阅读说明：本技术 用于向触觉致动器提供触觉输出信号的方法和设备 (Method and apparatus for providing haptic output signals to haptic actuators ) 是由 T·达斯 M·A·科斯特 M·比尔兹沃思 于 2020-04-28 设计创作，主要内容包括：本文描述的实施方案涉及用于向触觉致动器提供触觉输出信号的方法和设备。一种控制器包括：输入端,所述输入端被配置成从至少一个力传感器接收力传感器信号；以及触觉输出模块,所述触觉输出模块被配置成生成触觉输出信号以用于输出到触觉致动器；其中所述触觉输出模块被配置成：响应于确定所述力传感器信号指示施加到所述至少一个力传感器的力水平超过第一阈值,触发所述触觉输出信号的输出；以及在所述触觉输出信号的输出期间,基于所述力传感器信号调整所述触觉输出信号。(Embodiments described herein relate to methods and apparatus for providing haptic output signals to haptic actuators. A controller includes: an input configured to receive a force sensor signal from at least one force sensor; and a haptic output module configured to generate a haptic output signal for output to a haptic actuator; wherein the haptic output module is configured to: triggering output of the haptic output signal in response to determining that the force sensor signal indicates that a force level applied to the at least one force sensor exceeds a first threshold; and adjusting the haptic output signal based on the force sensor signal during output of the haptic output signal.)

1. A controller for providing haptic output signals to a haptic actuator, the controller comprising:

an input configured to receive a force sensor signal from at least one force sensor; and

a haptic output module configured to generate a haptic output signal for output to a haptic actuator; wherein the haptic output module is configured to:

triggering output of the haptic output signal in response to determining that the force sensor signal indicates that a force level applied to the at least one force sensor exceeds a first threshold; and

adjusting the haptic output signal based on the force sensor signal during output of the haptic output signal.

2. The controller of claim 1, wherein the haptic output module is configured to:

in response to determining that the force sensor signal indicates that a force level applied to the at least one force sensor exceeds a first threshold, selecting a first stored haptic signal representation from a plurality of stored haptic signal representations based on the first threshold; and

generating the haptic output signal based on the first stored haptic signal representation.

3. The controller of claim 2, wherein the haptic output module is configured to adjust the haptic output signal by:

selecting a second stored haptic signal representation, an

Adjusting the haptic output signal based on the second stored haptic signal representation such that the haptic output signal is generated.

4. The controller of any preceding claim, wherein the haptic output module is configured to adjust one or more of an amplitude, acceleration or duration of the haptic output signal based on the force sensor signal.

5. The controller of any preceding claim, wherein the haptic output module is configured to adjust the haptic output signal based on at least one of an amplitude, rate of change and/or duration of the force sensor signal.

6. The controller of any preceding claim, wherein the haptic output module is configured to:

comparing the force level being applied to the at least one force sensor as indicated by the force sensor signal to a plurality of thresholds, and

adjusting the haptic output signal based on the comparison.

7. The controller of claim 6, wherein the haptic output module is configured to adjust the haptic output signal in response to the force sensor signal indicating that the force level applied to the at least one force sensor exceeds the first threshold and exceeds a second threshold that is higher than the first threshold.

8. The controller of claim 7, wherein the haptic output module is configured to adjust the haptic output signal based on a length of time between the force sensor signal indicating the force level exceeds the first threshold and the force sensor signal indicating the force level exceeds the second threshold.

9. The controller of any preceding claim, wherein the controller forms part of an apparatus, and wherein the controller is configured to receive an indication of an application running on the apparatus, and wherein the haptic output module is configured to adjust the haptic output signal based on the indication.

10. The controller of any preceding claim, wherein the haptic output module is configured to:

determining a user action based on the force sensor signal, an

Adjusting the haptic output signal based on the user action.

11. The controller of claim 10, wherein the user action comprises one or more of: button press, button release, and button hold.

12. The controller of any preceding claim, wherein the haptic output signal comprises a pulse width modulated signal.

13. A method for providing haptic output signals to a haptic actuator, the method comprising:

receiving a force sensor signal from at least one force sensor,

triggering output of a haptic output signal in response to determining that the force sensor signal indicates that a force level applied to the at least one force sensor exceeds a first threshold; and

adjusting the haptic output signal based on the force sensor signal during output of the haptic output signal.

14. The method of claim 13, further comprising:

in response to determining that the force sensor signal indicates that a force level applied to the at least one force sensor exceeds a first threshold, selecting a first stored haptic signal representation from a plurality of stored haptic signal representations based on the first threshold; and

generating the haptic output signal based on the first stored haptic signal representation.

15. The method of claim 14, wherein the step of adjusting the haptic output signal comprises:

selecting a second stored haptic signal representation, an

Adjusting the haptic output signal based on the second stored haptic signal representation such that the haptic output signal is generated.

16. The method of one of the claims 13 to 15, wherein the adjusting step comprises: adjusting one or more of an amplitude, acceleration, or duration of the haptic output signal based on the force sensor signal.

17. The method of one of the claims 13 to 16, wherein the adjusting step comprises: adjusting the haptic output signal based on at least one of an amplitude, rate of change, and/or duration of the force sensor signal.

18. The method of one of the claims 13 to 17, further comprising:

comparing the force level being applied to the at least one force sensor as indicated by the force sensor signal to a plurality of thresholds, and

adjusting the haptic output signal based on the comparison.

