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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 for generating (6) a magnetic field in said fluid, - a rotary electric motor having a shaft integral in rotation of the button, - a control unit generating commands to said magnetic field generating system and the engine, and - means for detecting the user's intention of action on the button, the control unit controlling the generation (6) of the a magnetic field and / or the motor on the basis of the information obtained on the detection means.
    公开号:FR3042046A1
    申请号:FR1559502
    申请日:2015-10-06
    公开日:2017-04-07
    发明作者:Laurent Eck；Moustapha Hafez；Romain Lejas
    申请人:Commissariat a lEnergie Atomique CEA；Commissariat a lEnergie Atomique et aux Energies Alternatives CEA；
    IPC主号:
    专利说明:

    HYBRID HAPTIC INTERFACE HAPPENED WITH IMPROVED HAPPINESS
    DESCRIPTION
    TECHNICAL FIELD AND STATE OF THE PRIOR ART
    The present invention relates to a hybrid 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 various 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.
    Such an interface is called passive because it only opposes a user-generated effort. It can not provide more energy than that provided by the user.
    Moreover, despite the richness of the haptic patterns that can be generated by an interface using only a magneto-rheological fluid material, it can not generate perfectly specific haptic patterns such as a spring effect. When the user forces on the "spring", the passive interface opposes the displacement correctly. On the other hand, when the user releases the "spring", he can not feel the return force of the spring and the interface does not come back to the rest position of the "spring".
    There are also so-called active haptic interfaces implementing an electric motor capable of providing an effort.
    However, a large motor is required to provide a resistive force equivalent to that of a magneto-rheological fluid interface, such as when the interface must reproduce the haptic feel of a stop or a virtual wall.
    The size of the motor can be reduced, but a reduction stage is necessary to obtain an equivalent braking force. Such a reduction stage is detrimental to the haptic perception felt, because of the inertia and parasitic forces generated and it degrades the "transparency" of the interface
    In addition, the implementation of an electric motor poses difficulties in translating rapid or fine variations of the effort. Vibrations or instability of the control appear.
    Finally, this type of interface can be potentially dangerous for a user if the efforts generated by the engine are important.
    The document EP 1698 538 describes a hybrid haptic interface comprising an output element that can be directly manipulated by the user, for example an electric motor, a double magnetorheological fluid clutch between the electric motor and the output element. a magneto-rheological fluid brake. The engine runs at a constant speed. Gears make it possible to generate two opposite directions of movement. Each magneto-rheological clutch and the magnetorheological brake have their own sealing system, each introducing parasitic friction which impairs the transparency of the interface. In addition, the clutches generate friction. In addition, the motor and gears rotate permanently, generating a continuous operating noise. The size of the interface is also important.
    SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a hybrid haptic interface offering improved haptic rendering, in particular a haptic interface capable of reproducing a greater diversity of haptic patterns with a feeling of high quality and reasonable size.
    The previously stated goal is achieved by a rotary hybrid 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 with the less in rotation or at least in translation, means for generating a variable stimulus by modifying the viscosity of the fluid, a rotary electromechanical actuator coupled directly with the interaction member with the user, so that the electromechanical actuator can apply a rotational force to the interaction element with the user. The interface also includes means for detecting the action intention of the user before the motion applied to the interaction element with the user becomes perceptible to the user and to the position measuring sensor , to determine the direction of movement that the user intends to apply to the user interaction element. The electromechanical actuator, for example an electric motor, is active when the haptic pattern to be reproduced requires it; when not active, very few spurious effects are transmitted to the user. The inertia of the interface is therefore little increased compared to that of a haptic interface with rheological fluid alone.
    In addition, since the electromechanical actuator is directly coupled to the interaction element with the user, the interface has a certain compactness. The electromechanical actuator can advantageously be sized to generate low torque movements, which allows a saving of space. Indeed, the dissipation of large forces obtained thanks to the magnetorheological brake and the generation of low forces obtained by a small motor are sufficient to produce a haptic sensation of good quality. There is no need to restore a significant effort to the user by a haptic interface when it must simulate an element that has stored energy.
    Advantageously, the coupling of a passive brake and an electromechanical actuator makes it possible to reproduce new patterns, such as the "spring" pattern. For example, the brake is opposed to movement when the user forces on the spring and the electromechanical actuator simulates the return action of a spring when the force is released.
    In addition, the variable viscosity fluid brake has seals which enclose the variable viscosity fluid in a chamber and exert a pressure on the movable members which induces a residual cut, also referred to as a vacuum torque. The electromechanical actuator can be advantageously controlled to compensate for this torque.
