• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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    • 专利摘要:
    A method of generating haptic sensations from a haptic interface comprising a rotatable button, an element of interaction with a fluid whose viscosity varies as a function of an external stimulus, the element of interaction with the fluid moving with the button, a fluid whose apparent viscosity varies according to a magnetic field and which surrounds the interaction element with the fluid and a system for generating a magnetic field on command in said fluid, said method comprising steps - evaluating the current position of the button, - determining the direction of rotation of the button; - alteration of the value of the current position when the current position is in a haptic abutment zone and the direction of rotation of the button is that associated with the haptic stop, and as long as the direction of rotation of the button is not amended.
    公开号:FR3029308A1
    申请号:FR1461796
    申请日:2014-12-02
    公开日:2016-06-03
    发明作者:Laurent Eck；Moustapha Hafez
    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 with improved haptic rendering, especially in the reproduction of a stop. SUMMARY OF THE INVENTION A haptic interface may take the form of a rotary knob manipulated by a user, an angular position sensor determines the angular position of the button. In this case the interface opposes a resistant torque to the user according to the angular position of the button and the movement applied by the user, thus defining haptic patterns that will be felt by the user when turning the button. 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 position sensor detects that the button enters an angular zone defined as a haptic stop, the interface must reproduce this stop. It is then necessary to generate a significant resistance torque when the button enters the angular zone defined as haptic stop. Or it may be that the user forces the button, ie it continues to exert a torque on the button, the angular position of the button will then change accordingly until it leaves the defined angular zone like a stop. This results in a crossing of the virtual stop. This crossing can also occur by inertia effect if the zone defined as abutment is too narrow. But if the angular position of the button is changed so as to leave the angular zone defined as abutment, the angular position sensor will measure an angular position outside the zone defined as abutment, the interface will then modify the applied resistive torque which will not necessarily be that of a stop. This therefore results in a risk that the torque corresponding to the "stop" pattern is no longer applied to the button and therefore a poor haptic rendering.
    [0002] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a haptic interface with improved haptic rendering, especially in the case of 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 in translation, the interaction member with the user being able to be moved in a first direction and in a second direction, means for generating a variable stimulus, a position sensor of the element of interaction with the user, means for detecting the direction of movement of the interaction element with the user and / or the direction in which the user intends to move the interaction element with the user a control unit which generates an internal representation of the current position of the button from the information of the position sensor and which, at least when a current position developed corresponds to a zone of stop and when the direction of movement is that associated with the abutment zone, generates an order to apply a force resistant to the fluid interaction member which corresponds to a stop. The control unit retains this current position value for the control of the means generating the stimulus as long as the direction of movement of the interaction member with the user remains the direction of movement associated with the stop zone, and develops again a current position value from the information of the position sensor for the control of the means generating the stimulus, when the direction of movement of the interaction member with the user is the opposite direction to that associated with the area stop.
    [0003] In other words, from the signal supplied by the position sensor of the button, a variable is developed which will correspond to the current position of the button considered by the control unit and an impassable stop is created by altering this value of the current position as soon as the current position value corresponds to a stop zone and the displacement of the button is in a direction corresponding to the stop. The interface then considers as a signal to control the means for generating a resisting force an altered current position value corresponding to an abutment zone and this as long as the direction of movement of the interaction member with the user is not changed, even if the position sensor detects a movement of the button. The control unit uses the signals provided by the position sensor to know the relative position of the button and not its actual position. Indeed, when the interaction member with the user arrives in an area defined as a haptic stop in a given direction, so that the haptic sensation is reliable the user feels a stop as long as it does not move in direction opposite the interaction element with the user. Thus there is no risk that the interface is deceived by a forced or unfortunate crossing of the zone defined as stop. Thus, thanks to the invention, the interaction element with the user can mechanically cross the abutment zone but the interface does not see that the element of interaction with the user has left the abutment zone since the current position of the interaction element with the user is set to a value which is in the abutment zone, the braking force which is then applied is that corresponding to a stop zone. When the button is moved in the opposite direction, the control unit considers that it has left the stop zone.
