• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A haptic interface comprising: - a button (1) moving in a first direction or a second direction, - an interaction element (12) with a magnetorheological fluid whose viscosity varies according to a magnetic field, - a brake comprising a magnetorheological fluid and a system for generating (6) a magnetic field on command, - a current position sensor (14) of the button (1), - means for determining the speed of the button ( 1), - a control unit (UC) able to send commands to said magnetic field generating system, said commands being generated according to the current position of the button (1) and the current actuation speed of the button (1).
    公开号:FR3026551A1
    申请号:FR1459182
    申请日:2014-09-29
    公开日:2016-04-01
    发明作者:Laurent Eck；Jose Lozada
    申请人:Commissariat a lEnergie Atomique CEA；Commissariat a lEnergie Atomique et aux Energies Alternatives CEA；
    IPC主号:
    专利说明:

    [0001] TECHNICAL FIELD AND STATE OF THE PRIOR ART The present invention relates to a haptic interface providing improved control of haptic feeling. BACKGROUND OF THE INVENTION A haptic interface may take the form of a rotary knob manipulated by a user, in which case the interface opposes a user-resistant torque depending on the angular position of the actuation button and the movement applied by the user. , allowing to define haptic patterns that will be felt by the user when turning the knob. The resistive torque can be transmitted to the button via a magneto-rheological fluid whose apparent viscosity is modified by the application of a magnetic field to define the predefined haptic patterns. Some haptic patterns have many variations in the resistive torque in a relatively narrow angular region. In this case, there is a decrease in haptic feeling perceived by the user when the actuation speed of the button increases. SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a haptic interface providing improved haptic feel control. The previously stated goal is achieved by a haptic interface comprising an interaction member with the user and an interaction member with a fluid whose apparent viscosity varies according to a control stimulus, the two members being integral at least in rotation or at least in translation, means for generating a variable stimulus, a sensor for measuring the current position of the interaction element with the user, and means able to modulate the variable stimulus applied to the fluid in function the current position of the interaction element with the user and the operating speed of the interaction element with the user. Thanks to the invention, by applying a haptic pattern which is dependent on the operating speed of the interaction element with the user, it is possible to modulate, for example to accentuate the haptic feeling as a function of the actuation speed of the interaction element with the user. This modulation can relate to changes in the amplitude or shape of the pattern. Thus taking into account the speed of actuation in the selection of the haptic pattern value, the control of the haptic feeling is improved. For example, a decrease in haptic feeling is avoided when the operating speed is high. Particularly advantageously, a slow speed pattern and a fast speed pattern are used and an interpolation between a value of a zero or low speed pattern and a value of a fast speed pattern for the measured position is performed.
    [0002] In one embodiment, a slow speed pattern and a fast speed pattern are used and a threshold is set below which the speed of actuation of the interaction element is considered to be slow and beyond which considers that the actuation speed of the interaction element with the user is high, and one or the other of the patterns is applied according to whether the operating speed is considered high or low. In other words, for each current position it is intended to apply at least two stimulus values whose intensities may be different or different to take account of the actuation speed of the interaction element with the user. , whereas in haptic interfaces of the state of the art a single stimulus value is applied for each current position regardless of the actuation speed. Advantageously, a stimulus value is determined for each actuation speed value according to a law or a predetermined calculation algorithm taking the speed as an input parameter. According to an additional characteristic, it may be provided to implement a device for determining the user's action intention before the movement applied to the interaction element with the user becomes perceptible for the user. user and for the position measurement sensor, to determine the direction of movement that the user intends to apply to the user interaction element, thereby further enhancing the haptic rendering .
    [0003] The present invention therefore relates to a haptic interface comprising: an interaction element with a user able to move in a first direction and in a second direction; an interaction element with a fluid whose viscosity varies according to an external stimulus, the interaction element with the fluid being integral at least in translation or at least in rotation with the interaction element with the user, a brake comprising a fluid whose apparent viscosity varies in function of an external stimulus and a system for generating said custom stimulus in said fluid, the fluid interaction element being disposed in the fluid, - means for determining a current position of the element of interaction with the user, means for determining the speed of the interaction element with the user, a control unit able to send commands to said generation system of said user. stimulus, the control unit having means for generating said commands as a function of the current position of the interaction element with the user and the current operating speed of the interaction element with the user .
    [0004] In a very advantageous manner, the haptic interface may comprise means for determining the user's intention of action on the element of interaction with the user. For example, the means for determining the action intention of the user on the interaction element with the user comprise: means for detecting the torque exerted by a user on the interaction element with the user in the case of an interacting element with the rotating mobile user, in order to know the direction of the torque and if the torque is greater than a given value for a given direction, the control unit controlling the system for generating said stimulus on the basis of the information obtained on the at least one pair when a zero or low speed of the user interaction element is detected, or - means for detecting the effort exerted by a user on the interaction element with the user, in the case of an element of interaction with the mobile user in translation, in order to know the direction of the force and if the force is greater than a given value for a given meaning, the united control unit controlling the system for generating said stimulus on the basis of the information obtained on the force at least when a zero or low speed of the user interaction element is detected.
    [0005] The means for detecting the torque or the force applied by the user to the interaction element with the user may comprise at least one force sensor, preferably mounted in prestressing or at least one sensor for the deformation caused by the couple or force to one of the elements of the haptic interface.
    [0006] The haptic interface may include a proof body that is arranged to be deformed by the torque or force applied by the user to the user interaction element, the means for detecting the torque or force being in contact with said test body. Preferably, the test body is made of a material such that its deformation is not perceptible by the user.