19. The method of claim 18, wherein adjusting the haptic output signal based on the comparison comprises: adjusting the haptic output signal in response to the force sensor signal indicating that the force level applied to the at least one force sensor exceeds the first threshold and exceeds a second threshold that is higher than the first threshold.

20. The method of claim 19, the step of adjusting the haptic output signal based on the comparison comprising: adjusting the haptic output signal based on a length of time between the force sensor signal indicating the force level exceeds the first threshold and the force sensor signal indicating the force level exceeds the second threshold.

21. The method of one of the claims 13 to 20, further comprising: the method may include receiving an indication of an application running on a device, and adjusting the haptic output signal based on the indication.

22. The method of one of the claims 13 to 21, further comprising:

determining a user action based on the force sensor signal, an

Adjusting the haptic output signal based on the user action.

23. The method of claim 22, wherein the user action comprises one or more of: button press, button release, and button hold.

24. The method of one of the claims 13 to 23, wherein the haptic output signal comprises a pulse width modulated signal.

25. An integrated circuit comprising a controller for providing haptic output signals to a haptic transducer, the controller comprising:

an input configured to receive a force sensor signal from at least one force sensor,

a haptic output module configured to generate a haptic output signal for output to a haptic actuator; wherein the haptic output module is configured to:

triggering output of the haptic output signal in response to determining that the force sensor signal indicates that a force level applied to the at least one force sensor exceeds a first threshold; and

adjusting the haptic output signal based on the force sensor signal during output of the haptic output signal.

26. An apparatus, the apparatus comprising:

at least one force sensor is provided for detecting the force,

a tactile transducer; and

a controller for providing haptic output signals to the haptic transducer, the controller comprising:

an input configured to receive a force sensor signal from the at least one force sensor,

a haptic output module configured to generate a haptic output signal for output to the haptic transducer; wherein the haptic output module is configured to:

triggering output of the haptic output signal in response to determining that the force sensor signal indicates that a force level applied to the at least one force sensor exceeds a first threshold; and

adjusting the haptic output signal based on the force sensor signal during output of the haptic output signal.

27. The apparatus of claim 26, wherein the at least one force sensor comprises one or more of:

capacitive displacement sensors, inductive force sensors, strain gauges, piezoelectric force sensors, force sensing resistors, piezoresistive force sensors, thin film force sensors, and/or quantum tunneling composite based force sensors.

28. The apparatus of claim 26 or 27, wherein the haptic transducer comprises a linear resonant actuator LRA.

Technical Field

Embodiments described herein relate to methods and apparatus for controlling haptic output signals based on varying input signals received from a force sensor system.

Background

Linear Resonant Actuators (LRAs) and other vibration actuators (e.g., rotary actuators, vibration motors, etc.) are increasingly used in mobile devices (e.g., mobile phones, personal digital assistants, video game controllers, etc.) or other systems to generate vibration feedback for user interaction with such devices. Typically, the force/pressure sensor detects user interaction with the device (e.g., a finger pressing a virtual button of the device) and, in response, the linear resonant actuator vibrates to provide feedback to the user. For example, a linear resonant actuator may vibrate in response to a force to mimic the feel of a mechanical button click to a user.

One drawback of existing haptic systems is that existing methods of processing signals of force sensors and generating haptic responses thereto typically have a latency that is longer than desired, such that haptic responses may be significantly delayed from user interaction with the force sensors. Thus, in applications where the haptic system is used for mechanical button replacement, capacitive sensor feedback, or other applications, the haptic response may not effectively mimic the sensation of a mechanical button click. Accordingly, systems and methods that minimize latency between a user's interaction with a force sensor and a haptic response to the interaction are desired.

Furthermore, in order to produce a proper and comfortable tactile sensation for the user, careful design and generation of the signal driving the linear resonant actuator may be required. In a mechanical button replacement application, the desired haptic response may be one in which the vibration pulse generated by the linear resonant actuator should be strong enough to give the user a noticeable notification as a response to his/her finger press and/or release, and the vibration pulse should be short, fast and the resonant tail clean to provide the user with a "sharp" and "crisp" feel. Optionally, different control algorithms and stimuli can be applied to the linear resonant actuator to vary the performance to provide alternating haptic feedback, possibly indicative of certain user patterns in the device, to give a more "soft" and "resonant" haptic response.

Disclosure of Invention

According to some embodiments, a controller for providing haptic output signals to a haptic actuator is provided. The controller includes: an input configured to receive a force sensor signal from at least one force sensor; and a haptic output module configured to generate a haptic output signal for output to a haptic actuator; wherein the haptic output module is configured to: triggering output of the haptic output signal in response to determining that the force sensor signal indicates that a force level applied to the at least one force sensor exceeds a first threshold; and adjusting the haptic output signal based on the force sensor signal during output of the haptic output signal.

According to some embodiments, a method for providing a haptic output signal to a haptic actuator is provided. The method comprises the following steps: receiving a force sensor signal from at least one force sensor; triggering output of a haptic output signal in response to determining that the force sensor signal indicates that a force level applied to the at least one force sensor exceeds a first threshold; and adjusting the haptic output signal based on the force sensor signal during output of the haptic output signal.

