US Patent 9520036 Haptic output generation with dynamic feedback control

A device includes a haptic actuator to generate mechanical force stimuli in accordance with a triggering event. A haptic control system includes an accelerometer to measure the haptic response of the device. Signaling from the accelerometer is analyzed in view of an intended haptic response. A control signal may be modified in view of the analysis to correct out-of-tolerance conditions of the haptic response. This correction may occur in real time or near-real time. Component aging, shifting device performance, or other factors may be compensated for and user expectations satisfied accordingly.