# US 10,768,738 B1 · Electronic device having a haptic actuator with magnetic augmentation

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- Number: US 10,768,738 B1
- Document ID: US10768738B1
- Status: Granted
- Kind: B1
- Application number: 15/717,543
- Filed: 2017-09-27
- Granted: 2020-09-08
- Earliest claimed: 2017-09-27
- Assignees: Apple Inc.
- Applicants: Apple Inc.
- Inventors: Zhipeng Zhang; Richard H. Koch
- Web page: https://patentgrep.com/patent/US10768738B1

## CPC

- G06F 3/0414: {using force sensing means to determine a position}
- B06B 1/04: operating with electromagnetism (dynamo-electric motors with vibrating magnet, armature or coil system H02K33/00)
- B06B 1/045: {using vibrating magnet, armature or coil system}
- B06B 1/0603: {using a piezoelectric bender, e.g. bimorph}
- G06F 3/016: {Input arrangements with force or tactile feedback as computer generated output to the user}
- G06F 3/0412: {Digitisers structurally integrated in a display}
- H10N 30/2042: {Cantilevers, i.e. having one fixed end}
- H10N 30/802: {Circuitry or processes for operating piezoelectric or electrostrictive devices not otherwise provided for, e.g. drive circuits}
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- B06B: METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, {e.g.} FOR PERFORMING MECHANICAL WORK IN GENERAL (for particular applications, see the relevant subclasses, e.g. B07B1/40, B23Q17/12, B24B31/06; measurement of mechanical vibrations G01H; in direction finding, locating, distance or velocity measuring G01S; {generating seismic energy G01V1/02}; control of mechanical vibrations in general G05D; sound-producing devices, e.g. bells, sirens, whistles G10K, {e.g. methods or devices for transmitting, conducting, or directing sound in general G10K11/00}; generation of electrical oscillations H03B; electromechanical resonators in general H03H; electromechanical transducers {for communication techniques, e.g. microphones, speakers} H04R)
- H10N: ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR

## Abstract

Disclosed herein are electronic devices having piezoelectric haptic actuators to generate haptic output. The haptic actuators can be configured as a beam with a bendable material layer and a piezoelectric material layer the cause the beam to bend. The bending force can be increased by coupling a magnet to the beam and positioning a ferritic plate near the magnet. Alternatively, a ferritic plate can be attached to the beam, with the magnet positioned apart from, but near, the plate. The haptic actuator can have a two-sided piezoelectric configuration, having a piezoelectric layer on each side of the bendable material layer. A two-sided piezoelectric configuration can have a second magnet and ferritic plate pair on a side of the beam opposite the first. The haptic actuator may use electromagnets.

## Claims

### Claim 1

An electronic device, comprising:
an enclosure defining an interior volume and an exterior surface;
a haptic actuator positioned within the interior volume and comprising:
an elongated substrate having a first end that is fixed with respect to the enclosure and a second end that is free to move in an actuation direction that is transverse to a length of the elongated substrate;
a piezoelectric layer attached to a side of the elongated substrate;
a first magnetic element positioned proximate to a first side of the second end of the elongated substrate and offset from the elongated substrate, the first magnetic element fixed relative to the enclosure such that the first magnetic element remains stationary when the elongated substrate moves in the actuation direction; and
a second magnetic element positioned proximate to a second side of the second end of the elongated substrate and offset from the elongated substrate, the second magnetic element fixed relative to the enclosure such that the magnetic element remains stationary when the elongated substrate moves in the actuation direction; and
control circuitry configured to apply an actuation signal to the piezoelectric layer; wherein:
in response to the actuation signal, the piezoelectric layer causes the elongated substrate to move along the actuation direction; and
movement of the elongated substrate causes an actuator tab to contact an interior portion of the enclosure to produce a localized deflection along the exterior surface of the enclosure.

### Claim 2 (depends on 1)

The electronic device of claim 1, wherein:
the electronic device further comprises a touch-sensitive display positioned at least partially within the enclosure;
the touch-sensitive display is configured to receive touch input; and
the haptic actuator is configured to produce the localized deflection in response to the touch input.

### Claim 3 (depends on 1)

The electronic device of claim 1, wherein the actuator tab is integrally formed with the elongated substrate.

### Claim 4 (depends on 1)

The electronic device of claim 1, wherein:
the haptic actuator further comprises a third magnetic element coupled to the elongated substrate and positioned at the second end of the elongated substrate; and
the first magnetic element comprises a ferritic plate positioned proximate to the second end of the elongated substrate and separated from the third magnetic element by a gap.

### Claim 5 (depends on 4)

The electronic device of claim 4, wherein the third magnetic element comprises a Halbach array oriented to have a face producing a strongest magnetic field directed toward the ferritic plate.

### Claim 6 (depends on 4)

The electronic device of claim 4, wherein the piezoelectric layer is a first piezoelectric layer, the ferritic plate is a first ferritic plate, the gap is a first gap, and further comprising:
a second piezoelectric layer attached to the elongated substrate opposite to the side of the elongated substrate with the first piezoelectric layer;
and
a second ferritic plate positioned proximate to the second end of the elongated substrate and separated from the second magnetic element by a second gap; wherein:
in response to the actuation signal, the first piezoelectric layer and the second piezoelectric layer cause the elongated substrate to move along the actuation direction.

### Claim 7 (depends on 6)

The electronic device of claim 6, wherein, in an absence of the actuation signal, the elongated substrate has a single stable equilibrium position that is substantially equidistant from the first ferritic plate and the second ferritic plate.