    Very advantageously, the motor can be used to reposition the interaction element with the user in an absolute position after, for example, a power failure of the device.
    In addition, the undesirable vibrations mentioned above due to the implementation of an electric motor control to control a very large torque dynamic do not appear in the interface according to the invention, since only the fluid brake Magnetorheological is used to control a very large torque dynamics.
    The present invention therefore relates to a haptic interface comprising: an interaction element with a user able to move in a first direction and in a second direction; an interaction element with a fluid whose viscosity varies according to an external stimulus, the interaction element with the fluid being integral at least in translation or at least in rotation with the user interaction element; means for measuring a current angular position of the element for interaction with the user, means for determining the direction of rotation of the interaction element with the user, and a brake comprising a fluid whose apparent viscosity varies according to an external stimulus. and a system for generating said custom-made stimulus in said fluid, the fluid interaction element being disposed in the fluid, - rotating electromechanical means including a rotatable integral shaft one of the interaction element with the user, - a control unit able to generate commands to said generating system of said stimulus to modify the value of the stimulus, and the electromechanical means, - 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 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.
    In an advantageous example, the electromechanical means comprise an electric motor.
    Preferably, the means for determining the direction of rotation of the interaction element with the user are formed by the means for detecting the torque exerted by a user on the interaction element with the user or using variations temporal means for measuring a current angular position of the interaction element with the user,
    The means for detecting the torque applied by the user to the interaction element with the user may comprise two sensors for the deformation caused by the torque at one of the elements of the haptic interface, said deformation sensors being arranged so that a deformation sensor detects the deformation when the torque is applied in the first direction and the other deformation sensor detects a deformation when the torque is applied in the second direction.
    In another exemplary embodiment, the means for detecting the torque applied by the user to the interaction element with the user comprise at least one sensor of the deformation caused by the torque ce to one of the elements of the haptic interface. Preferably, the means for detecting the torque applied by the user to the interaction element with the user comprise two sensors for the deformation caused by the torque at one of the elements of the haptic interface, said sensors deformation being arranged so that a deformation sensor detects the deformation when the torque is applied in the first direction and the other deformation sensor detects a deformation when the torque is applied in the second direction.
    Preferably, the test body is made of a material such that its deformation is not perceptible by the user.
    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 an exemplary embodiment, the control unit is configured to generate orders to the electromechanical means to bring the interaction element with the user in at least a given position. The control unit can be configured to generate commands to the electromechanical means and the system for generating said stimulus so that they act simultaneously on the interaction element with the user.
    According to an additional characteristic, the control unit is configured to generate commands to the electromechanical means so that they apply a torque to the interaction element with the user compensating for friction applying to the interaction element with the user.
    According to another additional characteristic, the control unit is configured to generate commands to the electromechanical means and to the system for generating said stimulus so that, starting from at least one given angular position of the interaction element with the user, the generating system of said stimulus acts and / or the electromechanical means act on the interaction element with the user, when the interaction element with the user rotates in a first direction and in a second direction opposed to the first direction, to oppose the rotation of the interaction element with the user, and so that the electromechanical means assist the rotation of the interaction element with the user at least when the it is rotated in the first direction or the second direction towards the given angular position. The control unit can then be configured so that when the interaction element with the user is at the given angular position, it generates commands to the electromechanical means and / or the system for generating said stimulus to apply. a non-zero effort on the element of interaction with the user. In a variant, the control unit is configured so that, when the user interaction element is in an angular zone on either side of the given angular position, it generates commands to the electromechanical means and or the system for generating said stimulus to apply no effort on the interaction element with the user. For example, the control unit is configured so that, when the interaction element with the user is at the ends of the angular zone, it generates commands to the electromechanical means and / or the system for generating said stimulus to apply an effort on the element of interaction with the user.
    The means for detecting the torque or the force applied by the user to the interaction element with the user comprise, for example, at least one force sensor, preferably mounted in prestressing.
    In a variant, the means for detecting the torque may comprise at least one sensor for the deformation caused by the torque or the force at one of the elements of the haptic interface.
    In an advantageous example, the haptic interface comprises a test body which is arranged so as to be deformed by the torque applied by the user to the interaction element with the user, the means for detecting the torque or the force being in contact with said test body.
    In a preferred example, the fluid is a magnetorheological fluid and the stimulus is a magnetic field.
    The present invention also relates to a method of controlling a haptic interface according to the invention, comprising the steps - Measuring the current position of the interaction element with the user, - recording said current position in a non-volatile memory, - Measurement of the current position of the interaction element with the user, for example following an interruption of a power supply of the control unit, - comparison of the measured current position and the position recorded current, - Controls the electromechanical means so that the current measured position corresponds to the current position recorded.
