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Electromagnetic Tactile Display Development

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Frame design 5

Posted by Reinoud on 2015-06-01
Posted in: Design, Pictures. Leave a comment

As promised, here’s more on low cost frame options, illustrated with a few examples. The designs have not been worked out in detail yet.

These frames consist of one part, typically made of plastic, with actuators mounted directly below the finger plate. This way they can be relatively low cost and low profile. Compact coils are used like with the previously shown high-res display, and they aren’t necessarily limited to low power operation despite being mounted in plastic, as explained below.

The first example (tctct2-frame-open-mini.png) accomodates a 10×16 array of 160 pins in roughly the same finger plate area as the standard Optacon display. With a horizontal pitch of 1.5mm and a vertical pitch of 1.8mm, this layout is not really appropriate for Optacon-like reading use (vertical resolution is relatively low) but it may be an attractive alternative for the ‘mobile’ version proposed before. Smaller versions with lower vertical resolution (e.g. 10×10, 100 pins, just covering a fingertip) may be more suitable for low cost and low power applications.

tctct2 frame open mini

Disadvantages of this first design are resolution and power limitations, and high precision manufacturing requirements due to the actuator packing density. Also, interconnect cost will be high because of the curved actuator array without a common node available, requiring two connections per actuator.

The next design (tctct2-frame-open-mini-wide.png) improves resolution by increasing width rather than height, intended for use with more than one finger at a time. The example in the image has the same pin pitch as before but has a less curved finger plate and is rotated 90 degrees. With 28×14 pins at 1.8×1.5mm it provides for 392 pins on a 48.6×19.5mm active area, usually enough for 3 fingertips.

tctct2 frame open mini wide

This arrangement has several advantages besides an obvious higher overall resolution. Pin pitch is smaller in vertical direction now (like Optacon displays), and even though the density is lower than an Optacon display it covers a larger total area, all of which consists of the most sensitive part of fingertips. Because of this I expect this display to perform quite well at lower power and frequencies. Like the previous design, it still requires a high precision plastic part and interconnect cost will be high.

Cost (including precision and interconnect requirements) can be brought down by moving to a flat lower density display as shown in the third image (tctct2-frame-open-mini-flat.png). This example has a 24×10 array of 240 pins on a 46x18mm active area display similar to the previous one. The lower density allows for somewhat higher efficiency coils, mounted on a lower precision, more heat resistant plastic frame, which allows driving at high power. Also, with actuators mounted in a flat plane coil contacts can be made to fit a printed circuit board below to simplify assembly.

tctct2 frame open mini flat

This last frame design is quite a departure from the Optacon standard layout but seems promising: it is relatively high resolution yet low cost, suitable for high and low power modes, and has a simple low profile construction.

PDF reference description: tctct2-frame-open-mini


tctct2-frame-open-mini.png:

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Frame design 4

Posted by Reinoud on 2015-06-01
Posted in: Design, Optacon, Pictures. Leave a comment

Now, on to interesting possibilities for frame design beyond the original specifications set at the beginning. Using compact (but efficient) coils it looks quite doable to pack 256 pins in the same space as the standard 144-pin Optacon display:

tctct2 frame open symmetric 1 coil high res

This display uses mostly the same tech (materials and components) as the others but with such a high number of actuators it is obviously a high-end version. Upcoming: low cost frame design options.


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Frame design 3

Posted by Reinoud on 2015-05-31
Posted in: Design, Pictures. Leave a comment

For completeness, here is a picture of the smaller ‘mobile’ version with 72 pins in staggered symmetric arrangement:

tctct2 frame open symmetric 1 coil mobile

When limited to low-power mode (as indicated in the specifications), the lower frame may be made of plastic just like the upper frame. This way lower total weight and cost can be achieved than would be possible with a metal part.


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Frame design 2

Posted by Reinoud on 2015-05-29
Posted in: Design, Optacon, Pictures. Leave a comment

Finally, more on frame design!