    [0004] In a particular example, the fluid used is a magnetorheological fluid and the means generating a stimulus are means generating a variable magnetic field. The present invention also relates to a method for generating haptic sensations from a haptic interface comprising: an interaction element with a user able to move in a first direction and in a second direction; interaction with a fluid whose viscosity varies as a function of an external stimulus, the element of interaction with the fluid being integral at least in translation or at least in rotation with the element of interaction with the user; a brake comprising a fluid whose apparent viscosity varies as a function of an external stimulus and a system for generating said stimulus on command in said fluid, the fluid interaction element being disposed in the fluid, - determining means a position of the interaction element with the user, - means for determining the displacement of the interaction element with the user or the intention in lacquer the user intends to move the interaction element with the user, - a control unit able to send commands to said generation system of said stimulus, said method comprising the steps of: a) measuring the position of the interaction element with the user, b) determining the direction of rotation of the interaction element with the user or the direction in which the user intends to move the element of interaction with the user interaction with the user, c) evaluation of current position information from the position measurement of the interaction element with the user, d) whether the current position is in a zone defined as haptic stop and the direction of rotation of the interaction element with the user or the direction in which the user intends to move the interaction element with the user is that associated with the haptic stop, the current position considered to control the sys Stimulus generation scheme is set to a current position value belonging to the area defined as a haptic stop as long as the direction of movement of the interaction element with the user or direction in which the user intends to move the interaction element with the user is not modified, e) if the current position is in a zone other than a zone defined as a haptic stop, the current position considered for controlling the generating system of said stimulus is evaluated from the position measurement of the interaction element with the user, f) generation of an order to the generation system of said stimulus on the basis of the current position, g) modification of the viscosity fluid.
    [0005] For example, if the current position is in an area defined as a haptic stop and the direction of rotation of the interaction element with the user or the direction in which the user intends to move the element of interaction with the user and that associated with the haptic stop, the current position value considered is evaluated from the measured position as soon as the interaction element with the user enters an area defined as a stop zone. For example, determining the direction of rotation comprises calculating the derivative of the measurement of step a). In an exemplary embodiment, the determination of the direction in which the user intends to move the interaction element with the user may include the step of detecting the torque exerted by a user on the element of interaction with the user in the case of an interaction element with the rotating mobile user. In another embodiment, the determination of the direction in which the user intends to move the interaction element with the user comprises the step of detecting the force exerted by a user on the element. interaction with the user, in the case of an interaction element with the mobile user in translation. When the fluid used is a magneto-rheological fluid, step f) involves the application of a magnetic field.
    [0006] The present invention also 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 position of the interaction element with the user, means for determining the direction of movement of the interaction element with the user and / or means for determining the direction of movement in which the user for the purpose of moving the interaction element with the user, - a control unit able to send commands to said generating system of said stimulus, the control unit comprising means for generating said commands as a function of the position of the interaction element with the user and the direction of movement of the interaction element with the user and / or the direction in which the user intends to move the interaction element with the user from predefined haptic patterns, the haptic patterns comprising at least one haptic stop defined for a given displacement zone and for a given direction of movement, the control unit being such that it evaluates a current position to from the position measurement of the interaction element and if the current position is in an area defined as a haptic stop and the direction of movement of the interaction element with the user is the one associated with the haptic stop, the control unit fixes the current position to a current position located in the area defined as haptic stop, designated current position modified, as the direction of movement of the interaction element with the user is not modified and generates commands to the stimulus generation system based on this modified current position. The means for determining the displacement of the interaction element with the user may comprise means for calculating the derivative of the measurements provided by the means for determining a position of the interaction element with the user. In an exemplary embodiment, the means for determining the intention to move the interaction element with the user comprises means for detecting the torque exerted by a user on the element of interaction with the user, in the case of an interacting element with the rotating mobile user, 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.
    [0007] The fluid is advantageously a magnetorheological fluid, the stimulus being a magnetic field and the orders generated being current intensities. In one example, the interaction element with the user is rotatable and is integral with a rotation shaft whose longitudinal axis is integral in rotation with the interaction element with the fluid, the measuring means the angular position being an angular position sensor. In another example, the interaction element with the user is mobile in translation. BRIEF DESCRIPTION OF THE DRAWINGS The present invention will be better understood on the basis of the following description and the appended drawings in which: FIG. 1 is a sectional view of an exemplary embodiment of a haptic interface device 2 is a diagrammatic representation of a rotary interface embodying the present invention; FIG. 3 is a diagrammatic representation of an exemplary embodiment of a device of FIG. linear haptic interface capable of being implemented in the present invention; FIG. 4 is a cross-sectional view along the plane AA of the interface of FIG. 1; FIG. 5 is a perspective view of a embodiment of a test body used in the interface of FIG. 1; FIG. 6 is a perspective view of another exemplary embodiment of a test body that can be implemented in the i FIG. 7 is a side view of another example of a haptic interface, FIGS. 8A to 8C are different views of the test body used in the interface of FIG. 7. 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 displacement haptic interface. linear 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 1, we can see a longitudinal sectional view of an exemplary embodiment of a device D for rotating haptic interface IH according nvention. The device D comprises an element 1 intended to be handled by a user and which will be designated hereinafter "button", this button is integral in rotation with a shaft 2 movable in rotation around the axis X, and a device for resisting force generation 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 system for generating 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. 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 bottom and top bottoms. 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. 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.