According to some embodiments, an integrated circuit is provided. The integrated circuit includes a controller for providing haptic output signals to a haptic transducer, the controller including: an input configured to receive a force sensor signal from at least one force sensor; a haptic output module configured to generate a haptic output signal for output to a haptic actuator; wherein the haptic output module is configured to: triggering output of the haptic output signal in response to determining that the force sensor signal indicates that a force level applied to the at least one force sensor exceeds a first threshold; and adjusting the haptic output signal based on the force sensor signal during output of the haptic output signal.

According to some embodiments, an apparatus is provided. The device comprises: at least one force sensor; a tactile transducer; and a controller for providing haptic output signals to the haptic transducer, the controller comprising: an input configured to receive a force sensor signal from the at least one force sensor; a haptic output module configured to generate a haptic output signal for output to the haptic transducer; wherein the haptic output module is configured to: triggering output of the haptic output signal in response to determining that the force sensor signal indicates that a force level applied to the at least one force sensor exceeds a first threshold; and adjusting the haptic output signal based on the force sensor signal during output of the haptic output signal.

Drawings

For a better understanding of embodiments of the present disclosure, and to show how the same may be carried into effect, reference will now be made, by way of example only, to the accompanying drawings in which:

FIG. 1 illustrates a block diagram of selected components of an example mobile device, according to an embodiment of the present disclosure;

FIG. 2 illustrates a block diagram of selected components of an exemplary integrated haptic system, according to an embodiment of the present disclosure;

FIG. 3 illustrates a controller for providing haptic output signals to a haptic actuator according to an embodiment of the present disclosure;

fig. 4 illustrates an example of a method performed by a haptic output module for adjusting a haptic output signal according to an embodiment of the present disclosure.

Detailed Description

The following description sets forth exemplary embodiments according to the disclosure. Additional exemplary embodiments and implementations will be apparent to those of ordinary skill in the art. Further, those of ordinary skill in the art will recognize that various equivalent techniques may be applied in place of or in combination with the embodiments discussed below, and all such equivalents are to be considered as included in the present disclosure.

The methods described herein may be implemented in a wide range of devices and systems, such as mobile phones, audio players, video players, mobile computing platforms, gaming devices, remote controller devices, toys, machines, or home automation controllers or home appliances. However, for ease of explanation of one implementation, an illustrative example will be described in fig. 1, with the implementation occurring in the mobile device 102.

Fig. 1 illustrates a block diagram of selected components of an example mobile device 102, according to an embodiment of the present disclosure. As shown in fig. 1, the mobile device 102 may include: enclosure 101, controller 103, memory 104, force sensor system 105, microphone 106, haptic actuator 107 (which in this example includes a Linear Resonant Actuator (LRA)), radio transmitter/receiver 108, speaker 110, and integrated haptic system 112. It should be understood that any suitable vibration actuator (e.g., a rotary actuator such as an ERM, a vibrating motor, etc.) arranged to provide a haptic vibration effect may be used instead of or in addition to LRA 107.

The enclosure 101 may include any suitable housing, casing, or other enclosure for housing the various components of the mobile device 102. Enclosure 101 may be constructed of plastic, metal, and/or any other suitable material. Further, the enclosure 101 may be adapted (e.g., sized and shaped) such that the mobile device 102 is easily transported on an individual of a user of the mobile device 102. Thus, the mobile device 102 may include, but is not limited to, a smart phone, a tablet computing device, a handheld computing device, a personal digital assistant, a notebook computer, a video game controller, or any other device that may be easily transported on an individual of a user of the mobile device 102. Although fig. 1 illustrates a mobile device, it should be understood that the illustrated system may be used in other device types, such as user-interactive display technologies, automotive computing systems, and so forth.

Controller 103 may be housed within enclosure 101 and may comprise any system, device, or apparatus configured to interpret and/or execute program instructions and/or process data and may include, but is not limited to, a microprocessor, microcontroller, Digital Signal Processor (DSP), Application Specific Integrated Circuit (ASIC), or any other digital or analog circuitry configured to interpret and/or execute program instructions and/or process data. In some embodiments, the controller 103 interprets and/or executes program instructions and/or processes data stored in the memory 104 and/or other computer-readable media accessible to the controller 103.

The memory 104 may be housed within the enclosure 101, communicatively coupled to the controller 103, and may include any system, apparatus, or device (e.g., a computer-readable medium) configured to hold program instructions and/or data for a period of time. Memory 104 may include any suitable selection and/or array of Random Access Memory (RAM), electrically erasable programmable read-only memory (EEPROM), Personal Computer Memory Card International Association (PCMCIA) cards, flash memory, magnetic storage devices, magneto-optical storage devices, or volatile or non-volatile memory that retains data after power is turned off to mobile device 102.

The microphone 106 may be housed at least partially within the enclosure 101, communicatively coupled to the controller 103, and may include any system, device, or apparatus configured to convert sound incident at the microphone 106 into an electrical signal that may be processed by the controller 103, wherein such sound is converted into an electrical signal using a diaphragm or membrane having a capacitance that varies according to acoustic vibrations received at the diaphragm or membrane. The microphone 106 may include an electrostatic microphone, a condenser microphone, an electret microphone, a micro-Electromechanical Systems (MEMs) microphone, or any other suitable condenser microphone.

The radio transmitter/receiver 108 may be housed within the enclosure 101, communicatively coupled to the controller 103, and may comprise any system, device, or apparatus configured to generate and transmit radio frequency signals by means of an antenna, and to receive radio frequency signals and convert information carried by such received signals into a form usable by the controller 103. The radio transmitter/receiver 108 may be configured to transmit and/or receive various types of radio frequency signals, including, but not limited to, cellular communications (e.g., 2G, 3G, 4G, 5G, LTE, etc.), short-range wireless communications (e.g., bluetooth), commercial radio signals, television signals, satellite radio signals (e.g., GPS), wireless fidelity, etc.

