Piezoelectric input device

A multi-axis rotational input device, including:

• an input rod including a plurality of piezoelectric elements within a body of the input rod;
• a plurality of sensors electrically coupled to the plurality of piezoelectric elements, wherein a force applied to the body that acts on the plurality of piezoelectric elements is configured to cause one or more voltages to be generated across electrical leads connected to the plurality of sensors;
• and
• a controller circuit configured to generate an input signal associated with a rotational position of the input rod based on the one or more voltages generated across the electrical leads by the plurality of piezoelectric elements, the controller circuit further configured to apply reply voltages to the plurality of piezoelectric elements to generate a desired counterforce on the input rod.

A method being performed by a processor on an electronic controller device, the method comprising:

• receiving a plurality of detected voltages by a plurality of sensors electrically connected to a plurality of piezoelectric elements, the plurality of piezoelectric elements being contained within a body of an input rod on the electronic controller device;
• determining, a rotational position of the input rod relative to an equilibrium axis based on the plurality of detected voltages;
• determining a plurality of reply voltages associated with a haptic counterforce response to be applied by the plurality of piezoelectric elements;
• and
• causing the plurality of reply voltages to be applied to the plurality of piezoelectric elements to create the haptic counterforce response on the body of the input rod.