    [0007] In an exemplary embodiment, the control unit may comprise at least: a first database containing values of a first haptic pattern when the standard of the operating speed is less than or equal to a first given value and is not zero and the interaction element with the user moves in the first direction, - a second database containing values of a second haptic pattern when the standard of the actuation speed is at least equal to a second given value and the interaction element with the user moves in the first direction, - a third database containing values of a third haptic pattern when the standard of the operating speed is lower than or equal to a third given value and is not zero and the interaction element with the user moves in the second direction, - a fourth database containing values of a fourth haptic pattern when the standard of the actuating speed is at least equal to a given fourth value and the interaction element with the user moves in the first direction, and the means capable of generating the orders using the following direction actuating the interaction element with the user, the first and / or second databases or the third and / or fourth databases to determine a value of a new haptic pattern based on which an order is generated. In another exemplary embodiment, the control unit may comprise at least: a first database containing values of a first haptic pattern when the standard of the actuation speed is less than or equal to a first given value and the interaction element with the user moves in the first direction, - a second database containing values of a second haptic pattern when the standard of the operating speed is at least equal to a second value data and the interaction element with the user moves in the first direction, - a third database containing values of a third haptic pattern when the norm of the actuation speed is less than or equal to a third given value and the interaction element with the user moves in the second direction, - a fourth database containing values of a fourth haptic pattern when the norm the actuation speed is at least equal to a fourth given value and the interaction element with the user moves in the first direction, and the means capable of generating the orders using the direction of actuation of the interaction element with the user, the first and / or the second database or the third and / or fourth database to determine a value of a new haptic pattern on the basis of which an order is generated . Advantageously, the means generating the orders implement an interpolation, for example a linear interpolation, between a value of the first database and a value of the second database or between a value of the third database and a value of the fourth database. For example, the given second speed can be set as the maximum operating speed in the first operating direction and the given fourth speed is set as the maximum operating speed in the second operating direction. Advantageously, the fluid is a magneto-rheological fluid, the stimulus being a magnetic field and the generated orders are current intensities. The means for determining the actuation speed can for example calculate the derivatives of the information provided by the means for determining the current position. In an exemplary embodiment, the interaction element with the user is rotatable and is integral with a rotation shaft of longitudinal axis which is integral in rotation with the interaction element with the fluid, the means measuring the angular position being an angular position sensor.
    [0008] In another embodiment, the interaction element with the user is mobile in translation. The present invention also relates to a method for controlling a haptic interface according to the invention, comprising the steps of: a) determining the current position of the interaction element with the user, b) determining the speed of the interaction element with the user, c) determination of the direction of actuation, d) determination, for the determined actuation direction, of a value of a haptic pattern for the determined actuation speed, e) generating an order in the generation system of said stimulus. During step d), the value of a haptic pattern can be determined from a first value of a haptic pattern for an actuation speed lower than a first given value and non-zero and a second value of a haptic pattern for an actuation speed at least equal to a second given value. For example, step d) is a step of calculating said value of a haptic pattern for the operating speed determined by means of a threshold function, the value of the pattern for the determined operating speed being either the first value of a haptic pattern for an actuation speed lower than a first given value, ie the second value of a haptic pattern for an actuation speed at least equal to a second given value. Advantageously, the method may comprise the step prior to step d) of determining the user's action intention on the interaction element with the user. In step d), the value of a haptic pattern can be determined from a first value of a haptic pattern for an actuation speed less than or equal to a first value, possibly zero, and a value of second value of a haptic pattern for an actuation speed at least equal to a second given value.
    [0009] Step d) may be a step of calculating said value of a haptic pattern for the actuation speed determined by interpolation, for example by linear interpolation. BRIEF DESCRIPTION OF THE DRAWINGS The present invention will be better understood on the basis of the following description and attached drawings in which: FIG. 1A is a sectional view of an exemplary embodiment of a rotary haptic interface that can be FIG. 1B is a diagrammatic representation of a rotary interface according to the invention; FIG. 2 is a graphical representation of the variation of the braking stress applied by a magnetorheological brake in accordance with the invention; of the angular position of an interaction element with the user for a pattern in a given direction and for a given speed, - Figure 3 is a graphical representation of the braking level applied by the magnetorheological brake as a function of the actuation speed of the interaction element with the user; FIGS. 4 and 5 represent examples of control algorithms of the selo haptic interface; FIG. 6 is a cross-sectional view along the plane AA of the interface of FIG. 1; FIG. 7 is a perspective view of an exemplary embodiment of a body of FIG. FIG. 8 is a perspective view of another exemplary embodiment of a test body that can be implemented in the interface of FIG. 6, FIG. FIG. 9 is a side view of another example of a haptic interface; FIGS. 10A to 10C are different views of the test body used in the interface of FIG. 5; FIG. an exploded view of an example of a linear haptic interface that can be implemented in the invention; FIG. 12 represents an example of an algorithm for controlling the haptic interface according to the invention; FIGS. 14 represent variants of the algorithm of FIGS. 4 and 5 respectively, taking into account the knowledge of the action intention of e the user. DETAILED DESCRIPTION OF PARTICULAR EMBODIMENTS In the following description, the example of a haptic rotary button interface will be described in detail, but it will be understood that the invention also applies to a linear displacement haptic interface. cursor type. In addition, the described interface uses a magnetorheological fluid, ie whose apparent viscosity varies as a function of the applied magnetic field, but the implementation of an electrorheological fluid, ie a fluid whose apparent viscosity depends applied electric field, is not beyond the scope of the present invention. In Figure 1A, we can see a longitudinal sectional view of an exemplary embodiment of a rotary haptic interface 11 according to the invention. The haptic interface 11 comprises an element 1 intended to be handled by a user and which will be referred to hereinafter as a "button", this button is integral in rotation with a rotating shaft 2 around the X axis, and a resistance generating device 4 or magneto-rheological brake opposing the rotation of the shaft 2. The brake 4 comprises a fluid whose characteristics can be modified by means of a magnetic field and a generator system. a magnetic field 6 received in a housing 8. The fluid is, for example a magneto-rheological liquid.
    [0010] The assembly comprising the housing, the fluid and the system for generating a magnetic field form a magnetorheological brake. The housing 8 delimits a sealed chamber 9 containing the magnetorheological fluid. All or part of this chamber being subjected to a magnetic field generated by the system 6. The housing 8 has a side wall 8.1, a lower bottom 8.2 and an upper bottom 8.3. The shaft 2 passes through the upper bottom 8.3, through the chamber 9 and through the bottom bottom 8.2. The end 2.1 of the shaft 2, opposite to that carrying the button 1, is housed in the lower bottom of the housing 8 and is guided in rotation by means of a bearing 11 mounted in the lower bottom 8.2. Seals 13, for example O-rings, seal between the shaft and the lower and upper bottom. The housing 8 delimits a sealed chamber confining the magnetorheological fluid.
