# US 2021/0278946 A1 · System and method for detecting and characterizing touch inputs at a human-computer interface

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- Number: US 2021/0278946 A1
- Document ID: US20210278946A1
- Status: Published application
- Kind: A1
- Application number: 17/191,631
- Filed: 2021-03-03
- Published: 2021-09-09
- Earliest claimed: 2020-03-03
- Assignees: Sensel, Inc.
- Applicants: Sensel, Inc.
- Inventors: Ilya Daniel Rosenberg; Ninad Sathe; Eric Rosales
- Web page: https://patentgrep.com/patent/US20210278946A1

## CPC

- G06F 3/041661: {using detection at multiple resolutions, e.g. coarse and fine scanning; using detection within a limited area, e.g. object tracking window}
- G06F 3/04186: {Touch location disambiguation}
- G06F 3/016: {Input arrangements with force or tactile feedback as computer generated output to the user}
- G06F 3/03547: {Touch pads, in which fingers can move on a surface}
- G06F 3/04144: {using an array of force sensing means (position sensing using the local deformation of sensor cells G06F3/0447)}
- G06F 3/041662: {using alternate mutual and self-capacitive scanning}
- G06F 3/0445: {using two or more layers of sensing electrodes, e.g. using two layers of electrodes separated by a dielectric layer}
- G06F 3/0447: {Position sensing using the local deformation of sensor cells}
- G06F 3/045: using resistive elements, e.g. a single continuous surface or two parallel surfaces put in contact
- G06F 3/046: by electromagnetic means
- G06F 3/0446: {using a grid-like structure of electrodes in at least two directions, e.g. using row and column electrodes}
- G06F 2203/04104: Multi-touch detection in digitiser, i.e. details about the simultaneous detection of a plurality of touching locations, e.g. multiple fingers or pen and finger
- G06F 2203/04105: Pressure sensors for measuring the pressure or force exerted on the touch surface without providing the touch position
- G06F 2203/04106: Multi-sensing digitiser, i.e. digitiser using at least two different sensing technologies simultaneously or alternatively, e.g. for detecting pen and finger, for saving power or for improving position detection
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)

## Abstract

One variation of a system for detecting inputs at a computing device includes: a substrate including top layer and bottom layers, an array of capacitance sensors arranged on the bottom layer, and an array of support locations adjacent the capacitance sensors; a touch sensor surface arranged over the top layer of the substrate; an array of spring elements coupled to the support locations, configured to couple the substrate to a chassis, and configured to yield to displacement of the substrate downward toward the chassis responsive to forces applied to the touch sensor surface; a coupling plate configured to couple to the chassis adjacent the spring elements and effect capacitance values of the capacitance sensors responsive to displacement of the substrate toward the coupling plate; and a controller configured to interpret force magnitudes of inputs on the touch sensor surface based on capacitance values of the capacitance sensors.

## Claims

### Claim 1

A system for detecting inputs at a computing device comprising:
a substrate comprising:
a top layer;
a bottom layer;
an array of capacitance sensors arranged on the bottom layer; and
an array of support locations arranged on the bottom layer adjacent the array of capacitance sensors;
a touch sensor surface arranged over the top layer of the substrate;
an array of spring elements configured to couple the substrate to a chassis and to yield to displacement of the substrate downward toward the chassis responsive to forces applied to the touch sensor surface, each spring element in the array of spring elements coupled to the substrate at a support location in the array of support locations;
a coupling plate configured to:
couple to the chassis adjacent the array of spring elements; and
effect capacitance values of the array of capacitance sensors responsive to displacement of the substrate toward the coupling plate; and
a controller configured to:
read capacitance values from the array of capacitance sensors; and
interpret force magnitudes of inputs applied to the touch sensor surface based on capacitance values read from the array of capacitance sensors.

### Claim 2 (depends on 1)

The system of claim 1, wherein the array of spring elements and the coupling plate comprise a unitary metallic structure arranged between the substrate and the chassis.

### Claim 3 (depends on 2)

The system of claim 2:
wherein the unitary metallic structure comprises a steel coupling plate defining:
a nominal plane; and
an array of capacitive coupling regions adjacent the array of support locations;
wherein each spring element, in the array of spring elements:
is formed in the unitary metallic structure;
extends from a capacitive coupling region, in the array of capacitive coupling regions;
defines a stage coupled to a support location, in the array of support locations, on the bottom layer of the substrate; and
is configured to return to approximately the nominal plane in response to absence of a touch input applied to the touch sensor surface; and
wherein each capacitance sensor, in the array of capacitance sensors:
capacitively couples to an adjacent capacitive coupling region, in the array of capacitive coupling regions, of the unitary metallic structure; and
moves toward the adjacent capacitive coupling region in response to application of a force on the touch sensor surface proximal the capacitance sensor.

