• 专利附录
  • 专利说明
  • 权利要求
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    • 专利摘要:
    A haptic interface comprising: - a button (1) rotatable by a user, - an interaction element (12) with a magnetorheological fluid, integral with the button (1), - measuring means of a current position (14) button (1) - a brake comprising a magnetorheological fluid and a system (6) generating a magnetic field in said fluid, - a control unit able to generate orders to said field generation system magnetic means to modify the value of the magnetic field, and - means for detecting the torque exerted by a user on the button (1) 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 (6) of a magnetic field on the basis of the information obtained on the at least one torque when a zero or low speed of the button (1).
    公开号:FR3026553A1
    申请号:FR1459187
    申请日:2014-09-29
    公开日:2016-04-01
    发明作者:Moustapha Hafez；Jose Lozada；Laurent Eck；Gwenael Changeon
    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] HAPTIC INTERFACE HAPPENED IMPROVED. TECHNICAL FIELD AND STATE OF THE PRIOR ART The present invention relates to an haptic interface with improved haptic rendering. 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. In this configuration, where the haptic feeling is an angular function of the position of the button, the production of certain haptic patterns is tainted with undesirable effects which adversely affect perceived haptic quality. For example, in the case where the interface must reproduce a stop, it is necessary to generate a large resistive torque when the button enters the angular zone defined as haptic stop. When the system is in this configuration, it is stuck in this stable state. The user must then make an effort to turn the knob in the opposite direction, it feels a feeling of sticking and must "take off" from the stop until out of the angular zone defined as haptic stop.
    [0002] Document US2006 / 0280575 describes an example of a haptic interface with magneto-rheological fluid in which a spring is provided in the rotary shaft of the interface, which introduces a relative movement between the button and the element in contact with the magneto-rheological fluid. Thus when the user moves the button in the opposite direction while it is in abutment the relative movement due to the spring allows a displacement of the shaft which can then be detected by its angular position sensor. However, the choice of the stiffness of the spring is complex, indeed if the spring is too stiff, the user must apply a significant effort to oppose the stiffness of the spring until causing a significant displacement detectable by the position sensor angular. Conversely, if the stiffness of the spring is too low, the user will feel its stiffness instead of feeling a stop (theoretically infinite stiffness), the sensation of stop produced is not good quality. More generally, the simulation of a sensation when the haptic pattern in one direction is different from the haptic pattern in the opposite direction can generate this feeling of gluing which is detrimental to the good haptic rendering of the interface. The reproduction of a haptic pattern, for example a stop, also has the disadvantage of requiring a permanent power consumption, because of the supply of the coil to create the magnetic field changing the apparent viscosity to generate the haptic pattern desired, even if the user has released the button, since the fact that the user has released the button is not detected. SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a haptic interface offering improved haptic rendering, especially in the case where the haptic pattern varies between a first direction of movement and a second direction opposite to the first direction. direction of movement, for example in the case of the reproduction of a stop. 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 viscosity varies according to a control stimulus, the two members being integral at least in one embodiment. rotation or at least translation, means for generating a variable stimulus, a sensor for measuring the current position of the interaction element with the user, and means for detecting the user's intention of action before the motion applied to the user interaction element becomes noticeable to the user and to the position measuring sensor to determine the direction of travel that the user intends to apply to the user interaction element. the interaction element with the user. Thanks to the invention, there is an early knowledge of the direction in which the interaction element with the user will move, for controlling the magnetic field generating means accordingly. In the case where the interaction element with the user is in an abutment zone and the direction of movement desired by the user corresponds to that of the abutment, the magnetic field is maintained or reapplied. If the direction of movement desired by the user is such that the button comes out of the stop zone, the magnetic field is reduced or eliminated. It should be noted that a position sensor is not sensitive enough to detect the intention of the user. The invention makes it possible to reduce or even eliminate a spatial and temporal delay in the control of the interface by anticipating the action of displacement of the user. In the case of a magnetorheological fluid, the power consumption can be reduced since it is possible to determine whether the user maintains an action or not on the interface thanks to the invention, it is no longer necessary to apply a permanent magnetic field. The same advantage exists when an electrorheological fluid is used. The detection of the user's intention is performed by estimating the force exerted on the element interacting with the user through the deformation of an element of the interface. For example, in the case of a rotating haptic interface, a torsion torque can be detected on the rotary shaft connecting the interaction elements, on the interaction element with the fluid or, more advantageously, by means of a part additional related to both the elements reproducing the haptic patterns and the frame and whose deformation is measured. The deformation is for example detected by one or more force sensors making it possible to determine the direction of the torque applied to the haptic interface and whether or not the applied torsion torque exceeds a given threshold beyond which the user is considered to be the user. actually intends to manipulate the haptic interface. The joint processing of the information from the current position sensor and the means of determining the user's intention makes it possible to apply a haptic pattern which is dependent on the direction of the user's intention of action, when there is no displacement, or the sign of the speed of rotation, when there is a displacement. Such a management of the haptic patterns makes it possible to associate them with a privileged sense of displacement of the interaction element with the user of the button without the user feeling a significant parasitic effort during the change of direction. 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 fluid interaction element being integral at least in translation or at least in rotation with the interaction element with the user; means for measuring a current position of the element for interaction with the user, - a brake comprising a fluid whose apparent viscosity varies according to an external stimulus and a system for generating said customary stimulus in said fluid, the interaction element with the fluid being disposed in the fluid, - a control unit adapted to generate commands to said generation system of said stimulus to modify the value of the stimulus, and - means for detecting the torque exerted by a user on the interaction element 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 user. given direction, the control unit controlling the generating system 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 with the user is detected, or - means for detecting the force 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 direction, the control unit controlling the generating system of said stimulus on the basis of the information obtained on the force at least when a zero or low speed of the interaction elementwith the user is detected.
