the electropermanent magnet assembly to produce the desired amount of resistance to rotation. At 510, the user may be asked to rotate the rotational control again. During rotation of the rotary input control device, the electro-permanent magnets may be applied with different levels of torque to observe the resulting amount of attenuation in RPM. In this way, changes in the decay rate for different torque levels tested may be used to generate a new torque curve that allows a desired amount of torque to be generated at the rotary input control device. In some embodiments, the user may be required to rotate the rotary input control device multiple times to obtain accurate readings from a sufficiently large number of different torque settings. For example, a first amount of charge may be applied to the electropermanent magnet to determine the saturation point of the torque curve, while a second, third, and sometimes greater amount of energy may be applied to identify the slope of the linear portion of the torque curve. In this way, detailed torque curves can be determined to help the control system achieve the amount of torque required for many different uses. It should be noted that in some cases, when the torque curve is updated to provide an accurate amount of resistance to rotation of the rotating control wheel, the torque curve may also be referred to as a calibration curve.

Fig. 6 illustrates an exemplary linear continuous current controller for regulating current to one or more magnetizing coils of an electropermanent magnet. The digital/analog converter 602 may be configured to receive an input signal from the microcontroller 604 and convert the input signal to a current setting 606 received by an error amplifier 608, where the current setting 606 is compared to a system-generated amount of current 607. The current setting 606 is provided for a duration sufficient to provide the amount of electrical energy required. In some embodiments, the digital/analog controller 602 may be replaced with a pulse width modulator and integrator/filter combination that generates current settings 606 from the input signal. The difference between the current 607 provided to the magnetizing coil and the current setting 606 is amplified by an error amplifier 608 and then used to at least partially control the operation of the digital control and current steering module 610. The digital control and current steering module 610 is configured to receive an input signal from the micro-capacitor 604 and then control the operation of a Bipolar Junction Transistor (BJT)612 based on inputs from the micro-controller 604 and the error amplifier 608. In this way, the amount of current received at the magnetizing coil 614 from the storage capacitor 611 may be controlled according to the current setting 606. Since the control system is electronic, the controller may be configured to change the resistance profile produced by the associated electropermanent magnet in response to user input or in response to prompts provided by an application manipulated by the user input device. For example, rotation of the rotary input control device may be temporarily suspended by energizing the magnetizing coil 614.

Fig. 7A shows a side view of an electropermanent magnet assembly 700 for varying the drag force profile of a rotary input control device. In particular, the electropermanent magnet assembly 700 includes an electropermanent magnet 200 disposed within a housing 702 formed of a magnetically neutral material, such as a polymer or ceramic-based material. The electropermanent magnet 200 may be similar or identical to the electropermanent magnet 200 previously described in fig. 2A-2B, and the electropermanent magnet 200 is described as being in a first state in which little or no magnetic field emanates from the electropermanent magnet 200. The housing 702 may be positioned on a support surface and biased away from the wheel 704 by a biasing mechanism 706. The biasing mechanism 706 may be configured to prevent the housing 702 from contacting the wheel 704 when the electropermanent magnet 200 is in a first state in which the electropermanent magnet 200 does not emit a magnetic field.

Fig. 7B illustrates how the magnetic field emitted from the electropermanent magnet 200 extends through one or more walls of the housing 702 when the electropermanent magnet 200 is in the second state. The magnetic field can then interact with a magnetically attractable material incorporated within the wheel 704 and/or a support structure 708 associated with the biasing mechanism 706, and generate a force that overcomes the force applied by the biasing mechanism 706 to push the corners of the housing 702 into at least periodic contact with the wheel 704. The wheel 704 includes an irregular or rigid outer surface that interacts with the corners of the housing 702 to provide ratcheting feedback to the user during rotation of the wheel 704. It should be appreciated that the drag distribution associated with the wheel 704 may be fine tuned or altered to suit a particular environment by increasing or decreasing the strength of the magnetic field emitted by the electropermanent magnet 200. For example, for some embodiments, it may be beneficial to configure the electropermanent magnet 200 to press a corner of the housing 702 into the wheel 704 to the extent that the wheel 704 is completely prevented from moving.

FIG. 8 illustrates a system 800 for operating a host computing device (e.g., host computing device 810) according to some embodiments. System 800 may be used to implement any of the host computing device or peripheral interface devices discussed herein and the myriad of embodiments defined herein or within the scope of the present disclosure but not necessarily explicitly described. The system 800 may include one or more processors 802 that may communicate with a number of peripheral devices (e.g., input devices) via a bus subsystem 804. These peripheral devices may include: storage subsystem 806 (including memory subsystem 808 and file storage subsystem 810), user interface input devices 814, user interface output devices 816, and network interface subsystem 812. User input device 814 may be any input device type described herein (e.g., keyboard, computer mouse, remote control, etc.). The user output device 816 may be any type of display including a computer monitor, a display on a handheld device (e.g., smartphone, gaming system), etc., as will be understood by those of ordinary skill in the art. Alternatively or additionally, the display may include a Virtual Reality (VR) display, an augmented reality display, a holographic display, or the like, as will be understood by one of ordinary skill in the art.