    The subject of the present invention is also a method for controlling a haptic interface according to the invention, with a view to reproducing a haptic spring-type pattern, comprising the steps: measuring the current position of the interaction element with the user - Determination of the direction of rotation of the interaction element with the user - Control of the electromechanical means for applying a force in the direction of movement the element of interaction with the user, or - Control of the means electromechanical and / or generating system of said stimulus to apply a force opposing the displacement of the interaction element with the user.
    The present invention also relates to a method for controlling a haptic interface according to the invention, comprising the steps: - Control of the electromechanical means for applying a force in the direction of movement of the interaction element with the user in such a way that the electromechanical means apply a torque compensating for a vacuum torque acting on the interaction element with the user
    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 applied to the interaction element with the user, - determining the current position of the interaction element 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 registered haptic pattern for the determined current position and for the direction of rotation determined, - if the speed is less than a given speed and if the torque or force is greater than a positive threshold value or less than a negative threshold value iive, 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 registered haptic pattern for this current position and for the direction of displacement deduced.
    For example, when the determined torque is less than a given value, no stimulus is applied to the fluid.
    BRIEF DESCRIPTION OF THE DRAWINGS
    The present invention will be better understood on the basis of the following description and the attached drawings in which: FIG. 1 is a longitudinal sectional view diagrammatically represented of an example of a 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 FIG. FIG. 4 is a perspective view of another exemplary embodiment of a test body that can be used in the interface of FIG. 1; FIG. Aside from another example of a haptic interface, FIGS. 6A to 6C are different views of the test body implemented in the interface of FIG. 5, FIGS. 7 to 11 are graphical representations of instructions. depending on the angular position in degrees to produce different patterns haptics, - Figure 12 is a front view of a ratchet wheel and its ratchet, the movement of the pawl being reproducible by the haptic interface of the invention.
    DETAILED PRESENTATION OF PARTICULAR EMBODIMENTS
    The following description describes the example of a rotating haptic interface using 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 on the 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 rotary haptic interface according to the invention. The haptic interface comprises an element 1 intended to be manipulated by a user and which will be designated hereinafter "button", this button is integral in rotation with a rotating shaft 2 around the X axis, a device for resisting force generation 4 or magneto-rheological brake opposing the rotation of the shaft 2 and a second force generating device M formed by an electromechanical actuator, for example a motor and subsequently designated "motor" . The shaft 2 will be designated "actuating shaft 2" in the following description. The electromechanical actuator may for example be of the DC electric machine type, or else a synchronous electric machine, of the "brushless" type, for example, which makes it possible to dispense with brushes and to reduce the inertia of the rotor.
    The motor M comprises a motor shaft Ml which is aligned with the longitudinal axis. The shaft Ml has a free end disposed facing a free end of the actuating shaft 2. The drive shaft Ml and the actuating shaft 2 are mechanically coupled so as to be integral with one of the other at least in rotation. A coupling piece 42 of the shafts Ml and 2 is mounted around the free ends of shafts. The coupling piece may for example be a ring mounted on the end of the motor shaft Ml and on the end of the actuating shaft 2, each end being provided with a flat cooperating with the ring. Alternatively, the shafts can be splined and the ring can have a complementary inner surface.
    Alternatively, a single shaft can form the shaft 2 and the shaft M1.
    In another variant, the motor may have a shaft opening at each end, one end of the motor shaft being secured to the open end of the shaft 2. The button 1 is integral with the end of the motor shaft not secured to the shaft 2 of the brake. This variant has the advantage of being able to implement a brake with an axis passing through only one wall of the brake chamber, which makes it possible to reduce the number of brake joints ensuring the tightness of the chamber, and therefore to reduce parasitic friction.
    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 is subjected to a magnetic field generated by the system 6. The housing 8 has a side wall 8.1, a bottom bottom 8.2 and a bottom end 8.3. The shaft 2 passes through the upper bottom 8.3, the chamber 9 and the bottom bottom 8.2. The end 2.1 of the shaft 2, opposite to that carrying the button 1, passes through the bottom bottom 8.2 of the housing 8 and is guided in rotation by means of a bearing 11. Seals 13, for example O-rings, ensure the seal between the shaft and the chamber. In the example shown, the bearing is disposed outside the sealed zone delimited by the seals 13.
    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 9. This element is able to interact with the magnetorheological fluid, the rotation of the element 12 being more or less braked by the magnetorheological fluid as a function of its apparent viscosity.