    [0003] In an exemplary embodiment, the means for detecting the torque or the force applied by the user to the interaction element with the user comprise at least one force sensor, preferably mounted in prestressing. Preferably, the means for detecting the torque or the force applied by the user to the interaction element with the user comprises two force sensors, arranged so that a force sensor detects a force when the torque or force is applied in the first direction and the other force sensor detects a force when the torque or force is applied in the second direction. In another embodiment, the means for detecting the torque or the force applied by the user to the user interaction element comprise at least one sensor of the deformation caused by the torque or the force at the one of the elements of the haptic interface. Preferably, the means for detecting the torque or the force applied by the user to the interaction element with the user comprises two sensors of the deformation caused by the torque or the force at one of the elements of the haptic interface, said deformation sensors being arranged such that a deformation sensor detects the deformation when the torque or force is applied in the first direction and the other deformation sensor detects a deformation when the torque or force is applied in the second sense. For example, 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.
    [0004] The force sensor (s) may or may be in point contact with the test body. The haptic interface may comprise a frame on which are fixed means for detecting the torque or the force, the test body being on the one hand integral with the brake and on the other hand integral with the frame so as to be deformed when a torque or force is applied to the interaction element with the user. The force sensor (s) or the deformation sensor or sensors are advantageously arranged relative to the test body so that the measurement sensitivity of the force sensors with respect to the torque or the force is maximized. 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 torque of rotation being determined. The brake may then comprise a cylindrical casing of circular section coaxial with the axis of the rotation shaft, the test body being cylindrical with a coaxial circular section and disposed around the casing in a coaxial manner and in which the sensor or sensors stress or the deformation sensor or sensors are arranged on a circle centered on the axis of rotation of the rotation shaft. In another embodiment, the interaction element with the user is mobile in translation. For example, the fluid is a magnetorheological fluid, the stimulus being a magnetic field. The subject of the present invention is also a method for controlling a haptic interface according to the invention, comprising the steps of: determining the speed of the interaction element with the user from the information provided by the means of measuring the current position on the interaction element with the user, - determining the torque or force applied to the interaction element with the user, - determining the current position of the element interaction with the user, - if the speed is greater than a given speed, the direction of rotation is that given by the speed and the system of generation of a stimulus is controlled so as to apply the haptic pattern recorded for the determined current position and for the determined direction of rotation, - if the speed is below a given speed and if the torque or force is greater than a positive threshold value or less than a given value At the negative threshold, the direction of movement of the interaction element with the user is deduced from the determined torque or force, and the system for generating a stimulus is controlled so as to apply a stimulus according to the motive. haptic recorded for this current position and for the direction of displacement deduced.
    [0005] In the case where the determined torque or force is less than a given value, no stimulus can be applied to the fluid. BRIEF DESCRIPTION OF THE DRAWINGS The present invention will be better understood on the basis of the description which follows and the appended drawings in which: FIG. 1 is a longitudinal sectional view of an example of a rotary haptic interface according to the invention; FIG. 2 is a cross-sectional view along the plane AA of the interface of FIG. 1; FIG. 3 is a perspective view of an exemplary embodiment of a test body used. in the interface of FIG. 1, FIG. 4 is a perspective view of another exemplary embodiment of a test body that can be implemented in the interface of FIG. 1; FIG. is a side view of another example of a haptic interface; FIGS. 6A to 6C are different views of the test body used in the interface of FIG. 5; FIGS. 7 and 8 show examples. of algorithms for controlling the haptic interface according to the invention, FIG. 9 is a view of exploded an example of linear haptic interface according to the invention. 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. This interface uses a magneto-rheological 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 on the applied electric field, does not depart from the scope of the present invention.