    [0008] 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 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.
    [0009] 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.
    [0010] The haptic interface, represented diagrammatically in FIG. 2, comprises the device D, a sensor 14 of the position of the element for interacting with the user, which is, in the example shown, situated outside. 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 allows the control unit to calculate the current position of the button, which is in the example shown the current angular position. The position sensor 14 may be a relative position sensor such as an incremental optical encoder or an absolute position sensor, but we will see later that knowledge of the absolute position of the button is not involved in the algorithms. In the example shown, the device 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 rotary shaft. The position sensor 14 is fixed on the first flange of the frame. The interface also includes a control unit UC for generating commands to said magnetic field generating system based on the information provided by the position sensor so that it applies the values of the pattern to be reproduced. FIG. 3 shows an exploded view of an example diagrammatically represented of a device that can be implemented in a linear interface according to the invention. The device comprises a housing 108 in which is mounted an axle 102 movable axially along its axis X, the axis 102 being intended to carry an interaction element with the user (not shown) at the level of at least l one of its longitudinal ends, means for generating a variable magnetic field 106 is disposed in the housing. The box delimits a sealed chamber which contains magneto-rheological fluid and which is traversed by the axis 102. Joints 113 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 102.
    [0011] 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, A haptic pattern is therefore a set of braking force values to be applied. at 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.
    [0012] It will be understood that the same value of the pattern can be assigned for different angular positions, or several different linear positions in the case of a linear interface. A virtual stop is defined by a haptic pattern preferably of high amplitude, i.e. for which a very high braking force is applied to the interaction element with the fluid in order to stop the movement of the button in a given direction. The virtual stop is defined by an angular zone in which the haptic pattern must be applied and by a given direction of rotation of the button. In this case, we are particularly interested in cases where the position sensor detects that the button enters a zone defined as haptic stop and where the user continues to apply a force against the stop. The UC control unit uses the angular position sensor information to determine the resistive torque that the brake must generate. The parameters used are as follows: The ZONE_DE_BUTEE_VIRTUELLE parameter defines an angular zone as an angular zone forming a haptic stop. The parameter DIRECTION_BUTEE defines that the angular zone defined as ZONE _ DE __BUTTON _VIRTUAL is actually a stop when the button is moved in a given direction which is DIRECTION_BUTEE. When the button is moved in the opposite direction, the button moves away from the stop. The variables used are as follows: The DIRECTION _BOUTON variable is the direction of rotation of the button. The CURRENT POSITION OF THE BUTTON is a position value of the button developed by the control unit from the position sensor information. The development of the value of the CURRENT POSITION OF THE BUTTON is made from variations in the position of the button, whether positive or negative. The indicator CURRENT POSITION OF the KNOB is either empty, or contains the variable POSITION_COURANTE_DU_BOUTON which is equal to a value of position located in the ZONE_DE_BUTEE_VIRTUELLE zone.
    [0013] Preferably, the parameter ZONE_DE_BUTEE_VIRTUELLE can be defined as being the set of braking values of a haptic pattern greater than a predetermined threshold and which ensure the simulation of a thrust sensation. Similarly, the parameter DIRECTION_BUTEE can be associated with the direction assigned to the set of braking values of a haptic pattern greater than a predetermined threshold and which forms the parameter ZONE_DE_BUTEE_VIRTUELLE. The control unit is intended to issue commands to the magnetic field generating means on the basis of the information provided by the button position sensor and algorithms which are implemented by electronic means of the control unit. . The algorithms are as follows. The first algorithm ALI_ applied is as follows: During a step, the variable POSITION CURRENT KNOB is assigned a value developed from the information provided by the angular position sensor.
    [0014] In another step, we assign the variable DIRECTION_BOUTON a value representing the direction in which the button is rotated. For example, this value is established from the time derivative of the information provided by the angular position sensor. In a next step, it is checked whether the value of the variable CURRENT POSITION OF THE BUTTON is in an angular zone which is defined as stop: ZONE_DE_BUTEE_VIRTUELLE. We also check if the DIRECTION BUTTON variable is equal to the DIRECTION BUTEE condition. As explained above, these two conditions must be fulfilled for the control unit to decide that the button is in an abutment zone.