### Claim 4 (depends on 3)

The system of claim 3:
wherein a first spring element, in the array of spring elements, yields to a touch input applied to a first region of the touch sensor surface proximal the first spring element at a first time;
wherein a first capacitance sensor, in the array of capacitance sensors, adjacent the first region of the touch sensor surface advances toward a first capacitive coupling region, in the array of capacitive coupling regions, by a distance proportional to a force magnitude of the touch input; and
wherein the controller is configured to:
detect a first change in capacitance value of the first capacitance sensor at the first time; and
interpret the force magnitude of the touch input based on the first change in capacitance value.

### Claim 5 (depends on 1)

The system of claim 1:
wherein the coupling plate:
is interposed between the array of spring elements and the substrate;
comprises an array of perforations aligned with the array of support locations and the array of spring elements; and
defines an array of capacitive coupling regions adjacent the array of perforations;
further comprising a set of spacers, each spacer in the set of spacers:
extending through a perforation in the array of perforations; and
coupling a support location, in the array of support locations, on the bottom layer of the substrate to a spring element in the array of spring elements; and
wherein each capacitance sensor, in the array of capacitance sensors:
capacitively couples to an adjacent capacitive coupling region, in the array of capacitive coupling regions, of the coupling plate; and
moves toward the adjacent capacitive coupling region in response to application of a force on the touch sensor surface proximal the capacitance sensor.

### Claim 6 (depends on 5)

The system of claim 5:
wherein the array of spring elements comprises a unitary structure defining a nominal plane;
wherein each spring element in the array of spring elements comprises a flexure:
formed in the unitary structure;
defining a stage; and
configured to return to approximately the nominal plane in response to absence of a touch input applied to the touch sensor surface; and
wherein each spacer, in the set of spacers, couples:
a support location, in the array of support locations, on the bottom layer of the substrate;
to a stage of a spring element in the array of spring elements;

### Claim 7 (depends on 5)

The system of claim 5:
wherein a first spring element, in the array of spring elements, yields to a touch input applied to a first region of the touch sensor surface proximal the first spring element at a first time;
wherein a first capacitance sensor, in the array of capacitance sensors, adjacent the first region of the touch sensor surface, advances toward a first capacitive coupling region, in the array of capacitive coupling regions, by a distance proportional to a force magnitude of the touch input; and
wherein the controller is configured to:
detect a first change in capacitance value of the first capacitance sensor at the first time; and
interpret the force magnitude of the touch input based on the first change in capacitance value.

### Claim 8 (depends on 1)

The system of claim 1:
wherein each spring element in the array of spring elements is:
coupled to a support location, in the array of support locations, on the bottom layer of the substrate;
configured to yield below a nominal plane in response to application of force on the touch sensor surface proximal the support location; and
configured to yield above the nominal plane in response to application of force on the touch sensor surface remote from the support location; and
wherein the controller is configured to, during a scan cycle:
read a first set of capacitance values from a first subset of capacitance sensors, in the array of capacitance sensors, proximal a touch input on the touch sensor surface;
in response to the first set of capacitance values deviating in a first direction from baseline capacitance values for the first subset of capacitance sensors, interpret a first set of compressive forces carried by a first subset of spring elements, in the array of spring elements, proximal the first subset of capacitance sensors;
read a second set of capacitance values from a second subset of capacitance sensors, in the array of capacitance sensors, remote from the touch input on the touch sensor surface;
in response to the second set of capacitance values deviating in a second direction from baseline capacitance values for the second subset of capacitance sensors, interpret a second set of tensile forces carried by a second subset of spring elements, in the array of spring elements, remote from the second subset of capacitance sensors; and
interpret a force magnitude of the touch input applied to the touch sensor surface based on a combination of the first set of compressive forces and the second set of tensile forces.

### Claim 9 (depends on 1)

The system of claim 1:
further comprising an array of drive electrodes and sense electrodes arranged on the top layer of the substrate;
wherein the touch sensor surface is arranged over the array of drive electrodes and sense electrodes; and
wherein the controller is configured to, during a scan cycle:
read a first set of capacitance values between drive electrodes and sense electrodes in the array of drive electrodes and sense electrodes;
read a second set of capacitance values of capacitance sensors in the array of capacitance sensors;
detect a lateral position and a longitudinal position of a touch input on the touch sensor surface based on the first set of capacitance values;
interpret a force magnitude of the touch input based on the second set of capacitance values; and
output the lateral position, the longitudinal position, and the force magnitude.