In some examples, internal bus subsystem 804 may provide a mechanism for various components and subsystems of computer system 800 to communicate with one another as desired. Although the internal bus subsystem 804 is shown schematically as a single bus, alternative embodiments of the bus subsystem may use multiple buses. In addition, network interface subsystem 812 may serve as an interface for communicating data between computer system 800 and other computer systems or networks. Embodiments of the network interface subsystem 812 may include a wired interface (e.g., Ethernet, CAN, RS232, RS485, etc.) or a wireless interface (e.g., Ethernet, CAN, RS232, RS485, etc.)

BLE、

Wi-Fi, cellular protocol, etc.).

In some cases, user interface input device 814 may include: keyboards, renderers, pointing devices (e.g., mice, trackballs, touch pads, etc.), touch screens incorporated into displays, audio input devices (e.g., voice recognition systems, microphones, etc.), human-machine interfaces (HMIs), and other types of input devices. In general, use of the term "input device" is intended to include all possible types of devices and mechanisms for inputting information to computer system 800. Additionally, user interface output devices 816 may include a display subsystem, a printer, or a non-visual display such as an audio output device. The display subsystem may be any known type of display device. In general, use of the term "output device" is intended to include all possible types of devices and mechanisms for outputting information from computer system 800.

Storage subsystem 806 may include a memory subsystem 808 and a file storage subsystem 810. Memory subsystem 808 and file storage subsystem 810 represent non-transitory computer-readable storage media that can store program code and/or data that provide the functionality of embodiments of the present disclosure. In some implementations, the memory subsystem 808 may include multiple memories including a main Random Access Memory (RAM)818 for storing instructions and data during program execution and a Read Only Memory (ROM)820 that may store fixed instructions. File storage subsystem 810 may provide persistent (i.e., non-volatile) storage for program and data files, and may include: a magnetic or solid state hard drive, an optical drive along with associated removable media (e.g., CD-ROM, DVD, Blu-Ray, etc.), a removable flash-based drive or card, and/or other types of storage media known in the art.

It should be understood that the computer system 800 is illustrative and not intended to limit embodiments of the present disclosure. Many other configurations are possible with more or fewer components than those of system 800. Various embodiments may also be implemented in a wide variety of operating environments, which in some cases may include one or more user computers, computing devices, or processing devices that may be used to operate any of a number of applications. The user or client device may include a plurality of general purpose personal computers such as desktop or laptop computers running either standard or non-standard operating systems, as well as any of cellular, wireless, and handheld devices running mobile software and capable of supporting many network and messaging protocols. Such a system may also include multiple workstations running any of a variety of commercially available operating systems and other known applications, such as development and database management purposes. These devices may also include other electronic devices such as virtual terminals, thin clients, gaming systems, and other devices capable of communicating over a network.

Most embodiments utilize at least one network familiar to those skilled in the art for supporting communications using any of a variety of commercially available protocols, such as TCP/IP, UDP, OSI, FTP, UPnP, NFS, CIFS, and the like. The network may be, for example, a local area network, a wide area network, a virtual private network, the internet, an intranet, an extranet, a public switched telephone network, an infrared network, a wireless network, and any combination thereof.

In embodiments utilizing a web server, the web server may run any of a variety of server or mid-tier applications, including HTTP servers, FTP servers, CGI servers, data servers, Java servers, and business application servers. The server is also capable of executing programs or scripts in response to requests from the user device, for example by executing one or more applications that may be implemented as one or more scripts or programs written in any programming language, including but not limited to, any scripting language, and combinations thereofC. C #, or C + +, such as Perl, Python, or TCL. The server may also include a database server, includingBut is not limited to being available from

And

a commercially available database server.

Such devices may also include a computer-readable storage media reader, a communication device (e.g., a modem, a network card (wireless or wired), an infrared communication device, etc.), and a working memory as described above. The computer-readable storage media reader may be connected with or configured to receive non-transitory computer-readable storage media representing remote, local, fixed, and/or removable storage devices as well as storage media for temporarily and/or more permanently containing, storing, transmitting, and retrieving computer-readable information. The system and various devices will also typically include a number of software applications, modules, services or other elements located within at least one working memory device, including an operating system and application programs such as a client application or browser. It should be understood that many variations of the alternative embodiments are possible in comparison to the above. For example, customized hardware might also be used and/or particular elements might be implemented in hardware, software (including portable software, such as applets), or both. In addition, connections to other computing devices, such as network input/output devices, may be employed.

The various embodiments shown and described are provided by way of example only to illustrate various features of the claims. However, features illustrated and described with respect to any given embodiment are not necessarily limited to the relevant embodiments and may be used or combined with other embodiments illustrated and described. Furthermore, the claims are not intended to be limited by any one example embodiment.

While this disclosure provides certain example embodiments and applications, other embodiments that are apparent to those of ordinary skill in the art, including embodiments that do not provide all of the features and advantages described herein, are also within the scope of this disclosure. Accordingly, the scope of the disclosure is intended to be limited only by reference to the appended claims.