### Claim 8 (depends on 6)

The electronic device of claim 6, wherein, in an absence of the actuation signal:
the elongated substrate has a first stable equilibrium position when displaced towards the first ferritic plate, and
the elongated substrate has a second stable equilibrium position when displaced towards the second ferritic plate.

### Claim 9 (depends on 1)

The electronic device of claim 1, wherein:
the electronic device includes a display;
the enclosure includes a cover sheet positioned over the display and forming a portion of the exterior surface; and
the localized deflection is along a surface of the cover sheet.

### Claim 10 (depends on 1)

The electronic device of claim 1, wherein:
the elongated substrate is one of an array of elongated substrates positioned parallel to each other, each having a first end fixed with respect to the enclosure and a second end that is free to move;
a respective piezoelectric layer is positioned along a respective side of each elongated substrate of the array of elongated substrates;
a respective magnetic element is positioned on each elongated substrate; and
each elongated substrate of the array of elongated substrates is configured to cause a corresponding localized deflection at a respective location on the exterior surface of the electronic device.

### Claim 11

An electronic device, comprising:
an enclosure; and
a haptic actuator positioned within the enclosure and comprising:
an elongated substrate having a fixed end and a free end opposite to the fixed end, the free end being free to move in an actuation direction;
an actuator tab positioned at the free end of the elongated substrate and extending in a direction that is transverse to a length of the elongated substrate;
a piezoelectric layer coupled to the elongated substrate;
a first ferritic plate coupled to a first side of the elongated substrate and positioned toward the free end of the elongated substrate;
a second ferritic plate coupled to a second side of the elongated substrate and positioned toward the free end of the elongated substrate;
a first magnet structure positioned near the free end and on the first side of the elongated substrate and separated from the first ferritic plate by a first gap, the first magnet structure fixed relative to the enclosure while the elongated substrate moves in the actuation direction;
a second magnet structure positioned near the free end and on the second side of the elongated substrate and separated from the second ferritic plate by a second gap, the second magnet structure fixed relative to the enclosure while the elongated substrate moves in the actuation direction; and
a control unit operatively coupled to the piezoelectric layer and configured to cause the elongated substrate to move along the actuation direction and cause the actuator tab to contact the enclosure to produce a tactile output along an exterior surface of the enclosure.

### Claim 12 (depends on 11)

The electronic device of claim 11, wherein:
the control unit is configured to apply an actuation signal to the piezoelectric layer to cause the elongated substrate to move the first ferritic plate toward the first magnet structure; and
the control unit is configured to apply a de-actuation signal to the piezoelectric layer to cause the first ferritic plate to move away from the first magnet structure.

### Claim 13 (depends on 11)

The electronic device of claim 11, wherein the actuator tab is integrally formed with the elongated substrate.

### Claim 14 (depends on 11)

The electronic device of claim 11, wherein:
the piezoelectric layer is a first piezoelectric layer, and
the haptic actuator further comprises a second piezoelectric layer positioned on a side of the elongated substrate opposite to the first piezoelectric layer.

### Claim 15 (depends on 14)

The electronic device of claim 14, wherein:
the control unit is configured to apply a first actuation signal to the first piezoelectric layer; and
the control unit is configured to apply a second actuation signal to the second piezoelectric layer.

### Claim 16 (depends on 11)

The electronic device of claim 11, wherein:
the first magnet structure is an electromagnet;
the control unit controls a current through the electromagnet; and
a magnetic pole of the electromagnet is oriented toward the first ferritic plate.

### Claim 17

An electronic device comprising:
an enclosure defining an interior volume and an exterior surface of the electronic device;
a display positioned at least partially within the interior volume; and
a haptic actuator positioned within the interior volume and comprising:
an elongated substrate having a free end that is free to move along a nonlinear path;
a piezoelectric layer positioned along a side of the elongated substrate;
a first magnet structure coupled to a first side of the elongated substrate and positioned toward the free end of the elongated substrate;
a second magnet structure positioned near the first side of the free end of the elongated substrate and separated from the first magnet structure by a first gap, the second magnet structure fixed with respect to the enclosure such that the second magnet structure remains stationary as the free end moves along the nonlinear path;
a third magnet structure coupled to a second side of the elongated substrate and positioned toward the free end of the elongated substrate;
a fourth magnet structure positioned near the second side of the free end of the elongated substrate and separated from the third magnet structure by a second gap, the fourth magnet structure fixed with respect to the enclosure such that the fourth magnet structure remains stationary as the free end moves along the nonlinear path; and
a control unit configured to apply an actuation signal to the piezoelectric layer; wherein:
in response to the actuation signal, the piezoelectric layer causes the free end of the elongated substrate to move along the nonlinear path to produce a tactile output along the exterior surface of the enclosure.

### Claim 18 (depends on 17)

The electronic device of claim 17, wherein:
the second magnet structure is an electromagnet;
the control unit is configured to control a current in the electromagnet;
a magnetic pole of the first magnet structure is oriented toward the second magnet structure; and
a magnetic pole of the second magnet structure is oriented toward the first magnet structure.

### Claim 19 (depends on 17)

The electronic device of claim 17, wherein:
the piezoelectric layer is a first piezoelectric layer and
the haptic actuator further comprises a second piezoelectric layer positioned on the elongated substrate opposite the first piezoelectric layer.

### Claim 20 (depends on 19)

The electronic device of claim 19, wherein:
the fourth magnet structure is an electromagnet; and
the control unit is configured to apply a de-actuation signal to the second magnet structure and the fourth magnet structure such that:
the first magnet structure is subjected to a first repulsion force by the second magnet structure; and
the third magnet structure is subjected to a second repulsion force by the fourth magnet structure.