    In the example shown, the element 12 comprises two concentric lateral walls 12.1, 12.2 of circular cross section integral with a bottom 12.3, itself secured in rotation with the shaft.
    Alternatively, the element 12 may have only one side wall or more than two concentric side walls. In another variant, the element 12 could be formed by a disk. Moreover, the interaction element could comprise lights and / or protruding or hollow portions in order to increase the resistance to displacement.
    In the example shown, the bottom bottom 8.2 of the housing 8 has a shape such that the internal volume of the sealed chamber 9 has a shape corresponding to that of the interaction element 12, which makes it possible to reduce the amount of fluid needed. In the example shown, a cylindrical element 15 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 of 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. 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. The interface also comprises means for detecting the direction of rotation of the interaction element with the user, these means are for example formed by the processing of the position information provided by the angular position sensor, which makes it possible to determine the direction of actuation by performing for example a difference calculation between an angular position measured at a time T and a position measured at time T + deltaT. In the case where the position sensor is an encoder providing quadrature digital signals, for example an incremental optical encoder, the direction of operation can be determined directly by analyzing the relative phase of the quadrature signals. The direction of actuation of the button is used for the control of the magneto-rheological brake as well as for the control of the motor. As will be seen later the interface also includes a torque sensor exerted on the interaction element with the user, the torque measurements can be used to determine the direction of rotation. 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 rotary shaft and the second flange is crossed by the motor shaft. The position sensor 14 is fixed on the first flange of the frame. The interface also comprises means for detecting the action intention of the user, these means detecting the torque exerted by the user on the button before a movement of the button perceptible by the user and the sensor of the user. position is applied to it.
    In the example shown, the means for detecting the action intention of the user comprise a test body 26, the deformation caused by the torque applied by the user, and the sensors of the user. effort. 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 cylindrical body of 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 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 housing 8 by at least one screw 34.
    The test body 26 also comprises an element 36 projecting 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. As can be seen in FIG. 2, 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 a 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 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 the invention.
    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.
    The motor M being mechanically connected to the second flange 16 of the frame, it does not disturb the measurement of the torque on the actuating shaft.
    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 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. The haptic interface also includes a control unit UC to the the current position sensor, the means for determining the direction of rotation of the button, the torque sensor, the means for generating the magnetic field and the electric motor are connected. The control unit processes the signals transmitted by the sensors and generates commands to the magnetic field generation means and to the electric motor.
    An example of operation of the device will now be described. The user turns the knob about its axis in a first direction of rotation and brings it into an angular position defined as a stop. A magnetic field is applied to the magnetorheological fluid so that its change in apparent viscosity generates a torque at the fluid interaction element simulating a stop at the button in the first direction of rotation.
    If the user maintains his effort on the button in the first direction of rotation, the test body 26 undergoes a torsion torque via the housing, itself interacting with the fluid, itself interacting with the element interaction 12, itself linked to the shaft 2.
    This deformation is measured by the force sensor disposed downstream in the first direction of rotation. Knowing which of the force sensors is requested makes it possible to know the direction in which the user intends to turn the knob. Preferably, the measurements from the two assembled force sensors can be combined with a load preload to determine the direction in which the user intends to turn the knob. Detecting a minimum torque confirms that the user actually intends to rotate the button. It follows that the user intends to hold the button in abutment. The magnetic field is maintained so as to oppose a force to the movement of the interaction element 12 via the viscous magneto-rheological fluid.
    If the user intends to rotate the button in a second direction opposite to the first direction, it is the force sensor arranged upstream considering the first direction of rotation, which will be solicited. Preferably, the measurements from the two assembled force sensors can be combined with a load preload to determine the new direction in which the user intends to turn the knob. We deduce the intention of the user, this intention is confirmed by the detection of a minimal torque. In this case, the magnetic field is canceled, the apparent viscosity of the fluid decreases sharply, the interaction element can rotate in the second direction without feeling a bonding effect. It is thus possible to reproduce, thanks to the invention, the operation of a freewheel.
    FIGS. 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.
    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.
    The motor M is intended to directly move the shaft 2 and therefore the low torque button, without this representing a danger for the user. Indeed, the motor is not intended to apply very high torque. Thus the motor can have a small size which facilitates the integration of the motor in the interface and to achieve a reduced interface. In addition, since the motor is not intended to operate permanently, the power consumption of the interface is reduced compared to a haptic interface using only an electric motor.
    Moreover, the haptic interface according to the invention makes it possible to generate a large number of haptic patterns. By way of illustration, some of them will be described below, but this is not an exhaustive description of the haptic patterns achievable by the interface according to the invention.
