Granted Patent B2

US 12,299,209 · App. 18/141,308 · Granted May 13, 2025

Inventors: Ninad Sathe (Sunnyvale, CA); Ilya Daniel Rosenberg (Sunnyvale, CA); Jacob Terracina (Sunnyvale, CA)

Assignee: Sensel, Inc.

G06F3/0202G06F3/016H01H13/85H01H2003/008H01H13/785H01H2201/036H01H2215/05

Abstract

Claims (227)

1. A system for a seamless touch sensor comprising:

a substrate comprising:

a top layer comprising a first set of drive and sense electrode pairs arranged across the top layer; and

a bottom layer arranged below the top layer and comprising an array of force sensors arranged across the bottom layer;

a baseplate:

arranged below the substrate; and

comprising an array of spring elements coupling the baseplate to the bottom layer of the substrate, the array of spring elements configured to yield to displacement of the substrate responsive to forces applied over the substrate;

a first haptic actuator arranged below the substrate and comprising:

a first multi-layer inductor; and

a first magnetic element defining a first polarity facing the first multi-layer inductor;

a cover layer:

arranged over the substrate to define a continuous touch sensor surface spanning across the substrate and the baseplate; and

coupled to the top layer of the substrate to define a first active touch region and a first inactive touch region on the continuous touch sensor surface; and

a controller configured to, in response to detecting a first input at the first active touch region on the continuous touch sensor surface, drive an oscillating voltage across the multi-layer inductor to:

induce alternating magnetic coupling between the multi-layer inductor and the first magnetic element; and

oscillate the first active touch region of the cover layer relative to the first magnetic element.

2. The system of claim 1 :

wherein the substrate further comprises a set of inductor layers:

arranged below the top layer of the substrate; and

comprising:

a first layer comprising a first spiral trace coiled in a first direction; and

the bottom layer arranged below the first layer and comprising a second spiral trace:

coiled in a second direction opposite the first direction;

coupled to the first spiral trace; and

cooperating with the first spiral trace to form the first multi-layer inductor of the first haptic actuator;

wherein the first magnetic element:

is arranged below the bottom layer of the substrate; and

is coupled to the baseplate to locate the first magnetic element facing the first multi-layer inductor; and

wherein the controller is configured to, in response to detecting the first input at the first active touch region, drive an oscillating voltage across the first spiral trace and the second spiral trace to:

induce alternating magnetic coupling between the multi-layer inductor and the first magnetic element; and

oscillate the first active touch region of the cover layer normal to the first magnetic element.

3. The system of claim 1 :

wherein the first haptic actuator:

is arranged at a first location on the baseplate locating the first haptic actuator proximal a lateral edge of the first active touch region of the continuous touch sensor surface; and

comprises:

a set of inductor layers comprising:

a first layer coupled to the bottom layer of the substrate and comprising a first spiral trace coiled in a first direction; and

a second layer arranged below the first layer and comprising a second spiral trace:

 coiled in a second direction opposite the first direction;

 coupled to the first spiral trace; and

 cooperating with the first spiral trace to form the first multi-layer inductor; and

the first magnetic element arranged below the second layer and defining the first polarity facing the first multi-layer inductor; and

wherein the controller is configured to, in response to detecting the first input proximal the lateral edge at the first active touch region, drive an oscillating voltage across the first spiral trace and the second spiral trace to:

induce alternating magnetic coupling between the multi-layer inductor and the first magnetic element; and

oscillate the first active touch region of the cover layer normal to the first magnetic element.

4. The system of claim 1 :

further comprising an array of haptic actuators, including the first haptic actuator, arranged below the substrate and each haptic actuator, in the array of haptic actuators:

arranged proximal a lateral edge of the baseplate to locate the haptic actuator proximal a lateral edge of the first active touch region on the continuous touch sensor surface; and

coupled to the bottom layer of the substrate; and

wherein the controller is configured to:

read a set of electrical values from the first set of drive and sense electrode pairs;

interpret the first touch input proximal a first lateral edge on the first active touch region of the continuous touch sensor surface based on the set of electrical values; and

in response to interpreting the first touch input proximal the first lateral edge on the first active touch region, drive an oscillating voltage at the first haptic actuator, in the array of haptic actuators, proximal the first touch input to induce oscillations on the first active touch region proximal the first lateral edge.