The frame designs have been on my computer for two weeks now, waiting to be published. Why the wait? Well, I really do not want a new Optacon or similar tactile display device to be hindered by patents. This is not just a matter of personal preference; the cost of patents (either through maintenance or licensing) might very well kill any chance of success for a new device, as the market likely isn’t big enough to bear this kind of burden.

That is why I have taken some time to prepare for publication in a way that should make it difficult to grab and patent things. The approach chosen is to attach digital signatures to descriptions and images, which are then published and archived at several places. This provides a timestamp, certifies that no modifications have been made to the original publication, and establishes the source. Below you will find the signatures and my PGP public key for reference, upcoming publications of more design details will be digitally signed using the same key.

Now, on to the frame design. The images show partial frames, exposing internal design. Actuators and pins are shown as transparent ‘ghosts’ for reference, except in the second image (tctct2-frame-open-std-1coil-opdetail.png), where they are rendered as solid for clarity.

tctct2 frame open standard 1 coil

The curved finger plate (shown in blue) at the top is part of the upper frame and has holes for the pins, and optional dimples (small depressions in the surface) around pins. The first image (tctct2-frame-open-std-1coil.png) shows standard Optacon R1 6×24 layout, the second image (tctct2-frame-open-std-1coil-opdetail.png) shows a closeup of the same (this time rendered with solid actuator tubes and pins). The third image (tctct2-frame-open-symm-2coil.png) shows the symmetric version with the same 144 pins, now in staggered finger plate distribution. For the upcoming prototype the finger plate will be manufactured as a high precision plastic part and cover the top of the display.

tctct2 frame open standard 1 coil opaque detail

The curved base plate for mounting actuators (shown in green) is part of the lower frame and has a larger radius but is concentric with the finger plate. The base plate has holes for mounting actuator tubes; actuators can be mounted above and below the base plate (below is as shown). The distribution of actuators at the base plate is not simply a scaled version of the distribution of pins at the finger plate; rather, the distribution at the base plate is constrained by actuator shape. Finger plate pin positions are mapped to corresponding actuators via a simple pattern which results in minimal normal angle deviations for the pins as shown (see second image, tctct2-frame-open-std-1coil-opdetail.png). The angles at which actuators are mounted are not necessarily normal to the base plate surface, nor in line with the actuator pin from the finger plate; the optimum angle is generally in between these two. For the upcoming prototype the lower frame will be manufactured as a cast brass part.

tctct2 frame open symmetric 2 coils

The moving magnet actuators mounted at the base plate may use a single coil (coils shown in red) around one permanent magnet pole per actuator (as shown in first and second image) or use two coils encompassing both permanent magnet poles per actuator (as shown in third image). Actuator coils for the upcoming prototype will be wound around brass tubes, the brass material allowing for heat and electricity conduction. Heat dissipated in the coils will be (partially) conducted to the brass lower frame which also acts as a heat sink. Also, electrical conductivity of the actuator tubes and lower frame allows for the formation of a common electrical node (e.g. ground) for the actuators so that only one external connection per actuator is needed besides the shared node.

Around the active actuator array mounted at the base plate is a border of inactive actuator cores containing permanent magnets which provide for a suitable boundary to limit sideways (radial) forces for the active actuator array.

More frame and actuator details will follow.

PDF reference description: tctct2-frame-open

Public key for TACTACT publications:

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Frame design 1

Posted by Reinoud on 2015-05-09
Posted in: Design, Optacon, Pictures. Leave a comment

The frame design is not functional yet but getting basic geometry right is an important step in the right direction. Here you can see the top part with finger plate and Optacon-compatible layout:

frame top non-functional

Core coil design 2

Posted by Reinoud on 2015-05-08
Posted in: Design, Pictures. Leave a comment

Another actuator coil design, this time a nice minimalistic one. It’s flattened just like the previous design but it lacks one of the flanges. It appears to be not as strong and not as good for winding, but during winding it can best be mounted on a fitting shaft with a head (like a bolt) functioning as the second flange. Once the coil has been fixated it’s all solid enough, yet saving a little space again:

core coil minimal

Interestingly, this one is fairly easy to make as there are no undercuts and everything is easily accessible.