    [0015] If both conditions are met, a stop must be simulated. The control unit decides that the button is in abutment. Then, in a next step, if the indicator CURRENT POSITION OF THE BUTTON is empty, is assigned to this indicator, the value of the variable POSITION_COURANTE_DU_BOUTON, i.e. MEMORY CURRENT POSITION OF THE BUTTON = CURRENT POSITION OF THE BUTTON. - - - This is the end of the first algorithm.
    [0016] If at least one of the above two conditions is not fulfilled, a stop must not be simulated. The control unit decides that the button is not in abutment. If the CURRENT POSITION MEMORY CURRENT indicator is empty, it remains empty. Otherwise, it deletes the value assigned to it.
    [0017] Then a second algorithm AL2 is applied. In a first step, it is checked whether the MEMORY CURRENT POSITION OF THE BUTTON indicator contains a value. If this is the case, then the variable POSITION_COURANTE_DU_BOUTON takes the value of the indicator MEMORY CURRENT POSITION OF THE BUTTON, i.e.
    [0018] CURRENT POSITION OF THE BUTTON = MEMORY CURRENT POSITION OF THE BUTTON. Thus the control unit will consider, to generate the order to be sent to the means generating the magnetic field, a current position value which is recorded as a stop and which must trigger the application of a high resistance on the button and therefore the generation of a magnetic field such that the apparent viscosity of the magnetorheological fluid applies to the interaction element with the fluid a sufficient resistive torque to simulate a stop. This will be explained in connection with the third algorithm. This is the end of the second algorithm. If the MEMORY CURRENT POSITION OF THE BUTTON indicator does not contain a value. This is the end of the second algorithm. This means that no stop is to be simulated. Then we apply a third AL3 algorithm that will determine the braking force to apply. In a first step, the direction of movement of the button is taken into account.
    [0019] If the DIRECTION _BOUTON variable corresponds to a strictly positive direction of movement. Then the control unit generates an order to apply the braking force as defined for the positive direction and for the position determined by CURRENT POSITION OF THE BUTTON. - Otherwise if the variable DIRECTION _BOUTON corresponds to a strictly negative direction of movement. Then the control unit generates an order to apply the braking force as defined for the negative direction and for the position determined by CURRENT POSITION OF THE BUTTON. In the case where the button is in an abutment zone and is moved in a direction defined as that of the abutment, since the value of the variable CURRENT POSITION OF THE BUTTON has been altered by the algorithm AL2 and is set artificially equal to the 'MEMORY_POSITION_DU_BOUTON indicator which is equal to a position value defined as a stop, and this even if the button is physically removed from the stop zone because of the insistence of the user or the inertia, the unit of command will generate an order to apply a force corresponding to a stop and thus generate a magnetic field causing an increase in the viscosity of the magnetorheological fluid sufficient. Otherwise, i.e. if the variable DIRECTION_BOUTON is null, that is to say that the button is not moved, the order to not apply effort is generated. If, while a stop was simulated, a change of direction of movement of the button is detected, ie one detects when the variable DIRECTION_BOUTON is different from that defined as stop, then one of the two conditions stated above is not more filled. One develops a variable POSITION_COURANTE_DU_BOUTON which does not correspond to a zone of stop. The control unit will consider, this value of CURRENT POSITION OF the KNOB to generate the order to be sent to the means generating the magnetic field, a current position value which must trigger the application of a given resistance or no resistance. The modification of the information on the angular position of the button is preferably carried out while respecting the periodic sequencing of the algorithms AL1, AL2, AL3.