    [0011] The brake 4 also comprises an element 12 integral in rotation with the shaft 2 and housed in the sealed chamber 10. This element is able to interact with the magnetorheological fluid, the rotation of the element 12 being more or less braked by the magnetorheological fluid as a function of its apparent viscosity. In the example shown, the element 12 comprises two concentric lateral walls 12.1, 12.2 of circular cross section integral with a bottom 12.3, itself secured in rotation with the shaft. Alternatively, the element 12 may have only one side wall or more than two concentric side walls. In another variant, the element 12 could be formed by a disk. Moreover, the interaction element could comprise lights and / or protruding or hollow portions in order to increase the resistance to displacement. In the example shown, the bottom bottom 8.2 of the housing 8 has a shape such that the internal volume of the sealed chamber 9 has a shape corresponding to that of the interaction element 12, which makes it possible to reduce the amount of fluid needed.
    [0012] In the example shown, a cylindrical element 13 of circular section integral with the housing is interposed between the two side walls 12.1, 12.2, which contributes to the shearing effect of the magnetorheological fluid when the side walls 12.1 and 12.2 are rotated. The side walls 12.1, 12.2 of the element 12 may be magnetic or non-magnetic material.
    [0013] In the example shown, the system for generating a variable magnetic field 6 comprises a coil fixed on the housing and disposed inside the interaction element 12, and a power supply (not shown) controlled by a control unit according to the manipulation of the button and prerecorded patterns. The interface also comprises a position sensor 14 which is, in the example shown, located outside the housing and partially integral with the shaft 2 and housed in a cavity formed in the bottom bottom 8.2 of the housing. The position sensor 14 makes it possible to measure the current position of the button, which in the example represented is the current angular position. It may be for example an incremental optical encoder. The haptic interface also comprises a frame 16 in which the housing 8 is arranged. The frame 16 comprises a first and a second end flange 18, 20 and a lateral wall 22 fixed to the two flanges 18, 20, the first flange 18 is traversed by the rotating shaft. The position sensor 14 is fixed on the first flange of the frame. The brake is intended to exert a resistant force opposing the movement of the interaction element with the user. This resistant effort is determined from haptic patterns predefined according to the haptic rendering that one wishes to reproduce, these patterns are recorded in a database. A pattern is defined by a braking force to be applied according to the following data: the current angular position of the button, the current direction of rotation of the button, the speed of rotation of the button. A haptic pattern is therefore a set of braking force values to be applied to the button, ie a set of values defining the pattern, each value of the haptic pattern is associated with a given angular position of the button and a direction of rotation of the button. . Each value of braking force corresponds to an apparent viscosity value which corresponds to a magnetic field value which corresponds to a current intensity supplying the system generating the magnetic field, for example a coil. It is understood that the same value of the pattern can be affected for different angular positions, or several different linear positions in the case of a linear interface. In Figure 2, we can see a graphical representation of any haptic pattern. The braking stress CF applied by the brake is represented as a function of the angular position in degree O. At each angle value corresponds a braking stress value.
    [0014] The haptic interface includes a control unit UC for generating commands to said magnetic field generation system so that it applies the values of the pattern to be reproduced. FIG. 1B shows a schematic representation of the interface 11. According to the invention, the control unit UC takes into account the value of the actuation speed of the button, in addition to the direction of movement, for generate the command to the magnetic field generation system. For this purpose, four patterns are defined: an MPL pattern defined for the direction of operation considered as positive for the knob and for a low rotational speed; an MPR pattern for the positive direction of actuation of the button and for a fast rotational speed; a MNL pattern defined for the operating direction considered as negative of the button and for a low rotational speed; a MNR pattern for the direction of actuation of the negative button and for a fast rotational speed. The low speed is a speed whose value is less than or equal to a given threshold but is not zero. The fast speed is considered as the maximum speed with which the button can be operated. The fast speed in the positive direction may be equal to or different from the fast speed in the negative direction.
    [0015] The actuation speed is advantageously approximated from the information provided by the position sensor, which makes it possible to offer a compact system. Nevertheless, any other device separate from the position sensor could be used to determine the speed of rotation.
    [0016] In FIG. 4 is represented a first algorithm ensuring the choice of the values of patterns to be taken into account. During a first step 100, the position of the button, the speed of operation (variable SPEED) and the direction of operation (variable DIRECTION) are determined from the information provided by the current position sensor. The DIRECTION variable can take the value +1 (direction of movement considered as positive), the value -1 (direction of movement considered as negative) or the value 0 when the speed is zero. If the DIRECTION variable is equal to +1, then: - one will search in the database of positive pattern with slow speed BPL the value of motive VPL (step 102), and - one will search in the database of motive BPR fast rate positive the VPR pattern value (step 104). Steps 102 and 104 may be simultaneous or sequential. Otherwise, ie if the DIRECTION variable is equal to -1 or 0, then: - we will look in the slow-motion negative pattern database BNL for the VNL pattern value (step 106), and - we will search in the BNR fast rate negative pattern database the pattern value VNR (step 108). At the end of the course of the first algorithm, there are two pattern values, VPL and VPR, VNL and VNR. FIG. 5 shows an advantageous example of a second algorithm for determining the braking stress or the intensity of the current, these being considered proportional, to be applied to the magnetic field generation system.
    [0017] During a first step 200, it is checked whether the DIRECTION variable is equal to 0, if it is the case, in this example the control unit generates a brake command to apply no constraint to the button, ie none. magnetic field is applied to the fluid. The algorithm is finished. Alternatively, it might be decided to maintain the last applied magnetic field. This step could take place before step 102. If the DIRECTION variable is different from 0, ie if it is equal to +1 or -1 then, in a next step 202, the coefficient ALPHA which is equal to : (a bs (SPEED) - V_MIN) / (V_MAX - VM IN). abs (SPEED) being the absolute value of the variable SPEED, V _MAX being the fixed value of the maximum speed of actuation, this value is fixed for example at the usual maximum speed of rotation with which a user usually actuates the button when he wants to make quick and rough moves with the interface. V _MIN being the fixed value of the minimum actuation speed, this value is fixed for example at the usual minimum rotation speed with which a user usually actuates the button when he wishes to make slow and precise movements with the interface. V _MAX is the fast speed at which the MPR and MNR patterns are set without correction.