5. The system of claim 1 :

further comprising a chassis arranged below the cover layer, the chassis comprising:

a first support region defining a nominal plane;

a second support region, arranged opposite the first support region, aligned with the nominal plane; and

a cavity:

interposed between the first support region and the second support region;

inset from the nominal plane; and

locating the baseplate within the chassis; and

wherein the cover layer:

spans entirely across a top end of the chassis to define a continuous surface;

comprises the first inactive touch region coupled to the first support region on the chassis to define a first transition region on the cover layer:

interposed between the first inactive touch region and a first lateral edge of the first active touch region; and

configured to oscillate responsive to alternating magnetic coupling between the multi-layer inductor and the first magnetic element; and

comprises a second inactive touch region, arranged opposite the first inactive touch region, coupled to the second support region on the chassis to define a second transition region on the cover layer:

interposed between the second inactive touch region and a second lateral edge, opposite the first lateral edge, of the first active touch region; and

configured to oscillate responsive to alternating magnetic coupling between the multi-layer inductor and the first magnetic element.

6. The system of claim 5 :

wherein the chassis further comprises a first lead-in feature:

arranged proximal a first lateral edge of the first support region; and

defining a first tapered surface transitioning from the first lateral edge of the first support region downward toward a bottom surface of the cavity; and

wherein the cover layer comprises the first transition region extending across the first lead-in feature of the chassis, the first transition region cooperating with the first lead-in feature to vertically oscillate the first active touch region responsive to alternating magnetic coupling between the multi-layer inductor and the first magnetic element.

7. The system of claim 6 :

further comprising a second substrate:

arranged within the second cavity of the chassis; and

comprising an array of inductors;

wherein the second active touch region of the cover layer:

is arranged over the second substrate; and

defines the array of key locations over the array of inductors;

further comprising an array of magnetic elements, each magnetic element in the array of magnetic elements:

arranged over the array of inductors;

configured to inductively couple to an adjacent inductor in the array of inductors; and

configured to move relative to the adjacent inductor responsive to application of a force at a key location, in the array of key locations, on the second active touch region of the cover layer; and

wherein the controller is configured to:

read electrical values from the array of inductors; and

at a first time, in response to detecting a first change in electrical value at a first inductor, in the array of inductors:

register a first keystroke of a first key type associated with a first key location, in the array of key locations, defined over the first inductor; and

drive an oscillating voltage across the first inductor during a first haptic feedback cycle to:

induce alternating magnetic coupling between the first inductor and a first magnetic element, in the array of magnetic elements, arranged proximal the first key location on the second active touch region of the cover layer; and

oscillate the second active touch region, at the first key location, relative to the second substrate.

8. The system of claim 5 , further comprising an array of light elements defining an indicator about a periphery of the first active touch region on the cover layer, each light element in the array of light elements:

arranged on the top layer of substrate adjacent a lateral edge of the substrate;

facing the first active touch region of the cover layer; and

configured to illuminate a periphery of the first active touch region on the cover layer.

9. The system of claim 1 :

further comprising a chassis comprising:

a touchpad region comprising:

a first support region defining a nominal plane; and

a first cavity inset from the nominal plane and locating the baseplate within the chassis; and

a keyboard region comprising:

a second support region, arranged adjacent the first support region, aligned with the nominal plane; and

a second cavity inset the nominal plane; and

wherein the cover layer:

spans entirely across the touchpad region and the keyboard region of the chassis to define a continuous surface; and

comprises:

the first inactive touch region coupled to the first support region on the trackpad region of the chassis;

a second inactive touch region, arranged adjacent the first inactive touch region, and coupled to the second support region on the keyboard region of the chassis; and

a second active touch region, opposite the first active touch region, and defining an array of key locations over the keyboard region on the chassis.