    [0006] In Figure 1, 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. 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.
    [0007] 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 bottom 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. 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.
    [0008] 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.
    [0009] 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. In the example shown, a cylindrical element 13 with a 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. 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 partly 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 is in the example represented by the current angular position. It may be for example an incremental optical encoder.
    [0010] 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.
    [0011] The interface also comprises means for detecting the action intention of the user, these means then detect the torque exerted by the user on the button before a movement of the button perceptible by the user and by the sensor position is applied to it. In the example shown, the means comprise a test body 26 which will detect the deformation caused by the torque applied by the user and force sensors. The test body is shown alone in FIG. 3. 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, ie to the case 8 in the example shown. 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, 2 and 3, the test body 26 comprises a body of cylindrical shape 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.
    [0012] 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, the latter causes a 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 of the 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. 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 can 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.
    [0013] 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. 4 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 of the test 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. 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. The example of the test body of FIGS. 1 to 4 makes it possible to increase the sensitivity of the measuring device by placing the sensors on a diameter that is as large as possible. In the example shown and advantageously, the walls 36.1 and 36.2 of the projecting element are arranged at 900 relative to one another. 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 operation of the device will now be described.
    [0014] 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.
    [0015] 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. 5 and 6A to 6C 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 an element interaction 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.
    [0016] In this example, the hub 228 is secured to the housing of the interface 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. The operation of this device is similar to that of the device of Figure 1 described above. Means making it possible to apply mechanical stresses to the test body, such as means for guiding in rotation or in translation, can advantageously be added, which makes it possible to reduce the number of force sensors by assembling the latter with a preload of charge. 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. 9, an exploded view of an example shown schematically 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 is disposed in the housing. The box delimits 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.
    [0017] The interface also comprises a position sensor (not shown) making it possible to measure the current longitudinal position of the axis 302. The interface also comprises means for detecting the action intention of the user, these means then detecting a translation force applied by the user on the axis before a displacement of the axis perceptible by the user and by the position sensor is applied thereto. 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 one hand 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. element of interaction, itself linked to the axis 302. We will now describe algorithms for operating the haptic interface so that the feeling felt by the user by manipulating the button is in agreement with the recorded patterns and offers improved haptic rendering. These algorithms are applied sequentially and periodically. A haptic pattern is defined by a braking force to be applied which is a function of the following data: the current angular position of the button, the current direction of rotation of the button or the action intention of the user to turn the knob in one direction or another, - the current rotation speed of the button. 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.
    [0018] A control electronics jointly uses 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. 7 is applied to determine the direction of rotation in which button is turned. The variables used are as follows: The variable SPEED is the speed of movement of the button. The TORSION variable is an estimate of the torsional 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 Figures 1 to 4. The estimation of the torsional torque allows to know if it is higher or lower than threshold values, taking into account the direction in which torque is applied. The DIRECTION variable is the direction of operation of the button, either it is equal to +1, it is equal to -1, or it is zero. In a first step 300, the speed of movement of the button is calculated, for example by approximation of the derivative of the information provided by the angular sensor whose information is sampled at a determined time rate Te, the variable SPEED is obtained.
    [0019] 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 302, the torsion torque estimation function applied by the user from the information provided by the force sensors is calculated, this function is the TORSION variable. During a next step 304, it is checked whether the variable SPEED is zero, if it is not zero, the DIRECTION variable is assigned the sign of the speed (step 306). If the SPEED variable is zero, we use the TORSION variable.
    [0020] In a next step 308; 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 310). Otherwise in a next step 312, it is checked whether the variable TORSION is below a threshold called "negative threshold", if it is the case we assign the variable DIRECTION the value -1 (step 314). 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 therefore control the system of generation of a variable magnetic field accordingly. In a second algorithm shown in Figure 8, the system then determines what value of the haptic pattern it applies. For each direction of actuation of the button, a haptic pattern is predetermined: a pattern M1 defined for the positive direction of actuation of the button; a pattern M2 defined for the negative direction of actuation of the button.