    [0018] V _MIN is the slow speed at which the MPL and MNL patterns are set without correction. In a next step 204, advantageously limits the coefficient ALPHA between 0 and 1 to avoid aberrant calculation results, because it may happen that, exceptionally, the button is actuated at a speed greater than the maximum speed which has been fixed, ie that the calculation of the value ALPHA gives a result greater than 1 since nothing limits mechanically the speed of actuation. Similarly it may happen that, exceptionally, the button is operated at a speed lower than the minimum speed that has been set, ie the calculation of the value ALPHA provides a result less than 0 since it is possible to choose for V_MIN a non-zero value.
    [0019] During a following step 206, the variable MOTIF_COURANT is calculated from a linear interpolation on the basis of the values of patterns selected by the first algorithm. o MOTIF_COURANT = (1-ALPHA) * VPL + ALPHA * VPR if the direction of action is positive or o MOTIF_COURANT = (1-ALPHA) * VNL + ALPHA * VNR if the direction of action is negative. During a following step 208, the variable MOTIF_COURANT is applied to the brake.
    [0020] In the algorithm of figure 5, the MOTIF_COURANT is computed starting from a linear interpolation. In FIG. 3, a representation of this pattern can be seen as a function of the actuation speed in the case of actuation in the positive direction. Any other interpolation, for example quadratic interpolation, may be used. It can also be envisaged to use a threshold function, the MOTIF_COURANT taking a value for a speed less than or equal to a threshold value and taking another value for a speed greater than the threshold value. In the algorithm of FIG. 5, the braking force is increased with the actuation speed if VPR> VPL (respectively VNR> VNL for the other operating direction) is chosen. On the contrary, it can be provided that the braking force decreases while the speed of actuation increases or that the relationship between the CURRENT PATTERN and the speed is not monotonous.
    [0021] The algorithms described above apply completely to a linear haptic interface, the position sensor would then determine longitudinal positions and not angular positions. In a particularly advantageous embodiment, it is intended to implement a user action intention determination system to further improve the general haptic rendering of the interface.
    [0022] The user's action intention determination system detects the torque exerted by the user on the button in the case of a rotary interface or the force applied by the user to the button in the case of a linear interface, and this before a movement of the button perceptible by the user and by the position sensor is applied thereto. In the example shown in FIGS. 1A and 6, such a system is implemented, it comprises a test body 26 which will detect the deformation caused by the torque applied by the user with force sensors. The test body is shown alone in FIG. 7. The test body 26 is fixed by a longitudinal end 26.1 to the frame 16 and by the other longitudinal end 26.2 to the magnetorheological brake, to the case 8 in the example represent. The force sensors are in contact with the test body at its longitudinal end 26.2 secured to the housing 8. In the example shown in Figures 1 and 6, the test body 26 comprises a cylindrical body with circular section closed by a bottom 28 at the longitudinal end 26.2. An annular collar 30 extends radially outwardly at the other longitudinal end 26.1. The internal diameter of the test body corresponds to the outside diameter of the casing 8, plus one operating clearance. The bottom of the test body is disposed between the housing and the second flange 20 of the frame 16. The test body is secured to the frame by means of at least one screw 32 passing through the flange 18 and the flange 30. In FIG. In the example shown, the screws 32 also serve to bind the flange 18 to the side wall 28. The bottom 28 of the test body is fixed to the casing 8 by at least one screw 34. The test body 26 also comprises an element 36 protruding from its longitudinal end 26.2 opposite to that in contact with the housing. The element 36 is received in a cavity 38 formed in the flange 20 of the frame. In the example shown, the projecting element 36 has the shape of an angular portion centered on the longitudinal axis. The angular portion 36 is delimited by two faces 36.1, 36.2. The cavity 38 has a shape corresponding to that of the angular portion 36 and is delimited by two faces 38.1 38.2 each facing a face 36.1, 36.2 of the angular portion 36. A force sensor 40.1 is mounted on the face 38.1 of the cavity in contact with the face 36.1 of the angular portion and a force sensor 40.2 is mounted on the face 38.2 of the cavity in contact with the face 36.2 of the angular portion 36. A point type mechanical contact is provided between each force sensor 40.1, 40.2 and the test body 26. The force sensors 40.1, 40.2 are advantageously mounted prestressed. Thus, when a torque is applied to the button, it causes torsional deformation of the test body 26 via the housing 8 itself in interaction with the fluid, itself in interaction with the element. interaction 12, itself linked to the shaft 2 This deformation is detected by one or the other force sensors 40.1, 40.2 according to the direction of rotation of the button. The test body is for example plastic material, such as ABS.
    [0023] The material of the test body and its geometry can be determined according to the minimum torque and the maximum torque applied, the sensitivity of the force sensors and the desired detection threshold. In addition, the deformation of the test body is such that it is not perceptible by the user. For example, it could be considered that a deformation of the test body of a few microns is not perceptible by the user. Alternatively, one could measure the forces directly on the housing 8 or on the rotary shaft, for that a torque sensor would be implemented. However, a torque sensor has a high cost and a large size compared to the force sensors. Moreover, a torque sensor provides a precise and calibrated torque value while this information is not useful in the context of nvention. The force sensor is for example made using piezoresistive elements assembled in the form of a Wheatstone bridge, they allow a sensitivity of the order of a few tens of mV per Newton with a sufficiently high stiffness to limit moving to a few tens of microns at full load. Alternatively, the force sensor or sensors could be replaced by one or deformation sensors formed, for example, by strain gauges directly applied to the test body to detect its deformation. FIG. 8 shows another example of a test body 126 whose general shape is identical to that of the test body 26, but also comprises longitudinal slots 127 in the lateral wall of the body. Test 126. Preferably, the lights 127 are distributed angularly in a regular manner. In this embodiment, the test body has a greater ability to deform. It is for example made of aluminum alloy.
    [0024] Lights inclined relative to the longitudinal axis and / or having a shape other than rectilinear, for example a curved shape are not beyond the scope of the present invention. Moreover, the lights do not necessarily have all the same dimensions. Advantageously, means may be provided for amplifying the deformation of the test body under axial torsional stress while reducing the strain of the test body for any other stress not relevant to the scope of the invention, such as example a radial stress that would be applied to the button parasitically by the user. The sensitivity of the detection is thus improved and disturbances or false detections can be eliminated.