10. The system of claim 1 :

wherein the cover layer further comprises:

a second active region:

arranged opposite the first active touch region; and

comprising a transparent material;

further comprising a display element:

arranged below the cover layer; and

extending across the second active region of the cover layer; and

wherein the controller is configured to:

read a first set of electrical values between drive electrodes and sense electrodes in the first set of drive and sense electrode pairs;

generate a first touch image representing a lateral position and a longitudinal position of the first touch input on the first active touch region of the continuous touch sensor surface based on the first set of electrical values; and

output a first touch image at the display element representing the first location of the first input on the cover layer.

11. The system of claim 1 :

further comprising a steering wheel comprising:

a rim rotatable about a first axis to steer a vehicle; and

a hub coupled to the rim and defining a cavity;

wherein the substrate and the baseplate are arranged within the cavity;

wherein the cover layer:

extends across a front face of the hub; and

defines a first key location within the first active touch region of the cover layer; and

wherein the controller is configured to, in response to detecting the first touch input at the touch sensor surface, register a first keystroke of a first key type associated with the first key location defined over the first haptic actuator.

12. The system of claim 1 , wherein the controller is configured to:

read a first set of electrical values between drive electrodes and sense electrodes in the first set of drive and sense electrode pairs;

read a second set of electrical values from the array of force sensors on the substrate;

detect a lateral position and a longitudinal position of the first touch input on the first active touch region of the continuous touch sensor surface based on the first set of electrical values;

interpret a first force magnitude of the first touch input based on the second set of electrical values from the array of force sensors; and

in response to the first force magnitude deviating from a target force magnitude, drive the oscillating voltage across the multi-layer inductor to:

induce alternating magnetic coupling between the multi-layer inductor and the first magnetic element; and

oscillate the first active touch region of the cover layer relative to the first magnetic element.

13. The system of claim 1 :

wherein the bottom layer of the substrate defines an array of support locations arranged proximal lateral edges of the substrate;

wherein the array of force sensors comprises a first set of sense electrodes arranged proximal the support locations on the bottom layer of the substrate;

wherein the baseplate comprises a first set of drive electrodes arranged across a top surface of the baseplate facing the bottom layer of the substrate; and

further comprising a set of spacers:

arranged at the array of support locations on the bottom layer of the substrate;

coupling the substrate to the array of spring elements on the baseplate;

locating the first set of sense electrodes on the bottom layer in alignment to the first set of drive electrodes on the baseplate to form an array of capacitive force sensors below the substrate; and

configured to compress responsive to application of the first touch input on the first active touch region to:

locate the bottom layer of the substrate at an offset distance, less than a nominal offset distance, above the top surface of the baseplate; and

increase magnetic coupling between the first set of sense electrodes and the second set of drive electrodes.

14. The system of claim 13 :

wherein each spring element, in the array of spring elements:

is formed in the baseplate proximal lateral edges of the baseplate;

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 a nominal plane in response to absence of a touch input applied to the first active touch region on the touch sensor surface; and

wherein each sense electrode, in the set of sense electrodes:

capacitively couples to an adjacent drive electrode, in the set of drive electrodes, arranged on the baseplate; and

moves toward the adjacent drive electrode in response to application of a force on the first active touch region on the touch sensor surface.

15. The system of claim 13 , wherein the controller is configured to:

access a force model representing a relationship between deviation from a baseline electrical value and force carried by the array of spring elements based on a spring constant for the array of spring elements;

read a set of electrical values from the first set of sense electrodes on the bottom layer of the substrate;

interpret the first force magnitude of the first touch input based on the first set of electrical values and the force model; and

in response to the first force magnitude exceeding a threshold force magnitude:

interpret the first touch input at the first active touch region on the continuous touch sensor surface; and

drive an oscillating voltage across the multi-layer inductor to:

induce alternating magnetic coupling between the multi-layer inductor and the first magnetic element; and

oscillate the first active touch region of the cover layer relative to the first magnetic element.