The speaker 110 may be housed at least partially within the enclosure 101 or may be external to the enclosure 101, communicatively coupled to the controller 103, and may include any system, device, or apparatus configured to generate sound in response to an electrical audio signal input. In some embodiments, the speaker may include a dynamic speaker that employs a lightweight diaphragm mechanically coupled to a rigid frame via a flexible suspension that limits axial movement of the voice coil through a cylindrical magnetic gap. When an electrical signal is applied to the voice coil, the current in the voice coil generates a magnetic field, making it a variable electromagnet. The magnetic system interaction of the coil and driver generates a mechanical force that moves the coil (and thus the attached cone) back and forth, reproducing sound under control of an applied electrical signal from the amplifier.

The force sensor system 105 may be housed within, located on, or form part of the enclosure 101, and communicatively coupled to the controller 103. In this example, the force sensor system 105 includes one or more force sensors, and each force sensor of the force sensor system 105 may include any suitable system, device, or apparatus for sensing a force, pressure, or touch (e.g., interaction with a human finger), and for generating an electrical or electronic signal in response to such force, pressure, or touch. In some embodiments, such electrical or electronic signals may be a function of the magnitude of the force, pressure, or touch applied to the force sensor. In these and other embodiments, such electronic or electrical signals may include general purpose input/Output Signals (GPIOs) associated with input signals to which haptic feedback is imparted.

Exemplary force sensors may include or include:

a capacitance-type displacement sensor is arranged on the base,

an inductive force sensor is provided, which is provided with a plurality of inductive force sensors,

the strain gauge is provided with a strain gauge,

a piezoelectric type force sensor is arranged on the base plate,

the resistance of the force sensing resistor is such that,

a piezoresistive force sensor is provided with a pressure resistance type force sensor,

thin film force sensors, and

force sensors based on quantum tunneling composites.

In some arrangements, other types of sensors may be employed. For purposes of clarity and explanation in this disclosure, the term "force" as used herein may refer not only to force, but also to physical quantities indicative of force or similar to force, such as, but not limited to, pressure and touch.

In this example, haptic actuator 107 includes a linear resonant actuator 107, which may be housed within enclosure 101 and may include any suitable system, device, or apparatus for generating oscillating mechanical force in a single axis. It should be understood that in some instances, there may be more than one haptic actuator that may be controlled with the haptic output system. For example, in some embodiments, the linear resonant actuator 107 may rely on an alternating voltage to drive a voice coil that is pressed against a moving mass connected to a spring. The linear resonant actuator 107 may vibrate with a perceptible force when the voice coil is driven at the resonant frequency of the spring. Thus, the linear resonant actuator 107 can be used for haptic applications in a particular frequency range. Although the present disclosure is described with respect to the use of a linear resonant actuator 107 for purposes of clarity and explanation, it should be understood that one or more of any other type of vibratory actuator (e.g., an eccentric rotating mass actuator) may be used in place of or in addition to the linear resonant actuator 107. Furthermore, it should also be understood that an actuator arranged to generate oscillating mechanical forces in multiple axes may be used instead of or in addition to the linear resonant actuator 107. Based on the signals received from the integrated haptic system 112, the linear resonant actuator 107 may provide haptic feedback to a user of the mobile device 102 for at least one of mechanical button replacement and capacitive sensor feedback, as described elsewhere in this disclosure.

Integrated haptic system 112 may be housed within enclosure 101, communicatively coupled to force sensor system 105 and haptic actuator 107, and may include any system, device, or apparatus configured to receive a signal from force sensor system 105 indicative of a force applied to mobile device 102 (e.g., a force applied by a human finger to a virtual button of mobile device 102) and generate an electronic signal for driving linear resonant actuator 107 in response to the force applied to mobile device 102.

Although certain example components are described above as being integrated into the mobile device 102 (e.g., the controller 103, the memory 104, the force sensor system 105, the microphone 106, the radio transmitter/receiver 108, the speaker 110), the mobile device 102 according to the present disclosure may include one or more components not specifically listed above. For example, although fig. 1 depicts certain user interface components, the mobile device 102 may include one or more other user interface components (including but not limited to keys, touch screens, and displays) in addition to those depicted in the above-described figures, allowing a user to interact with and/or otherwise manipulate the mobile device 102 and its associated components.

Fig. 2 illustrates a block diagram of selected components of an exemplary integrated haptic system 112A, according to an embodiment of the present disclosure. In some embodiments, integrated haptic system 112A can be used to implement integrated haptic system 112 of fig. 1. As shown in fig. 2, integrated haptic system 112A may include a controller (which in this example includes a Digital Signal Processor (DSP))202, a memory 204, and an amplifier 206.

DSP 202 may include any system, device, or apparatus configured to interpret and/or execute program instructions and/or process data. In some embodiments, DSP 202 may interpret and/or execute program instructions and/or process data stored in memory 204 and/or other computer-readable media accessible to DSP 202. The DSP 202 serves as a controller for the integrated haptic system 112A.