    [0021] A pattern is itself defined by a set of brake pattern values to be applied to the button. Each pattern value is associated with a specified angular position of the button. These patterns are recorded in a database: In a first step 400, the current position of the button is determined from the measurement provided by the current position sensor.
    [0022] Then, if the value of the DIRECTION variable is equal to +1, one will search in the database B1 of the pattern M1 the value V1 of the pattern associated with the current position of the button (step 402). Otherwise, one will search in the database B2 of the pattern M2 the value V2 of the pattern associated with the current position of the button (step 404). It should be noted that the patterns M1 and M2 could be identical. Then, the control electronics generates an order to the magnetic field generation system to apply the field corresponding to the pattern value of the pattern M1 or the pattern M2.
    [0023] Consider that the user turns the knob in a positive direction and enters the zone defined as a stop, the system applies in a known manner the pattern reproducing a stop. The user can no longer move the button in the positive direction, the system then detects in this position a zero speed.
    [0024] It applies the first algorithm that according to the torque determines the direction in which the user intends to turn the knob (DIRECTION variable). From this knowledge of the direction of actuation of the button, the system applies the second algorithm and determines the pattern to be applied and, on this basis, controls the magnetic field generation system. If the direction is positive, the stop pattern must be maintained and the application of the magnetic field sufficient to simulate the stop is maintained. If the direction is negative, it is the pattern corresponding to the negative direction that is reproduced, for example the magnetic field is reduced or canceled. Since the magnetic field is modified even before the user has perceptibly moved the button, it does not feel a sticking sensation. The invention also has the effect of eliminating this sticking sensation in the case where, in a given current position of the button, the patterns M1 and M2 are different and the user changes direction of rotation. At the time of the change of direction of rotation, the detected speed is zero and the first and second algorithms are applied in the same way. It should be noted that the algorithms are executed continuously in order to permanently determine the value of the pattern to be reproduced and to permanently adapt the apparent viscosity of the fluid in order to reach this pattern value. The invention also makes it possible to detect when the user has released the button and it is no longer necessary to apply a magnetic field to simulate a sensation, this is detected when the variable DIRECTION = 0. In this case the power supply in the coil can be cut off.
    [0025] The invention also makes it possible either to reduce the power consumption of the device by interrupting the generation of a magnetic field when it is not necessary, or to consume a very strong magnetic field for a short time to simulate a magnetic field. strong stop, in this case the coil is preferably small.
    [0026] Moreover, the invention makes it possible to detect when the user has again grasped the button by detecting the application again of a torque on the button and to detect the direction in which the user intends to move the button. button and therefore to control the magnetic field generation system so that, when the user moves the button perceptibly, he feels the haptic sensation without delay. The order of magnitude of the reaction time of the device is a few milliseconds. In the case of a slider-type linear displacement button, a translational force is determined. Otherwise the algorithm is identical to that described for a rotary knob. The information obtained by the force or strain sensors can be used by the system for other purposes. For example, they can be used to determine if a user voluntarily forces the button to attempt to cross a stop. The button could then trace an information to a supervisory system indicating this "fault".
    [0027] Thanks to the invention, there is provided a haptic interface offering a very good haptic rendering significantly reducing the feeling of sticking, or even removing it and improving the responsiveness of the interface. In addition, the haptic interface may have reduced power consumption.
    [0028] 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 different equipment or accessories of the vehicle such as GPS (Global Positioning System), radio, air conditioning ....
    权利要求:
    Claims (16)
    [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), - measuring means of a current position (14) of the interaction element (1) with the user; - a brake comprising a fluid whose apparent viscosity varies as a function of an external stimulus and a generating system (6) of said custom stimulus in said fluid, the interaction element (12) with the fluid being disposed in the fluid, - a control unit adapted to generate commands to said generation system of said stimulus to modify the value of the stimulus, and - means for detect the torque exerted by a user r 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 value given 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 interaction element 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 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 int eraction (1) with the user is detected.
    [0002]
    The haptic interface of claim 1, 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 mounted in prestressing.
    [0003]
    The haptic interface of claim 2, wherein the means for detecting the torque or force applied by the user to the user interaction element comprises two force sensors (40.1, 40.2, 240.1, 240.2). ), arranged so that a force sensor detects a force when the torque or force is applied in the first direction and the other force sensor detects a force when the torque or the force is applied in the second direction .
    [0004]
    The haptic interface of claim 1, wherein the means for detecting the torque or force applied by the user to the user interaction element includes at least one strain sensor caused by the torque or force to one of the elements of the haptic interface.