    [0025] The example of the test body of FIGS. 1A, 6 to 8 makes it possible to increase the sensitivity of the measuring device by arranging the sensors on the largest diameter possible. In the example shown and advantageously, the walls 36.1 and 36.2 of the projecting element are arranged at 90 ° relative to each other. This positioning, associated with a point contact at the level of the force sensors 40.1 and 40.2, makes it possible to decompose the stress of deformation of the test body and to favor the sensitivity to the forces along two orthogonal components located in the plane of the frame 16. Thus, for example, the sensitivity is greatly reduced for parasitic forces exerted perpendicularly to the plane of the frame 16. In addition, computational or algorithmic processing on the components of the orthogonal forces measured by the sensors 40.1 and 40.2, such as for example a calculation based on the difference measurement between the two sensors weighted by the common measuring component of the two sensors in the case of a preferred assembly of the sensors with a load preload, makes it possible to reduce to a certain extent the sensitivity to parasitic forces exerted parallel to the plane of the frame 16. An example of the operation of the device in which the intention of acti the user is determined will now be described. The user turns the knob about its axis in a first direction of rotation and brings it into an angular position defined as a stop. A magnetic field is applied to the magnetorheological fluid so that its change in apparent viscosity generates a torque at the fluid interaction element simulating a stop at the button in the first direction of rotation. If the user maintains his effort on the button in the first direction of rotation, the test body 26 undergoes a torsion torque via the housing, itself interacting with the fluid, itself interacting with the element interaction 12, itself linked to the shaft 2 This deformation is measured by the force sensor disposed downstream in the first direction of rotation. Knowing which of the force sensors is requested makes it possible to know the direction in which the user intends to turn the knob. Preferably, the measurements from the two assembled force sensors can be combined with a load preload to determine the direction in which the user intends to turn the knob. Detecting a minimum torque confirms that the user actually intends to rotate the button. It follows that the user intends to hold the button in abutment. The magnetic field is maintained so as to oppose a force to the movement of the interaction element 12 via the viscous magneto-rheological fluid. If the user intends to rotate the button in a second direction opposite to the first direction, it is the force sensor arranged upstream considering the first direction of rotation, which will be solicited. Preferably, the measurements from the two assembled force sensors can be combined with a load preload to determine the new direction in which the user intends to turn the knob. We deduce the intention of the user, this intention is confirmed by the detection of a minimal torque. In this case, the magnetic field is canceled, the apparent viscosity of the fluid decreases sharply, the interaction element can rotate in the second direction without feeling a bonding effect. It is thus possible to reproduce, thanks to the invention, the operation of a freewheel. FIGS. 9 and 10A to 10C show another embodiment of an interface 12 according to the invention comprising a frame 216, a brake 204, a test body 226 having the shape of a wheel and a interaction element with the user 201, the interaction element with the fluid not being visible. The wheel comprises a hub 228, an outer ring 232 and spokes 230 connecting the hub 228 to the outer ring 232. In this example, the hub 228 is secured to the interface housing, for example by screws passing axially through the hub. 228 and the outer ring 232 is secured to the frame for example by screws passing axially through the outer ring. Two force sensors 240.1, 240.2 are each supported against a spoke 230 and arranged relative to the spokes so that, when the test body 226 is biased in a direction of rotation, only one of the sensors is biased. The force sensors are fixed on the frame 216 and in abutment against a face of a spoke 230. Alternatively, the force sensors could be assembled with a load preload, or, as mentioned above , be replaced by elongation gauges disposed on the test body and detecting the deformation for example of the spokes under the effect of the torsion torque. More generally, force sensors can be replaced by deformation sensors.
    [0026] The operation of this device is similar to that of the device of Figure 1A described above. Means making it possible to apply mechanical stresses to the test body, such as means for guiding in rotation or in translation, may advantageously be added, which makes it possible to reduce the number of force sensors by assembling the latter with a preload of charge.
    [0027] The data from these force or strain sensors are processed by an electronic system to determine whether the torque exerted by the user on the interface exceeds a predetermined threshold. The torque sign is also determined and allows to know the direction in which the user intends to move the button. As indicated above, knowledge of the true value of the torsion torque is not necessary, knowledge of the direction of torsion is sufficient. It is therefore possible to implement low cost sensors making it possible to detect at least a binary threshold or a monotonic function of the force or deformation, apart from any specification of linearity, dynamic, resolution, etc. type, as far as possible. where the sensor is sensitive enough to detect a minimum torque acting on the interface without it rotating. The sensor is also such that it is able to hold a maximum effort without degradation. In FIG. 11, an exploded view of an example shown diagrammatically of a linear interface according to the invention can be seen. The device comprises a housing 308 in which is mounted an axle 302 axially movable along its axis X, the axis 302 being intended to carry an interaction element with the user (not shown) at least at least one axis. one of its longitudinal ends, means for generating a variable magnetic field 306 are arranged in the housing. The housing defines a sealed chamber which contains magneto-rheological fluid and which is traversed by the axis 302. Joints 313 ensure a tight sliding of the shaft in the chamber. The interface also comprises a position sensor (not shown) for measuring the current longitudinal position of the axis 302.
    [0028] The interface also comprises means for detecting the action intention of the user, these means then detect a translational force applied by the user on the axis before a displacement of the axis perceptible by the user. user and by the position sensor is applied to it. These means comprise a test body (not shown) whose deformation is measured by one or more force or deformation sensors, the test body being fixed on the housing and on the frame (not shown). If the user intends to move the axis in the first direction of translation, the test body undergoes a shearing force via the housing, itself interacting with the fluid, itself interacting with the fluid. interaction element, itself linked to the axis 302. We will now describe algorithms for operating the haptic interface according to the invention and taking into account the action intention of the user. In the present case, we are particularly interested in cases where the rotational speed of the button is zero or at least less than a value below which it is considered that the movement of the button is imperceptible.
    [0029] The control electronics jointly use the information of the angular position sensor and the information of the force sensors to determine the resistive torque to be generated by the brake 4. The algorithm shown in FIG. 12 is applied to determine the direction of rotation. in which the button is rotated or in which the user intends to turn it. The variable TORSION is used which is an estimate of the torsion torque. Knowledge of the precise value of the torque is not required. This estimate is obtained from the information provided by the force sensor which is requested by the test body in the embodiment of FIGS. 1A, 6 to 8.
    [0030] The estimation of the torsion torque makes it possible to know if it is greater or less than threshold values taking into account the direction in which the torsion torque is applied. In a first step 400, the speed of movement of the button is calculated. We obtain the variable SPEED. It is considered that the speed is zero when it is less than a given real value and therefore the approximation of the derivative of the information provided by the sampled angular sensor at a rate Te returns to a zero value. In a next step 402, the torsion torque estimation function applied by the user is calculated from the information provided by the force sensors, this function is the TORSION variable.