Driver electronics

Posted by Reinoud on 2015-05-07
Posted in: Design, Development, Optacon. 3 Comments

Driving the large number of coils used in a tactile display is not particularly difficult to do, but how to do it well and still keep cost down? Note that the discussion below is going to be a bit technical…

For the mobile (low power) version, multiplexing is an attractive solution, made possible by the low duty factor of the actuators. This type of driver has actually been used in the proof-of-concept display. Using a relatively small number of control signals and components it allows for high currents, high efficiency, and PWM (Pulse Width Modulation, providing per pixel intensity levels). All proved to work just fine for a low power display.

Large full power displays are another matter. Only limited multiplexing is possible (with an up to 50% duty factor) so component savings are going to be small and may not be worth the added complexity. Also, limited (two-way) multiplexing in combination with the large number of actuators means a lot of them are going to be switching at the same time, which will have a negative impact on signal integrity and EMC.

Taking this into consideration, driving each coil with its own separate driver appears to be a decent approach but it remains a costly one, as it will take 144 outputs and drivers for a standard Optacon resolution. A simple and obvious implementation would use a microcontroller with 144 GPIOs, but a controller with that many IOs will come in a large high-density package and require a relatively complex PCB, which is not attractive for low volume production. Also, properly separating logic (sensitive) and display (high switching noise) can be cumbersome with this approach.

A classic solution to these problems is to separate the outputs/drivers from the controller using shift registers. These are generally available in suitable packages, and varieties with integrated drivers exist (which may well be the best option for a final version when all design parameters are known). For now I prefer to work with external drivers, allowing for more design freedom, larger currents, and higher reliability.

Suitable shift registers and supporting components for the upcoming prototype are on order.

Core coil design 1

Posted by Reinoud on 2015-05-04
Posted in: Design, Pictures. Leave a comment

Here are the first actuator coil design examples, intended to explore options for very small coils with various constraints (features, materials, and manufacturing), and to get samples for building the first actuators and displays. Winding microcoils is certainly a lot easier with properly designed and mounted microbobbins.

The first design is a simple cylindrical one with chamfered flanges for improved winding:

core coil simple

It’s a strong shape but doesn’t make efficient use of available space in practice (when made out of one piece it’s hard to achieve very thin walls).

The second design improves on this by flattening the coil in one direction (cutting out the central part allows for really tiny margins there):

core coil flattened

Manufacturing options for a design like this are limited but it served as the basis for the coils used in the proof-of-concept display version.

More later.

Actuator videos!

Posted by Reinoud on 2015-05-02
Posted in: Videos. 1 Comment

A comment by Keith got me thinking about how to show the tiny actuators actually working on video, because it’s all very small and a vibrating pin just becomes fuzzy to the eye. What did the trick was simply attaching a piece of 130 grams paper to the pin with a bit of blu-tack and then reducing the frequency to show movement clearly.

The video below shows an actuator from the proof-of-concept display between my fingers, driven at 10Hz, on-and-off for one second repeatedly:

The pin has to be held down because the retaining mechanism is in the frame.

Next video is similar but with a slimmer actuator (1mm core, won’t fit current frames), this time with a small lens attached to the phone (blu-tack again to the rescue) for better close-up focus, and sound turned off because the kids were noisy (hey, it’s weekend!):

Upcoming: a series about current actuator core / coil design, including 3D (CAD) images!

Specification update

Posted by Reinoud on 2015-05-01
Posted in: Design, Optacon, Specifications. Leave a comment

First update to prototype target specifications: looks like a change in materials will allow for sufficient cooling capacity without any extra height requirement for a heat sink.

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