### Claim 10 (depends on 9)

The system of claim 9, wherein the controller is configured to, during the scan cycle:
access a force model representing a relationship between deviation from a baseline capacitance value and force carried by a spring element based on a spring constant of spring elements in the array of spring elements; and
interpret the force magnitude of the touch input based on the second set of capacitance values and the force model.

### Claim 11 (depends on 9)

The system of claim 9:
wherein the array of capacitance sensors comprises a first quantity of capacitance sensors; and
wherein the array of drive electrodes and sense electrodes defines a second quantity of drive electrode and sense electrode pairs, the second quantity at least two orders of magnitude greater than the first quantity.

### Claim 12 (depends on 9)

The system of claim 9, wherein the controller is configured to:
serially read the first set of capacitance values from the array of drive electrodes and sense electrodes over a first segment of the scan cycle;
serially read the second set of capacitance values from the array of capacitance sensors over a second segment of the scan cycle succeeding the first segment of the scan cycle; and
drive the coupling plate to a reference potential during the second segment of the scan cycle.

### Claim 13 (depends on 9)

The system of claim 9:
wherein the substrate defines a first region and a second region:
wherein the set of electrode pairs comprises:
a first subset of capacitance sensors adjacent a first subset of support locations, in the array of support locations, within the first region of the substrate; and
a second subset of capacitance sensors adjacent a second subset of support locations, in the array of support locations, within the second region of the substrate;
wherein the substrate defines:
a first region comprising a first subset of capacitance sensors, in the array of capacitance sensors, and a first subset of support locations, in the array of support locations; and
a second region comprising a second subset of capacitance sensors, in the array of capacitance sensors, and a second subset of support locations, in the array of support locations;
wherein the array of drive electrodes and sense electrodes are arranged over the first region of the substrate;
wherein the array of spring elements comprises:
a first subset of spring elements coupled to the first subset of support locations; and
a second subset of spring elements coupled to the second subset of support locations; and
wherein the controller is configured to, during the scan cycle:
read a subset of capacitance values from the second subset of capacitance sensors; and
detect a palm in contact with the touch sensor surface over the second region of the substrate based on the subset of capacitance values.

### Claim 14 (depends on 1)

The system of claim 1:
further comprising an array of drive electrodes and sense electrodes arranged on the top layer of the substrate;
wherein the touch sensor surface is arranged over the array of drive electrodes and sense electrodes; and
wherein the controller is configured to, during a scan cycle:
read a first set of capacitance values between drive electrodes and sense electrodes in the array of drive electrodes and sense electrodes;
read a second set of capacitance values of capacitance sensors in the array of capacitance sensors;
detect a first lateral position and a first longitudinal position of a first touch input on the touch sensor surface based on the first set of capacitance values;
detect a second lateral position and a second longitudinal position of a second touch input on the touch sensor surface based on the first set of capacitance values;
interpret a set of force magnitudes carried by the array of spring elements based on the second set of capacitance values;
estimate a first force magnitude of the first touch input based on:
the first lateral position and the first longitudinal position of the first touch input;
the set of force magnitudes carried by the array of spring elements; and
locations of spring elements, in the array of spring elements, coupled to the substrate;
estimate a second force magnitude of the second touch input based on:
the second lateral position and the second longitudinal position of the second touch input;
the set of force magnitudes carried by the array of spring elements; and
locations of spring elements, in the array of spring elements, coupled to the substrate; and
compile the first lateral position, the first longitudinal position, the first force magnitude, the second lateral position, the second longitudinal position, and the second force magnitude into a force image for the scan cycle.

### Claim 15 (depends on 14)

The system of claim 14, wherein the controller is configured to interpret the set of force magnitudes, estimate the first force magnitude of the first touch input, and estimate the second force magnitude of the second touch input by:
for each capacitance sensor:
estimating force magnitude carried by a spring element, in the array of spring elements, adjacent the capacitance sensor based on a capacitance value, in the second set of capacitance values, read from the capacitance sensor;
calculating a first distance from the first touch input to the spring element based on the first lateral position and the first longitudinal position of the first touch input;
calculating a second distance from the second touch input to the spring element based on the second lateral position and the second longitudinal position of the second touch input;
estimating a first proportion of the force magnitude, in a first set of force magnitude proportions, applied by the first touch input based on a first ratio of the first distance to a combination of the first distance and the second distance; and
estimating second proportion of the force magnitude, in a second set of force magnitude proportions, applied by the second touch input based on a second ratio of the second distance to the combination of the first distance and the second distance;
estimating the first force magnitude of the first touch input based on a first combination of the first set of force magnitude proportions; and
estimating the second force magnitude of the second touch input based on a second combination of the second set of force magnitude proportions.