    [0020] It will be understood that according to the invention, it is intended to alter the value of the variable POSITION _ CURRENT _ OF _BOUTON however the actual information provided by the position sensor including when they allow to know the direction of rotation of the button continue to be taken into account by the control unit. It will be understood that a value of the variable CURRENT POSITION OF THE BUTTON is not assigned to a given actual position of the button, but that it is elaborated on the basis of the measurement of the relative displacement of the button. For example, a real angular zone that corresponded to a stop at a given instant may no longer correspond to an abutment zone at another instant because the location of the virtual abutment zone is redetermined according to the angular position where the button has left the abutment, since it leaves the abutment zone as soon as the direction of movement is reversed and this even if it was in the middle of the abutment zone, the user for example having forced the button. It will also be understood that it is the value of the POSITION _ CURRENT _ OF _BUTTON variable which is supplied back to an external application using the rotary knob and not the actual value given by the position sensor. Thus, the user application has the impression that the rotary knob remains stuck on the stop, which is consistent with the feeling of effort due to the stopper felt by the user. In the example described in a preferred manner, the alteration of the position of the button is performed in a computer manner, by assigning a fixed value to the variable CURRENT POSITION OF THE BUTTON. But it can be expected to mechanically alter the operation of the position sensor to achieve a similar result. The determination of the direction of rotation was made by deriving the information from the position sensor, but the direction of rotation could be determined differently, for example by using information on the direction of the torque exerted by the user on the button, as will be described below in the determination of the "action intention" of the user. In the example described, the control unit takes into account the direction in which the button is actually rotated by detecting this movement. But we can take into account the action intention of the user to turn the knob. Advantageously, the information on the direction of rotation is detected early so that the haptic rendering can be improved. This determination of the action intention of the user can be made by measuring the force exerted on the button thanks to the deformation of an element of the interface, it is the measurement of a torque in the case of a rotary knob.
    [0021] Determining the user's action intention also reduces the gluing effect when the button moves away from an area defined as a stop. In the example shown in FIG. 1 and in FIGS. 4 and 5, such a system is implemented, it comprises a test body 26 whose deformation caused by the torque applied by the user with sensors will be detected. effort. The test body is shown alone in FIG. 5. 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, 4 and 5, 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. 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 interacting 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. 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.
    [0022] 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. 6 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. 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, 4 to 6 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.
    [0023] FIGS. 7 and 8A to 8C 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. 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. 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. The algorithms AL1, AL2 and AL3 use the knowledge of the direction in which the user intends to move the button in place of the DIRECTION BUTTON variable. The operation of the interface is similar to that of the interface considering the direction of rotation of the button described above. Advantageously, the interface uses the information on the direction of rotation and on the action intention of the user to generate a haptic stop.
    [0024] It will be understood that means for detecting the action intention of the user applied to a linear displacement displacement device, for example such as that shown in FIG. 3, is not outside the scope of the present invention. The invention thus allows the maintenance of a braking torque defined for the realization of a virtual stop even if the user leaves voluntarily or not the area defined as virtual stop. Preferably, the processing of the position of the button is integrated in the button, so as not to implement external software or hardware application using the rotating haptic interface (virtual reality software, games, graphic HMI, .. .), which reduces treatment times and improves the perceived haptic quality.20
    权利要求:
    Claims (12)
    [0001]
    REVENDICATIONS1. A method of generating haptic sensations from 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 according to an external stimulus, the interaction element (12) with the fluid being integral at least in translation or at least in rotation with the interaction element (1) with the - a brake comprising a fluid whose apparent viscosity varies according to 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 a position (14) of the interaction element (1) with the user, - means for determining the displacement of the interaction element with the user or intent in which the user with the intention of moving the interaction element with the user, - a control unit able to send commands to said generation system of said stimulus, said method comprising the steps of: a) measuring the position of the user; interaction element (1) with the user, b) determining the direction of rotation of the interaction element (1) with the user or the direction in which the user intends to move the interaction element (1) with the user, c) evaluating a current position information from the position measurement of the interaction element (1) with the user, d) if the current position is in an area defined as a haptic stop and the direction of rotation of the interaction element (1) with the user or the direction in which the user intends to move the interaction element (1) with the user is the one associated with the haptic stop, the current position considered for command the stimulus generation system (6) is set to a current position value belonging to the area defined as the haptic stop as long as the direction of movement of the interaction element with the user or sense in which the user intends to move the interaction element (1) with the user is not modified, e) if the current position is in a zone other than a zone defined as a haptic stop, the current position considered for controlling the generation system (6) of said stimulus is evaluated from the position measurement of the interaction element (1) with the user, f) of generating an order to the generation system (6) said stimulus on the basis of the current position, g) changing the viscosity of the fluid.
    [0002]
    A method of generating haptic sensations according to claim 1, wherein if the current position is in an area defined as a haptic stop and the direction of rotation of the interaction element (1) with the user or the direction in which the user intends to move the interaction element (1) with the user and that associated with the haptic stop, the current position value considered is evaluated from the measured position as soon as the element interaction with the user enters an area defined as a stop zone.