Memory 204 may be communicatively coupled to DSP 202 and may comprise any system, apparatus, or device (e.g., a computer-readable medium) configured to hold program instructions and/or data for a period of time. Memory 204 may include any suitable selection and/or array of Random Access Memory (RAM), electrically erasable programmable read-only memory (EEPROM), Personal Computer Memory Card International Association (PCMCIA) cards, flash memory, magnetic storage devices, magneto-optical storage devices, or volatile or non-volatile memory that retains data after power is turned off to mobile device 102.

Amplifier 206 may be electrically coupled to DSP 202 and may comprise any suitable electronic system, device, or apparatus configured to increase the power of input signal VIN (e.g., a time-varying voltage or current) to generate output signal VOUT. For example, the amplifier 206 may use electrical power from a power source (not explicitly shown) to increase the amplitude of the signal. Amplifier 206 may include any suitable class of amplifier, including but not limited to a class D amplifier.

In operation, memory 204 may store one or more tactile playback representations. The tactile playback representation may include a waveform. In some examples, the haptic playback representation may include one or more parameters, such as frequency amplitude and duration, allowing the haptic waveform to be determined based on the parameters. In some embodiments, each of the one or more haptic playback representations may define a haptic response a (t) as a desired acceleration of a linear resonant actuator (e.g., linear resonant actuator 107) as a function of time.

The controller or DSP 202 is configured to receive a force signal VSENSE from the force sensor system 105 indicative of a force applied to at least one force sensor of the force sensor system 105. In response to receiving the force signal VSENSE indicative of the sensed force, or independent of such receipt, the DSP 202 may retrieve the tactile playback representation from the memory 104 and may process the tactile playback representation to determine a processed tactile playback signal VIN. In embodiments where amplifier 206 is a class D amplifier, the processed haptic playback signal VIN may comprise a pulse width modulated signal. In response to receiving the force signal VSENSE indicative of the sensed force, DSP 202 may output the processed haptic playback signal VIN to amplifier 206, and amplifier 206 may amplify the processed haptic playback signal VIN to generate a haptic output signal VOUT for driving the linear resonant actuator 107.

In some embodiments, integrated haptic system 112A may be formed on a single integrated circuit, thereby achieving a shorter latency than existing haptic feedback control methods. By providing integrated haptic system 112A as part of a single monolithic integrated circuit, latency between various interfaces and system components of integrated haptic system 112A may be reduced or eliminated.

Fig. 3 illustrates a controller 300 for providing haptic output signals to a haptic actuator, according to some embodiments of the present disclosure. The controller 300 may be implemented by the controller 202 of fig. 2.

The controller 300 comprises an input 301 configured to receive a force sensor signal V from at least one force sensor_Sensing. For example, the controller 300 may be configured to receive the force sensor signal V from the force sensor system 105 of fig. 1_Sensing。

The controller 300 may also include a haptic output module 302 configured to generate a haptic output signal V_{Input device}For output to the haptic actuator. For example, the controller 300 may be configured to generate the haptic output signal V as described with reference to fig. 2_{Input device}For output to amplifier 206. Amplifier 206 may then utilize the slave haptic output signal V_{Input device}Derived signal V_{Output of}Driving the haptic actuator 107.

Haptic output module 302 may be configured to respond to determining force sensor signal V_SensingIndicating that the level of force applied to the at least one force sensor exceeds a first threshold, triggering output of a haptic output signal. For example, force sensorsSignal V_SensingMay represent the level of force being applied by the user to the at least one sensor signal. In these examples, the haptic output module 302 may be configured to monitor the received force sensor signal V_SensingAnd the force sensor signal V is converted into a force sensor signal_SensingIs compared to a threshold value, wherein the threshold value is indicative of a user touch event, such as a level of force deemed representative of a button press. Upon force sensor signal V_SensingBeyond the threshold, the controller 300 may determine that a user touch event has occurred and may therefore begin to trigger the haptic output signal V_{Input device}(e.g., to amplifier 206) to generate a haptic feedback effect to be output by haptic actuator 107. The haptic feedback effect may be designed to notify the user that it has caused a user touch event to occur.

For example, the haptic output module may be configured to retrieve the stored haptic signal representation from a memory (e.g., memory 204 as shown in fig. 2). The stored haptic signal representation may include a haptic waveform (e.g., a Pulse Width Modulation (PWM) waveform). In some examples, the stored haptic signal representation may include one or more parameters, such as frequency, amplitude, and time, that may be used to construct the haptic output signal.

Thus, in some examples, the haptic output module 302 may be configured to trigger the haptic output signal V by_{Input device}The output of (1): in response to determining that the force sensor signal indicates that the force level applied to the at least one force sensor exceeds a first threshold, selecting a first stored haptic signal representation from the plurality of stored haptic signal representations based on the first threshold; and generating a haptic output signal based on the first stored haptic signal representation.

In other words, the first threshold may represent a first level of force applied to the at least one force sensor. This first level of force may be associated with a "nudge" user event, for example. Accordingly, the first stored haptic signal representation may be selected as a haptic signal representation that may be used to generate a haptic effect associated with a "nudge" user event.

It should be appreciated that in some cases, the received force senseDevice signal V_SensingMay not be proportional to the level of force applied by the user. In these cases, the force sensor signal V_SensingMay be processed prior to comparison with the threshold, or the threshold may be designed to reflect a force sensor signal representative of a force level defining a user touch event.