### Claim 16 (depends on 1)

The system of claim 1:
wherein each capacitance sensor, in the array of capacitance sensors, comprises an electrode encircling a support location, in the array of support locations, on the bottom layer of the substrate; and
wherein the controller is configured to, during a scan cycle:
read a set of capacitance values, from the array of capacitance sensors, representing measures of self capacitances between the array of capacitance sensors and the coupling plate; and
interpret a distribution of forces applied to the touch sensor surface based on the set of capacitance values and spring constants of the array of spring elements.

### Claim 17 (depends on 1)

The system of claim 1:
wherein each capacitance sensor, in the array of capacitance sensors, comprises:
a drive electrode arranged on the bottom layer of the substrate adjacent a first side of a support location in the array of support locations; and
a sense electrode arranged on the bottom layer of the substrate adjacent a second side of the support location opposite the drive electrode; and
wherein the controller is configured to, during a scan cycle:
read a set of capacitance values, from the array of capacitance sensors, that represent measures of mutual capacitances between drive electrodes and sense electrodes in the array of capacitance sensors; and
interpret a distribution of forces applied to the touch sensor surface based on the set of capacitance values and spring constants of the array of spring elements.

### Claim 18 (depends on 1)

The system of claim 1:
wherein the substrate defines a rectangular geometry; and
wherein the array of spring elements comprises:
a first subset of spring elements coupled to a first subset of support locations, in the array of support locations, proximal corners of the substrate, the first subset of spring elements characterized by a first spring constant; and
a second subset of spring elements coupled to a second subset of support locations, in the array of support locations, proximal an edge of the substrate, the first subset of spring elements characterized by a second spring constant less than the first spring constant.

### Claim 19 (depends on 1)

The system of claim 1:
wherein the substrate defines a rectangular geometry;
wherein the array of support locations is arranged on the bottom layer proximal a perimeter of the substrate; and
wherein the array of spring elements is configured to support the perimeter of the substrate and to locate the substrate within the chassis of the computing device.

### Claim 20 (depends on 1)

The system of claim 1:
wherein the coupling plate further comprises a magnetic element receptacle inset from the array of spring elements;
further comprising a magnetic element arranged in the magnetic element receptacle;
wherein the substrate further comprises a conductive coil arranged over and configured to magnetically couple to the magnetic element;
wherein the controller is configured to, during a scan cycle:
read a first set of capacitance values from the array of capacitance sensors;
interpret a first force magnitude of a first input applied to the touch sensor surface based on the first set of capacitance values; and
drive an alternating current through the conductive coil to magnetically couple the conductive coil to the magnetic element in response to the first force magnitude exceeding a threshold force magnitude; and
wherein the array of spring elements is configured to yield to magnetic coupling of the conductive coil to the magnetic element to enable the substrate and the touch sensor surface to oscillate relative to the chassis.

### Claim 21

A system for detecting inputs at a computing device comprising:
a substrate comprising:
a top layer;
a bottom layer;
an array of capacitance sensors arranged on the bottom layer; and
an array of support locations arranged on the bottom layer adjacent the array of capacitance sensors;
an array of drive electrodes and sense electrodes arranged on the top layer of the substrate;
a touch sensor surface arranged over the array of drive electrodes and sense electrodes;
an array of spring elements configured to couple the substrate to a chassis and to yield to displacement of the substrate downward toward the chassis responsive to forces applied to the touch sensor surface, each spring element in the array of spring elements coupled to the substrate at a support location in the array of support locations;
a coupling plate configured to:
couple to the chassis adjacent the array of spring elements; and
effect capacitance values of the array of capacitance sensors responsive to displacement of the substrate toward the coupling plate; and
a controller configured to, during a scan cycle:
read a first set of capacitance values between drive electrodes and sense electrodes in the array of drive electrodes and sense electrodes;
read a second set of capacitance values of capacitance sensors in the array of capacitance sensors;
detect a lateral position and a longitudinal position of a touch input on the touch sensor surface based on the first set of capacitance values;
interpret a force magnitude of the touch input based on the second set of capacitance values; and
output the lateral position, the longitudinal position, and the force magnitude of the touch input.