    [0003]
    A method of generating haptic sensations according to claim 1 or 2, wherein determining the direction of rotation comprises calculating the derivative of the measure of step a).
    [0004]
    A method of generating haptic sensations according to one of claims 1, 2 or 3, wherein determining the direction in which the user intends to move the interaction element with the user comprises the step of 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.
    [0005]
    A method of generating haptic sensations according to one of claims 1, 2 or 3, wherein determining the direction in which the user intends to move the interaction element with the user comprises the step of 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.
    [0006]
    6 A method of generating haptic sensations according to one of claims 1 to 5, wherein, when the fluid used is a magneto-rheological fluid step f) comprises the application of a magnetic field.
    [0007]
    7. 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 position (14) of the interaction element (1) with the user, means for determining the direction of movement of the interaction element with the user and / or means for determining the direction of travel in which the user intends to e move the interaction element with the user, - a control unit able to send commands to said generation system of said stimulus, the control unit comprising means for generating said commands according to the position of the element of interaction with the user and direction of movement of the user interaction element and / or direction in which the user intends to move the interaction element with the user from predefined haptic patterns, the haptic patterns comprising at least one haptic stop defined for a given displacement zone and for a given direction of movement, the control unit being such that it evaluates a current position from the measurement the position of the interaction element and if the current position is in an area defined as a haptic stop and the direction of movement of the interaction element with the user is that associated with the haptic stop, the control unit sets the current position at a current position in the area defined as haptic stop, designated current position changed, as long as the direction of movement of the interaction element with the user is not modified and generates commands to the stimulus generation system based on this modified current position.
    [0008]
    A haptic interface according to claim 7, wherein the means for determining the displacement of the user interaction element comprises means for calculating the derivative of the measurements provided by the position determining means (14). of the interaction element (1) with the user.
    [0009]
    A haptic interface according to claim 7 or 8, wherein the means for determining the intention to move the interaction element with the user comprises means for detecting the torque exerted by a user on the element of interaction (1) with the user, in the case of an interaction element with the rotating mobile user, or means for detecting the force 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.
    [0010]
    10. haptic interface according to one of claims 7 to 9, wherein the fluid is a magneto-rheological fluid, the stimulus being a magnetic field and wherein the generated orders are current intensities.
    [0011]
    11. haptic interface according to one of claims 7 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 means for measuring the angular position being an angular position sensor.
    [0012]
    12. haptic interface according to one of claims 7 to 10, wherein the interaction element (1) with the user is movable in translation.
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    同族专利:
    公开号 | 公开日
    US20170269692A1|2017-09-21|
    CN107111368A|2017-08-29|
    EP3227761B1|2019-11-27|
    EP3227761A1|2017-10-11|
    FR3029308B1|2017-12-22|
    US10386929B2|2019-08-20|
    JP2017539022A|2017-12-28|
    WO2016087383A1|2016-06-09|
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    法律状态:
    2015-12-31| PLFP| Fee payment|Year of fee payment: 2 |
    2016-06-03| PLSC| Publication of the preliminary search report|Effective date: 20160603 |
    2016-12-29| PLFP| Fee payment|Year of fee payment: 3 |
    2018-01-02| PLFP| Fee payment|Year of fee payment: 4 |
    2019-12-31| PLFP| Fee payment|Year of fee payment: 6 |
    2020-12-28| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1461796A|FR3029308B1|2014-12-02|2014-12-02|HAPTIC INTERFACE HAPPENED IMPROVED, IN PARTICULAR IN THE REPRODUCTION OF A STROKE|FR1461796A| FR3029308B1|2014-12-02|2014-12-02|HAPTIC INTERFACE HAPPENED IMPROVED, IN PARTICULAR IN THE REPRODUCTION OF A STROKE|
    EP15802090.9A| EP3227761B1|2014-12-02|2015-11-30|Haptic interface providing improved haptic feedback, especially in the reproduction of a stop|
    CN201580071261.5A| CN107111368A|2014-12-02|2015-11-30|Particularly for the haptic interface for the improved touch feedback of offer for reproducing stop|
    US15/532,433| US10386929B2|2014-12-02|2015-11-30|Haptic interface providing improved haptic feedback especially in the reproduction of a stop|
    JP2017528557A| JP2017539022A|2014-12-02|2015-11-30|Tactile interface that provides improved tactile feedback, especially in stop reproduction|
    PCT/EP2015/078088| WO2016087383A1|2014-12-02|2015-11-30|Haptic interface providing improved haptic feedback, especially in the reproduction of a stop|
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