    [0005]
    The haptic interface according to claim 4, wherein the means for detecting the torque or the force applied by the user to the user interaction element comprises two sensors of the deformation caused by the torque or the force to be applied. one of the elements of the haptic interface, said deformation sensors being arranged so that a deformation sensor detects the deformation when the torque or the force is applied in the first direction and the other deformation sensor detects a deformation when the torque or force is applied in the second direction.
    [0006]
    The haptic interface according to one of claims 1 to 5, comprising a proof body (26, 126, 226) which is arranged to be deformed by the torque or force applied by the user to the element. interaction (1) with the user, the means for detecting the torque or force being in contact with said test body (26, 126, 226).
    [0007]
    7. haptic interface according to claim 6, wherein the test body (26, 126, 226) is of a material such that its deformation is not perceptible by the user.
    [0008]
    8. haptic interface and claim 6 or 7 in combination with claim 2 or 3, wherein the force sensor or sensors (40.1, 40.2., 240.1, 240.2) is or are in point contact with the test body .
    [0009]
    9. haptic interface according to one of claims 6 to 8, comprising a frame (16, 216) on which are fixed means for detecting the torque or the force, the test body (26, 126, 226) being a part integral with the brake and secondly secured to the frame (16, 216) so as to be deformed when a torque or a force is applied to the interaction element (1) with the user.
    [0010]
    10. haptic interface according to one of claims 6 to 9 in combination with one of claims 2 to 5, wherein the force sensor or the strain sensor or sensors are arranged relative to the test body (26, 126, 226) so that the measuring sensitivity of the force sensors with respect to torque or force is maximized.
    [0011]
    11. haptic interface according to one of claims 1 to 10, 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 torque being determined.
    [0012]
    12. haptic interface according to claims 10 and 11, wherein the brake comprises a cylindrical housing of circular section coaxial with the axis of the rotation shaft (2), the test body (26, 126) being cylindrical of coaxial circular section and disposed around the housing coaxially and in which the force sensor or sensors (40.1, 40.2) or the deformation sensor or sensors are arranged on a circle centered on the axis of rotation of the shaft of rotation (2).
    [0013]
    13. haptic interface according to one of claims 1 to 10, wherein the interaction element (1) with the user is movable in translation.
    [0014]
    14. haptic interface according to one of claims 1 to 13, wherein the fluid is a magneto-rheological fluid, the stimulus being a magnetic field.
    [0015]
    15. A method of controlling a haptic interface according to one of claims 1 to 14, comprising the steps of: - determining the speed of the interaction element with the user from the information provided by the measuring means the current position on the interaction element with the user, - determining the torque or force applied to the interaction element with the user, - determining the current position of the element of interaction with the user. interaction with the user, - if the speed is greater than a given speed, the direction of rotation is that given by the speed and the stimulus generation system is controlled so as to apply the haptic pattern recorded for the position current determined and for the direction of rotation determined, - if the speed is below a given speed and if the torque or force is greater than a positive threshold value or less than a negative threshold value, the The displacement of the interaction element with the user is deduced from the determined torque or force, and the stimulus generating system is controlled to apply a stimulus according to the registered haptic pattern for that current position. and for the direction of displacement deduced.
    [0016]
    The method of claim 15, wherein when the determined torque or force is less than a given value, no stimulus is applied to the fluid.
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    同族专利:
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    法律状态:
    2015-09-30| PLFP| Fee payment|Year of fee payment: 2 |
    2016-04-01| PLSC| Search report ready|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
    FR1459187A|FR3026553B1|2014-09-29|2014-09-29|HAPTICAL INTERFACE TAKING INTO ACCOUNT THE USER'S ACTION INTENT|FR1459187A| FR3026553B1|2014-09-29|2014-09-29|HAPTICAL INTERFACE TAKING INTO ACCOUNT THE USER'S ACTION INTENT|
    US15/514,568| US9898032B2|2014-09-29|2015-09-29|Fluid haptic interface with improved haptic rendering using a torque or load sensor|
    EP15771924.6A| EP3201725B1|2014-09-29|2015-09-29|Haptic interface with improved haptic rendering|
    JP2017516899A| JP6563010B2|2014-09-29|2015-09-29|Haptic interface with improved tactile rendering|
    PCT/EP2015/072316| WO2016050717A1|2014-09-29|2015-09-29|Haptic interface with improved haptic rendering|
    CN201580052575.0A| CN107077205A|2014-09-29|2015-09-29|Feel that the power reproduced feels interface with improved power|
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