The haptic output module 302 may also be configured to adjust the haptic output signal based on the force sensor signal during output of the haptic output signal. For example, in generating haptic output signal V_{Input device}And when the tactile playback signal V is_{Output of}When output by the amplifier 206, the controller 302 may be configured to continuously monitor the received force sensor signal V received from the force sensor system 105_Sensing. The controller 302 may be configured to receive the force sensor signal V based on continuous monitoring_SensingDynamically adjusting haptic output signal V_{Input device}. For example, the controller 302 may be configured to respond to the received force signal V_SensingChanges in the haptic output signal V_{Input device}。

For example, the haptic output module 302 may be configured to adjust one or more of an amplitude, acceleration, or duration of the haptic output signal based on the force sensor signal.

For example, the haptic output module may be configured to adjust the haptic output signal by selecting the second stored haptic signal representation and adjusting the haptic output signal based on the second stored haptic signal representation such that the haptic output signal is generated. Thus, the second stored haptic signal representation may produce a haptic output signal having a different amplitude, acceleration, and/or duration than the haptic output signal produced by the first stored haptic signal representation.

In general, the haptic output module 302 may be configured to be based on the received force sensor signal V during driving of the haptic actuator 107 by the amplifier 206_SensingAdjusting haptic output signal V_{Input device}One or more of amplitude, acceleration, or duration. For example, the haptic output module 202 may be configured to be based on the received force signal V_SensingSelects a different haptic signal table from memory 104Shown in the figure.

For example, in response to changes in the amplitude, rate of change, and/or duration of the force sensor signal, haptic output module 302 may be configured to adjust haptic output signal V_{Input device}. In some examples, the haptic output signal may be selected based on the current application or use environment of the device. In other words, if the device includes a smartphone, the haptic output signal may differ depending on whether the smartphone is in a gaming mode or being used to make a call. For example, more haptic feedback may be required in the gaming mode than when the device is being used to make a call. Thus, in some examples, wherein the controller forms part of the device, and the controller may be configured to receive an indication of an application running on the device, and the haptic output module may be configured to adjust the haptic output signal based on the indication.

In some examples, the haptic output signal may be dynamically adjusted based on a combination of the factors listed above.

In some examples, multiple thresholds may be compared to the force sensor signal (e.g., amplitude, duration, or rate of change of the force sensor signal) in order to determine when to adjust the haptic output signal. For example, the haptic output module may be configured to compare a force level indicated by the force sensor signal being applied to the at least one force sensor to a plurality of thresholds and may adjust the haptic output signal based on the comparison. Fig. 4 shows an example of a method of adjusting a haptic output signal using two thresholds.

FIG. 4 illustrates a method performed by the haptic output module 302 for adjusting the haptic output signal V_{Input device}Examples of the method of (1).

In this example, the haptic output module 302 is configured to convert the force sensor signal V_SensingIs compared to a plurality of thresholds.

In step 401, the haptic output module receives a force sensor signal V from at least one force sensor_Sensing。

In step 402, the haptic output module correlates the amplitude of the force sensor signal to a first threshold T_LOA comparison is made. It should be understood thatAmplitude exceeding a first threshold value T_LOMay indicate that the force level being applied to the at least one force sensor is above a threshold force level, e.g., a threshold force level deemed to be indicative of user activation of the at least one force sensor.

If in step 402 the haptic output module 302 determines that the amplitude of the force sensor signal does not exceed the first threshold T_LOThe method returns to step 402 and the force sensor signal V_SensingIs continuously monitored and compared with a first threshold value T_LOA comparison is made. In other words, when the force sensor signal V_SensingDoes not exceed the first threshold value T_LOThe haptic output module is configured to determine that a user touch event has not occurred (i.e., that a push or press of a virtual button has not occurred).

If in step 402 the haptic output module 302 determines that the amplitude of the force sensor signal exceeds the first threshold T_LOThen the method proceeds to step 403. In step 403, the haptic output module 302 may trigger a haptic output signal V_{Input device}To output of (c). For example, as described above, the haptic output module 302 may retrieve the stored haptic signal representation from the memory and may generate the haptic output signal V based on the first haptic signal representation_{Input device}. The selection of which haptic signal representation to use as the first haptic signal representation may be based on a number of factors. For example, the selection of the first tactile signal representation may be based on the force sensor signal V_SensingThe rate of change of (c). In other words, the haptic output signal may differ depending on whether the user presses the at least one force sensor quickly or slowly.

The method may then include adjusting the haptic output signal based on the force sensor signal during output of the haptic output signal. In this example, the adjustment of the haptic output signal during output of the haptic output signal may include steps 404 to 411 of the method shown in fig. 4.

Triggering a haptic output signal V in step 403_{Input device}After output, the method proceeds to step 404, where the haptic output module 302 continues to monitor the force sensor signal V_Sensing. In this example, the haptic output module302 by comparing the force sensor signal with a second threshold T_HIMaking a comparison to continue monitoring the force sensor signal V_Sensing. Second threshold value T_HIMay be higher than the first threshold value T_LO。

If in step 404, the haptic output module 302 determines the force sensor signal V_SensingIs greater than a second threshold value T_HIThe method proceeds to step 405 where the haptic output module is now greater than T based on the amplitude of the force sensor signal_HITo adjust the haptic output signal. For example, the haptic output module may be configured to adjust the haptic output signal in response to the force sensor signal indicating that a force level applied to the at least one force sensor exceeds a first threshold and exceeds a second threshold that is higher than the first threshold.