    [0031] During a next step 404, it is checked whether the variable SPEED is zero, if it is not zero, we assign to the variable DIRECTION the sign of the speed (step 406). If the SPEED variable is zero, we use the TORSION variable. In a next step 408; we check if the variable TORSION is greater than a threshold called "Threshold positive", if it is the case we assign to the variable DIRECTION the value +1 (step 410). Otherwise in a next step 412, it is checked whether the variable TORSION is less than a threshold called "negative threshold", if it is the case one assigns to the variable DIRECTION the value -1 (step 414).
    [0032] Otherwise, i.e., if the speed is zero and the torsion torque is greater than the negative threshold and is less than the positive threshold, then, in a next step 316, the DIRECTION variable is set to zero. The system considers that no torque is applied to the button, it can for example be deduced that the user has released the button. With this algorithm, it can be determined in the case where the movement speed of the button is zero the direction in which the user intends to move the button without significant displacement thereof. Indeed, it is possible through the information provided solely by the force or deformation sensor or sensors to determine in which direction the torsion torque is applied, even without significant displacement of the button, and therefore decide in which direction the user has intention to move the button, and on this basis control the system of generating a variable magnetic field accordingly. Then; a variant of the algorithm of FIG. 4 is applied. In this variant, the following four units are defined: a pattern MPL 'defined for the direction of actuation considered positive of the knob and for a zero or low rotational speed ; a pattern MPR 'for the positive direction of actuation of the button and for a fast rotational speed; a pattern MNL 'defined for the operating direction considered as negative of the button and for a zero or low rotational speed; a pattern MNR 'for the direction of actuation of the negative button and for a fast rotational speed. Nil or low speed is a speed whose value is less than or equal to a given threshold. Since the action intention of the user is determined, a zero speed in the positive direction and a zero speed in the negative direction can be defined. Indeed the user may not move the button, the variable SPEED is equal to 0 but the torque exerted in one direction or the other may be different from O. The lack of intention of action of the user is given when the variable DIRECTION = O. As before, the fast speed is considered as the maximum speed with which the button can be operated. The fast speed in the positive direction may be equal to or different from the fast speed in the negative direction. In FIG. 13 is represented the variant of the algorithm of FIG. 4 ensuring the choice of the values of patterns to be taken into account. During a first step 100 ', it is checked whether the DIRECTION variable is equal to +1, if it is the case then: - the slow pattern positive pattern database BPL' will be searched for the pattern value VPL '(step 102'), and - the fast pattern positive pattern database BPR 'is searched for the pattern value VPR' (step 104 ').
    [0033] Steps 102 'and 104 may be simultaneous or sequential. Otherwise, ie if the DIRECTION variable is equal to 0 or -1, then: - we will look in the database of negative pattern at slow speed BNL 'the value of pattern VNL' (step 106), and - we will fetch in the high speed negative pattern database BNR 'the pattern value VNR' (step 108). At the end of the course of the first algorithm, there are two pattern values VPL 'and VPR' or VNL 'and VNR'. A variant of the algorithm of FIG. 5 represented in FIG. 14 is then applied to effectively determine the value of the braking constraint to be applied, ie the magnetic field to be applied, and therefore the intensity of the current which will feed the system. of magnetic field generation. During a first step 200 ', it is checked whether the DIRECTION variable is equal to 0, if it is the case, the control unit generates an order to the brake to apply no constraint to the button, ie no magnetic field is applied to the fluid. The algorithm is finished. In this algorithm, the fact that DIRECTION = 0 means that it was determined that the user did not intend to operate the button one way or the other. It can for example be deduced that the user has dropped the button. This step could take place before step 102 '.
    [0034] If the DIRECTION variable is different from 0, i.e. if it is equal to +1 or -1 then, in a next step 202 ', the coefficient ALPHA is calculated which is equal to: a bs (SPEED) / V_MAX. abs (SPEED) being the absolute value of the current speed, PARAMETER V _MAX being the fixed value of the maximum speed of actuation. In a next step 204 ', advantageously limits the coefficient ALPHA between 0 and 1 to avoid calculation errors, because it may happen that, exceptionally, the button is actuated at a speed greater than the maximum speed which has been fixed, ie that ALPHA is greater than 1 since nothing mechanically limits the speed of actuation. During a following step 206 ', the variable MOTIF_COURANT is calculated from a linear interpolation on the basis of the values of patterns selected by the first algorithm. o CURRENT PATTERN = (1-ALPHA) * VPL '+ ALPHA * VPR' if the direction of actuation is positive or o CURRENT PATTERN = (1-ALPHA) * VNL '+ ALPHA * VNR' if the direction of actuation is negative. In a next step 208 ', the variable CURRENT MOTION is applied to the brake.
    [0035] As for the algorithm of Figure 5, the MOTIF_COURANT could be calculated with any other interpolation, for example a quadratic interpolation, can be used. It can also be considered to use a threshold function. The algorithms described above apply completely to a linear haptic interface, the position sensor then determines longitudinal positions and not angular positions. The fact of knowing the lack of intention of the user makes it possible, for example, to cut off the power supply of the system generating the magnetic field while being sure that the user does not intend to move the button. which improves the haptic rendering. On the contrary, without this knowledge the current could be cut off fortuitously while the user has already applied a torque to the button not perceived by the system. The haptic interface according to the invention is particularly suitable for application in motor vehicles, for example to form an on-board haptic interface assisting the automotive driver. It can allow the user to interact with various equipment or vehicle accessories such as GPS (Global Positioning System), radio, air conditioning ... 20
    权利要求:
    Claims (19)
    [0001]
    REVENDICATIONS1. A haptic interface comprising: - an interaction element (1) with a user able to move in a first direction and in a second direction, - an interaction element (12) with a fluid whose viscosity varies as a function of an external stimulus, the interaction element (12) with the fluid being integral at least in translation or at least in rotation with the user of the interaction element (1), a brake comprising a fluid whose apparent viscosity varies as a function of an external stimulus and a system for generating (6) said customary stimulus in said fluid, the interaction element (12) with the fluid being disposed in the fluid, - means for determining the a current position (14) of the interaction element (1) with the user, - means for determining the speed of the interaction element (1) with the user, - a control unit able to send commands to said generation system of said stimulus us, the control unit having means for generating said commands as a function of the current position of the interaction element with the user and the current operating speed of the interaction element with the user .