16. A system for a seamless touch sensor comprising:

a substrate comprising:

a top layer comprising a first drive and sense electrode pair arranged on the top layer; and

a bottom layer arranged below the top layer and comprising a first sense electrode arranged proximal a first support location on the bottom layer;

a baseplate:

arranged below the substrate;

defining a first spring element arranged below the first support location;

a first spacer element coupling the first spring element to the first support location on the bottom layer, the first spacer element configured to yield to displacement of the substrate responsive to forces applied over the substrate;

comprising a first drive electrode arranged on a top surface of the baseplate in alignment within the first sense electrode to form a first force sensor;

a first haptic actuator coupled to the substrate;

a cover layer:

arranged over the substrate to define a continuous touch sensor surface spanning across the substrate and the baseplate; and

coupled to the top layer of the substrate to define a first active touch region and a first inactive touch region encircling the first active touch region on the continuous touch sensor surface; and

a controller configured to, in response to detecting a first input at the first active touch region on the continuous touch sensor surface, trigger the first haptic actuator to generate normal oscillations across the first active touch region of the cover layer.

17. The system of claim 16 :

wherein the first haptic actuator comprises:

a set of inductor layers arranged below the top layer of the substrate, the set of inductor layers comprising:

a first layer comprising a first spiral trace coiled in a first direction; and

the bottom layer arranged below the first layer and comprising a second spiral trace:

coiled in a second direction opposite the first direction;

coupled to the first spiral trace; and

cooperating with the first spiral trace to form the first multi-layer inductor of the first haptic actuator; and

a first magnetic element:

arranged below the bottom layer of the substrate; and

defining a first polarity facing the first multi-layer inductor; and

wherein the controller is configured to, in response to detecting the first input at the first active touch region, drive an oscillating voltage across the first spiral trace and the second spiral trace to:

induce alternating magnetic coupling between the multi-layer inductor and the first magnetic element; and

oscillate the first active touch region of the cover layer normal to the first magnetic element.

18. The system of claim 16 , wherein the controller is configured to:

read a first electrical value from the first drive and sense electrode pair on the top layer of the substrate;

interpret a lateral position and a longitudinal position of a first touch input on the first active touch region of the cover layer based on the first electrical value;

read a second electrical value from the first force sensor on the bottom layer of the substrate;

interpret a first force magnitude of the first touch input based on the second electrical value; and

in response to the first force magnitude exceeding a target force magnitude, trigger the first haptic actuator to generate normal oscillations across the first active touch region of the cover layer.

19. The system of claim 16 :

further comprising a chassis arranged below the cover layer, the chassis comprising:

a first support region defining a nominal plane; and

a cavity inset from the nominal plane and locating the baseplate within the chassis; and

wherein the cover layer:

spans entirely across a top end of the chassis to define a continuous surface;

comprises the first inactive touch region coupled to the first support region on the chassis to define a first transition region on the cover layer:

interposed between the first inactive touch region and the first active touch region; and

configured to oscillate responsive to alternating magnetic coupling between the multi-layer inductor and the first magnetic element.

20. A system for a seamless touch sensor comprising:

a substrate comprising:

a top layer comprising a first set of drive and sense electrode pairs arranged across the top layer; and

a bottom layer arranged below the top layer and comprising an array of force sensors arranged across the bottom layer;

a baseplate:

arranged below the substrate;

comprising an array of spring elements coupling the baseplate to the bottom layer of the substrate; and

configured to yield displacement of the substrate responsive to forces applied to the touch sensor surface;

a first haptic actuator arranged below the substrate and comprising:

a first multi-layer inductor; and

a first magnetic element defining a first polarity facing the first multi-layer inductor;

a cover layer:

arranged over the substrate to define a continuous touch sensor surface spanning across the substrate and the baseplate; and

coupled to the top layer of the substrate to define a first active touch region and a first inactive touch region on the continuous touch sensor surface; and

a chassis:

arranged below the cover layer; and

defining a support region coupling the chassis to the first inactive touch region of the cover layer that defines a first transition region interposed between the first active touch region and the first inactive touch region of the cover layer.

Assignments (2)

Continuity (21)

References Cited (120)