For example, due to V_SensingAmplitude of (a) is now greater than T_HIThe haptic output module may determine that a user touch event of increased force has occurred (i.e., a hard push), and thus the haptic output module may be configured to dynamically adjust the haptic output signal V_{Input device}To increase the haptic vibration output V to be generated by the amplifier 206_{Output of}Amplitude or magnitude of (d). As previously described, the adjustment may be performed by selecting a new haptic signal representation from memory.

If in step 404, the haptic output module 302 determines the force sensor signal V_SensingIs not greater than a second threshold value T_HIThe method proceeds to step 406 where the haptic output module 302 checks that the amplitude of the force sensor signal is still greater than the first threshold T_LO. If the amplitude of the force sensor signal has dropped below T_LOThe method may proceed to step 407 where the haptic output module may be configured to stop the haptic output signal. For example, when the amplitude of the force sensor signal falls below the threshold T_LOThe haptic output module may be configured to determine that the force applied to the at least one force sensor is no longer high enough to be considered a user touch event, and thus may turn off the haptic output signal. The method may then return to step 402.

In some examples, to avoid ping-pong between the haptic output signal turning on and off, the threshold used in step 406 may be slightly lower than the threshold used in step 402. In other words, some hysteresis may be used.

If in step 406, the haptic output module 302 determines the force sensor signal V_SensingIs still greater than the first threshold value T_LOThe method may proceed to step 408 where the haptic output module may adjust the haptic output signal. For example, step 408 may include: amplitude based on, for example, force sensor signal remaining above a first threshold T_LOHow long (e.g., whether the user event is a brief press of the virtual button or a hold of the virtual button) to adjust the haptic output signal. For example, the haptic output module may be configured to adjust the haptic output signal to provide different feedback to the user based on whether the user event is classified as a quick press of the virtual button or a press and hold of the virtual button. The method may then return to step 404 where the haptic output module continues to monitor the force sensor signal V_SensingIs greater than a second threshold value T_HI. In some examples, the haptic output module may be configured to adjust the haptic output signal based on a length of time between the force sensor signal indicating the force level exceeding the first threshold and the force sensor signal indicating the force level exceeding the second threshold.

After step 405, the method may proceed to step 409 where the haptic output module continues to monitor the force sensor signal V_SensingWhether the amplitude of (1) remains above the second threshold value T_HI. If the force sensor signal V_SensingIs still greater than the second threshold value T_HIThe haptic output module may adjust the haptic output signal in step 410. For example, similar to step 408, step 410 may include remaining above the second threshold T based on, for example, the amplitude of the force sensor signal_HIHow long to adjust the haptic output signal.

If in step 409 the force sensor signal falls below a second threshold T_HIThe haptic output module may be configured to no longer apply a force to the force sensor signal in step 411 based on the force applied to the force sensor signalA user touch event high enough to be considered an increase in force (i.e., a hard push) occurs to adjust the haptic output signal. The method may then return to step 406 where the haptic output module monitors whether the force sensor signal is greater than a first threshold T_LO。

Similar to step 406, to avoid ping-pong effect between the adjustment of step 405 and the adjustment of step 411, a second threshold T is used in step 409_HIMay be slightly lower than the second threshold T used in step 404_HI。

It should be appreciated that fig. 4 is an exemplary illustration of how a haptic output signal may be dynamically adjusted using multiple thresholds. In practice, there may be many different button press interactions that may result in different haptic output signals. For example, the following are examples of different button press interactions based on changes in the user force level applied to the device, which may produce different haptic feedback responses:

full button press (strong push), release halfway (light push), short hold (push sustained) then full release;

full button press (strong push), release halfway (light push), hold long (push sustained) then release completely;

a full button press (push strongly), a release halfway (push lightly) and a full press (push strongly); or

Half press button (light push), hold (push continuous), full press (strong push).

In yet another aspect, it should be understood that the dynamically adjusted threshold for the haptic output signal may be different based on whether the force sensor signal is determined to represent a button press or button release, as the system may generate different haptic feedback for the button press or button release. Additionally or alternatively, the haptic output signal or the amplitude of the haptic output signal may be adjusted differently depending on whether the force sensor signal represents a button press or a button release. For example, the haptic output module may be configured to: a user action is determined based on the force sensor signal, and the haptic output signal is adjusted based on the user action. The user actions may include one or more of: button press, button release, and button hold.

It will be appreciated that the above described method may be implemented in a dedicated control module, such as the processing module or DSP shown in the above described figures. The control module may be provided as an integrated part of the sensor system or may be provided as part of a centralized controller, such as a Central Processing Unit (CPU) or Application Processor (AP). It will be appreciated that the control module may be provided with a suitable memory storage module for storing measured and calculated data used in the process.

The skilled person will recognise that some aspects of the above-described apparatus and methods may be embodied as processor control code, for example on a non-volatile carrier medium such as a disk, CD-or DVD-ROM, programmed memory such as read-only memory (firmware), or a data carrier such as an optical or electrical signal carrier. For many applications, embodiments of the invention will be implemented on a DSP (digital signal processor), an ASIC (application specific integrated circuit), or an FPGA (field programmable gate array). Thus, the code may comprise conventional program code or microcode or, for example code for setting up or controlling an ASIC or FPGA. The code may also include code for dynamically configuring a reconfigurable device, such as a re-programmable gate array. Similarly, the code may include code for a hardware description language, such as Verilog (TM) or VHDL (very high speed Integrated Circuit hardware description language). As the skilled person will appreciate, the code may be distributed between a plurality of coupled components in communication with each other. Embodiments may also be implemented using code running on a field-programmable analog array or similar device, where appropriate, to configure analog hardware.