    [0002]
    The haptic interface of claim 1 including means for determining the user's action intent on the user interaction element.
    [0003]
    The haptic interface of claim 2, wherein the means for determining the user's action intention on the user interaction element comprises: means for detecting the torque exerted by a user on the interaction element (1) with the user, in the case of an interaction element with the rotating mobile user, in order to know the direction of the torque and if the torque is greater than a given value for a given direction, the control unit controlling the generation system (6) of said stimulus on the basis of the information obtained on the at least one pair when a zero or low speed of the interaction element (1) with the user is detected, or - means for detecting the effort exerted by a user on the interaction element (1) with the user, in the case of an element of interaction with the mobile user in translation, in order to know the meaning of force and if force is greater than a given value for a given direction, the control unit controlling the generation system (6) of said stimulus on the basis of the information obtained on the force at least when a zero or low speed of the element of interaction (1) with the user is detected.
    [0004]
    A haptic interface according to claim 3, wherein the means for detecting the torque or force applied by the user to the user interaction element comprises at least one force sensor (40.1, 40.2, 240.1). , 240.2), preferentially preloaded or at least one sensor of the deformation caused by the torque or the force to one of the elements of the haptic interface.
    [0005]
    A haptic interface according to claim 3 or 4, comprising a proof body (26, 126, 226) which is arranged to be deformed by the torque or force applied by the user to the interaction element. (1) with the user, the means for detecting the torque or force being in contact with said test body (26, 126, 226).
    [0006]
    6. haptic interface according to claim 5, wherein the test body (26, 126, 226) is of a material such that its deformation is not perceptible by the user.
    [0007]
    7. haptic interface according to one of claims 1 to 6, wherein the control unit comprises at least: - a first database containing values of a first haptic pattern when the standard of the speed of actuation is less than or equal to a first given value and is not zero and the interaction element with the user moves in the first direction, - a second database containing values of a second haptic pattern when the norm the actuation speed is at least equal to a second given value and the interaction element with the user moves in the first direction, - a third database containing values of a third haptic pattern when the standard of the actuating speed is less than or equal to a given third value and is not zero and the interaction element with the user moves in the second direction, - a fourth data base co having values of a fourth haptic pattern when the actuation speed standard is at least equal to a given fourth value and the user interaction element moves in the first direction, and wherein the means able to generate the orders use according to the direction of actuation of the element of interaction with the user, the first and / or the second database or the third and / or the fourth database to determine a value of d a new haptic pattern on the basis of which an order is generated.
    [0008]
    8. haptic interface according to claim 2 to 6, wherein the control unit comprises at least: a first database containing values of a first haptic pattern when the standard of the actuation speed is less than or equal to at a first given value and the interaction element with the user moves in the first direction, - a second database containing values of a second haptic pattern when the standard of the operating speed is at least equal to a second given value and the interaction element with the user moves in the first direction, - a third database containing values of a third haptic pattern when the standard of the operating speed is lower than or equal to a given third value and the interaction element with the user moves in the second direction, - a fourth database containing values of a fourth hapt pattern when the norm of the actuation speed is at least equal to a fourth given value and the user interaction element moves in the first direction, and in which the means capable of generating the commands use according to the direction of actuation of the interaction element with the user, the first and / or second databases or the third and / or fourth databases to determine a value of a new haptic pattern based on from which an order is generated.
    [0009]
    9. haptic interface according to one of claims 7 or 8, wherein the means generating the orders implement an interpolation, for example a linear interpolation, between a value of the first database and a value of the second base of data or between a value of the third database and a value of the fourth database.
    [0010]
    10. haptic interface according to one of claims 7 to 9, wherein the given second speed is set as the maximum actuating speed in the first actuating direction and the given fourth speed is set as the speed of maximum actuation in the second direction of actuation
    [0011]
    11. haptic interface according to one of claims 1 to 10, wherein the fluid is a magnetorheological fluid, the stimulus being a magnetic field and wherein the orders generated are current intensities.
    [0012]
    12. haptic interface according to one of claims 1 to 11, wherein the means for determining the actuation speed calculate the derivatives of the information provided by the current position determination means.
    [0013]
    13. haptic interface according to one of claims 1 to 12, wherein the interaction element (1) with the user is rotatable and is integral with a shaft (2) of longitudinal axis ( X) which is integral in rotation with the interaction element (12) with the fluid, the means for measuring the angular position being an angular position sensor.
    [0014]
    14. haptic interface according to one of claims 1 to 12, wherein the interaction element (1) with the user is movable in translation.
    [0015]
    15. A method of controlling a haptic interface according to one of claims 1 to 14, comprising the steps of: a) determination of the current position of the element of interaction with the user, b) determination of the speed of the element of interaction with the user, c) determination of the direction of actuation, d) determination, for the determined actuating direction, of a value of a haptic pattern for the determined actuating speed, e generating an order to the generating system of said stimulus.
    [0016]
    16. The control method according to claim 15, wherein during step d), the value of a haptic pattern is determined from a first value of a haptic pattern for an actuation speed less than one. first value given and non-zero and a second value of a haptic pattern for an actuation speed at least equal to a second given value.
    [0017]
    17. The control method according to claim 16, wherein step d) is a step of calculating said value of a haptic pattern for the actuation speed determined by means of a threshold function, the value of the pattern for the actuation speed determined being either the first value of a haptic pattern for an actuation speed lower than a first given value, or the second value of a haptic pattern for an actuation speed at least equal to a second given value.
    [0018]
    18. The control method according to claim 15, comprising the step prior to step d) of determining the user's action intention on the element of interaction with the user, and wherein during in step d), the value of a haptic pattern is determined from a first value of a haptic pattern for an actuation speed less than or equal to a first possibly zero given value and a second value a haptic pattern for an actuation speed at least equal to a second given value.
    [0019]
    19. Control method according to one of claims 15 to 18, wherein step d) is a step of calculating said value of a haptic pattern for the actuation speed determined by interpolation, for example by linear interpolation. .
    类似技术:
    公开号 | 公开日 | 专利标题
    EP3201725B1|2020-03-04|Haptic interface with improved haptic rendering
    EP3201732B1|2020-03-04|Haptic interface providing improved control of the haptic sensation
    EP3227761B1|2019-11-27|Haptic interface providing improved haptic feedback, especially in the reproduction of a stop
    WO2017060330A1|2017-04-13|Hybrid haptic interface with improved haptic feedback
    WO2015033034A1|2015-03-12|Control interface with haptic feedback
    EP1239274B1|2008-01-23|Analog torque measuring device, steering column and module incorporating this device
    FR3022348B1|2019-08-30|ROTATION SENSOR
    EP2274660B1|2014-11-12|Force-feedback interface with improved sensations
    EP1053457B1|2004-11-24|Torque sensor for rotating shaft
    FR2947902A1|2011-01-14|ABSOLUTE AND MULTI-PERIODIC POSITION SENSOR
    EP1533600A1|2005-05-25|Sensor system for measuring absolute values of a torsional moment and module comprising such a system
    FR2816051A1|2002-05-03|DEVICE FOR MEASURING A TORSION TORQUE AND MODULE COMPRISING SAME
    EP1825223B1|2020-01-29|Current-loop position sensor and antifriction bearing equipped with same
    EP1875184A2|2008-01-09|Device and method for measuring torsional moment
    EP3201933A1|2017-08-09|Device for haptic interface with reduced no-load torque
    FR3028329A1|2016-05-13|METHOD AND INTERFACE OF HAPTICALLY RETURN CONTROL FOR MOTOR VEHICLE
    FR3026501A1|2016-04-01|METHOD AND INTERFACE OF HAPTICALLY RETURN CONTROL FOR MOTOR VEHICLE
    FR3102841A1|2021-05-07|Multi-turn absolute torque and steering wheel angle measuring system for vehicle steering using two angular position sensors
    同族专利:
    公开号 | 公开日
    CN106796455B|2020-02-07|
    JP2017530473A|2017-10-12|
    CN106796455A|2017-05-31|
    JP6634441B2|2020-01-22|
    WO2016050718A1|2016-04-07|
    EP3201732B1|2020-03-04|
    US20180229704A1|2018-08-16|
    EP3201732A1|2017-08-09|
    FR3026551B1|2017-12-22|
    US10246069B2|2019-04-02|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US5555894A|1993-05-11|1996-09-17|Matsushita Electric Industrial Co., Ltd.|Force sensation exhibiting device, data input device and data input equipment|
    FR2930655A1|2008-04-29|2009-10-30|Commissariat Energie Atomique|EFFORT RETURN INTERFACE WITH ENHANCED SENSATION|
    US20120267221A1|2011-04-25|2012-10-25|Daesung Electric Co., Ltd|Haptic steering wheel switch apparatus and haptic steering wheel swtich system including the same|
    WO2013157205A2|2012-04-18|2013-10-24|Sony Corporation|Operation method, control apparatus, and program|
    US7982711B2|2003-12-19|2011-07-19|Immersion Corporation|Haptic profiling system and method|
    US8174512B2|2006-06-02|2012-05-08|Immersion Corporation|Hybrid haptic device utilizing mechanical and programmable haptic effects|
    US8621348B2|2007-05-25|2013-12-31|Immersion Corporation|Customizing haptic effects on an end user device|
    FR2930654B1|2008-04-29|2013-02-08|Commissariat Energie Atomique|HAPTIC INTERFACE WITH INCREASED BRAKING EFFORT|
    CN101642908A|2009-09-01|2010-02-10|东南大学|Passive force/moment feedback driver of man-machine interface device for controlling remote-control operation robot|
    FR3010547B1|2013-09-09|2016-12-23|Dav|HAPTIC RETURN CONTROL INTERFACE|
    FR3026553B1|2014-09-29|2021-03-19|Commissariat Energie Atomique|HAPTICAL INTERFACE TAKING INTO ACCOUNT THE USER'S ACTION INTENT|FR3010547B1|2013-09-09|2016-12-23|Dav|HAPTIC RETURN CONTROL INTERFACE|
    FR3010546B1|2013-09-09|2016-12-23|Dav|HAPTIC RETURN CONTROL INTERFACE|
    US10234960B1|2017-04-18|2019-03-19|Apple Inc.|Variable response key and keyboard|
    CN108836765B|2018-07-11|2021-03-26|国家康复辅具研究中心|Intelligent walking aid device and method for controlling intelligent walking aid device to provide walking aid|
    CN110822008B|2019-11-21|2021-04-30|山东大学|Driver based on magnetorheological fluid|
    DE102019219437A1|2019-12-12|2021-06-17|Zf Friedrichshafen Ag|Operating device, vehicle and method for operating a vehicle|
    CN111731253A|2020-06-08|2020-10-02|南京航空航天大学|Integrated electronic hydraulic brake system braking force control device and control method thereof|
    法律状态:
    2015-09-30| PLFP| Fee payment|Year of fee payment: 2 |
    2016-04-01| PLSC| Publication of the preliminary search report|Effective date: 20160401 |
    2016-09-28| PLFP| Fee payment|Year of fee payment: 3 |
    2017-09-29| PLFP| Fee payment|Year of fee payment: 4 |
    2018-09-28| PLFP| Fee payment|Year of fee payment: 5 |
    2019-09-30| PLFP| Fee payment|Year of fee payment: 6 |
    2020-09-30| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1459182A|FR3026551B1|2014-09-29|2014-09-29|HAPTIC INTERFACE PROVIDING CONTROL OF IMPROVED HAPTIC RESOURCE|FR1459182A| FR3026551B1|2014-09-29|2014-09-29|HAPTIC INTERFACE PROVIDING CONTROL OF IMPROVED HAPTIC RESOURCE|
    PCT/EP2015/072317| WO2016050718A1|2014-09-29|2015-09-29|Haptic interface providing improved control of the haptic sensation|
    US15/514,741| US10246069B2|2014-09-29|2015-09-29|Haptic interface providing improved control of the haptic sensation|
    EP15784581.9A| EP3201732B1|2014-09-29|2015-09-29|Haptic interface providing improved control of the haptic sensation|
    CN201580055797.8A| CN106796455B|2014-09-29|2015-09-29|Force sense interface providing improved control of force sense|
    JP2017516894A| JP6634441B2|2014-09-29|2015-09-29|Haptic interface with improved control of tactile sensation|
    [返回顶部]