It should be noted that as used herein, the term "module" or term "block" will be used to refer to a functional unit or block that may be implemented at least in part by dedicated hardware components (such as custom circuits) and/or at least in part by one or more software processors or appropriate code running on a suitable general purpose processor, or the like. The modules themselves may comprise other modules or functional units. A module may be provided by multiple components or sub-modules that are not necessarily co-located and may be provided on different integrated circuits and/or run on different processors.

Embodiments may be implemented in a host device, in particular a portable and/or battery powered host device, such as a mobile computing device (e.g. a laptop or tablet computer), a gaming console, a remote control device, a home automation controller or home appliance including a home temperature or lighting control system, a toy, a machine (such as a robot), an audio player, a video player, or a mobile phone (e.g. a smartphone). A host device incorporating the above system is also provided.

It should be understood that, particularly as a person of ordinary skill in the art would, with the benefit of this disclosure, the various operations described herein (particularly in conjunction with the figures) may be implemented by other circuits or other hardware components. The order in which each of the operations of a given method are performed can be varied, and various elements of the systems illustrated herein can be added, reordered, combined, omitted, modified, etc. The disclosure is intended to cover all such modifications and alterations, and therefore, the above description should be taken in an illustrative rather than a restrictive sense.

Similarly, while this disclosure makes reference to particular embodiments, certain modifications and changes may be made to these embodiments without departing from the scope and coverage of this disclosure. Furthermore, any benefits, advantages, or solutions to problems that are described herein with regard to specific embodiments are not intended to be construed as a critical, required, or essential feature or element.

Likewise, other embodiments having the benefit of the present disclosure will be apparent to those having ordinary skill in the art, and such embodiments are to be considered as included herein.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. The word "comprising" does not exclude the presence of elements or steps other than those listed in a claim, "a" or "an" does not exclude a plurality, and a single feature or other unit may fulfil the functions of several units recited in the claims. Any reference signs or numbers in the claims shall not be construed as limiting the scope of the claims.

Aspects of the system may be defined by the following statements:

a control method for a combined force sensor and haptic system, the method comprising the steps of:

a. monitoring a force sensing input;

b. triggering actuation of the haptic vibration output if the monitored force sensing input exceeds a defined threshold level;

c. continuously monitoring the force sensing input during the driving of the haptic vibration output; and

d. dynamically varying the haptic vibration output based on continuously monitored force sensing input.

A combined force sensor and haptic system, the system comprising:

a force sensing module to provide a force sensing input based on an input signal from at least one force sensor;

a haptic module, preferably a haptic amplifier, to generate a haptic drive signal to drive a haptic actuator, such as a Linear Resonant Actuator (LRA); and

a controller or Digital Signal Processor (DSP) arranged to:

(i) monitoring the force sensing input, an

(ii) Control the haptic module to generate a haptic drive signal if the force sensing input exceeds a trigger threshold;

wherein the controller is further configured to:

(iii) continuously monitoring the force sensing input after the force sensing input exceeds the trigger threshold; and

(iv) dynamically adjusting the haptic drive signal based on continuously monitored force sensing input.

Preferably, the system comprises a memory storage device, wherein the controller retrieves a haptic output waveform from the memory storage device to provide the haptic drive signal, wherein the haptic drive signal based on the retrieved haptic output waveform is adjusted based on the continuously monitored force sensing input.

In one aspect, the controller is configured to select a first haptic output waveform from a plurality of stored haptic output waveforms if the force sensing input exceeds a trigger threshold, wherein the controller is configured to select a different haptic output waveform from the plurality of stored haptic output waveforms based on a change in the continuously monitored force sensing input.

Additionally or alternatively, the haptic module is arranged to dynamically generate a haptic waveform to provide the haptic drive signal, wherein the haptic drive signal is adjusted based on the continuously monitored force sensing input.

Preferably, the controller is configured to adjust at least one of the amplitude, acceleration and/or duration of the haptic drive signal based on the continuously monitored force sensing input.

Preferably, the controller is configured to adjust the haptic drive signal based on at least one of an amplitude, acceleration and/or duration of the continuously monitored force sensing input.

Preferably, the controller is configured to compare the continuously monitored force sensing input to a plurality of defined thresholds, wherein the controller is configured to adjust the haptic drive signal based on the comparison.

In one aspect, the controller is arranged to receive data relating to a use case or environment of operation of the system, wherein the controller is configured to adjust the haptic drive signal based at least in part on the received data.

In yet another aspect, the controller is arranged to determine whether the force sensing input is indicative of a user action representative of a button press or a button release, and wherein the controller is configured to adjust the haptic drive signal based at least in part on the determined user action.

There is also provided a host device, the host device including: the force sensor/haptic system described above; and at least one force sensor coupled with the force sensor/the haptic system.

Preferably, the at least one force sensor comprises one or more of:

a capacitive displacement sensor, which is arranged in the housing,

an inductive force sensor, which is arranged in the housing,

the strain gauge or strain gauges are used,

a piezoelectric type of force sensor, which is,

the resistance of the force sensing resistor is,

a piezoresistive force sensor of the type described above,

a thin film force sensor, and/or

Quantum tunneling composite based force sensors.