    As described above, the interface includes seals 13 for sealing the chamber containing the magnetorheological fluid. These seals exert a friction on the shaft 2, generating a vacuum torque detrimental to the haptic feeling.
    The motor can be advantageously controlled to compensate for this empty torque. For example, it is controlled to assist the rotational movement of the button. The motor M can be activated to compensate for the no-load torque when no magnetic field is applied to the magnetorheological fluid. For example, when designing the interface, the no-load torque is measured or estimated, and the control unit is programmed to control the motor so that it compensates for this no-load torque.
    In a very advantageous manner, the haptic feeling can be substantially improved by controlling the motor from the knowledge of the user's intention. Indeed, as soon as this intention is detected, the motor is activated to compensate for the no-load torque, so the user can never feel this empty torque inherent in the friction of the joints. Knowledge of the action intention of the user is also beneficial in the case of operating modes implementing both the magnetorheological brake and the motor, the control of these elements being more reactive, transitions are less noticeable by the user.
    The motor can also be actuated to generate a vibration, which is transmitted to the actuating shaft since the two shafts are connected in rotation, this vibration giving for example a haptic indication of alert type.
    In addition, it is possible to reproduce the spring effect, for example the feeling felt when handling a spring, for example a spiral spring, on a rotating axis. It may be desired to reproduce this effect, for example to return the button to a stable position The interface is controlled to exert, according to the direction of rotation and the angular position, a force against the rotation of the button or a force of reminder on the button.
    A spring is characterized by a stiffness k. The control unit generates commands to the means for generating the magnetic field and to the motor in order to apply to the button the setpoint shown in FIG. 7, the setpoint is a linear function whose zero value corresponds to a stable position of the spring whose we want to simulate the action on the button, ie its rest position. FIG. 7 represents the variation of the setpoint C as a function of the angle of rotation Θ, which is here in degree. The angle of 180 ° corresponds to the stable position or rest state of the spring to simulate
    The generated commands depend on the angular position of the knob and the direction of rotation. Indeed, the more one deviates from the stable position E, the greater the force opposing the displacement of the actuating shaft is important. When the direction of rotation brings the button closer to the stable position, a return force is felt by the user. The sign of the effort to be applied to the interaction element with the user depends on the direction of rotation.
    The haptic pattern of a spring can be obtained through different commands.
    According to a first mode of operation, the motor is capable of delivering a sufficient torque to simulate the spring effect, only the motor is then controlled. The haptic pattern is programmed so that the 180 ° angle is considered as the stable E position or rest state of the spring. When the button is turned away from the position E, the motor is controlled to generate a torque resistant to this rotation. The intensity of this torque depends on the difference between the "rest" position and the current position of the button. The greater this difference, the greater the torque generated by the motor, will be important, thus simulating the elastic return. If the user releases the button, the torque exerted by the motor will tend to bring the button to its rest position E. The closer it gets to E and the less torque exerted by the engine is important. Finally, the button returns to the initial position E, the motor control becomes zero and the residual friction of the system immobilize the interface.
    According to another mode of operation, the magnetorheological brake is controlled to generate the resistant torque when the button is rotated from its equilibrium position. The motor is controlled to return the button to its equilibrium position, when the force on the button is released, or when it is lower than the restoring force of the spring.
    It will be understood that the angle values are only given by way of example and are in no way limiting.
    In Figure 8, we can see a haptic pattern intended to reproduce the behavior of a three-position indexer type button considering a mode of operation using the engine alone.
    This button works as follows. When the user exerts sufficient torque on the button, it passes a notch and takes the next equilibrium position.
    The equilibrium positions are designated E1, E2, E3.
    When the button deviates for example from the equilibrium position E2, ie it is rotated clockwise or counterclockwise from the angle of 120 ° without however pivoting to reach the angle 180 ° or 60 ° respectively,, it returns to its second equilibrium position E2 under the action of the motor M. For example when the button reaches the position of 180, a notch is simulated and the button moves to the third equilibrium position E3 thanks to the action of the motor which is now controlled with a torque dependent on the reference relative to the position E3, and which drives the button to the equilibrium position E3. This transition from the 180 ° position to the 240 ° position is shown schematically by the arrow F.
    Instabilities may occur around the stable position (s). For example, depending on the engine implemented jerky movements or lack of displacement can occur when a small effort is controlled that would be of the order of magnitude of the internal friction of the interface. By providing a jump effort or offset OFS (shown in Figure 9) sufficient at the equilibrium position, the motor is controlled to generate a force greater than the internal friction of the interface.
    In FIG. 10, one can see the control of another haptic pattern in which is provided in addition to the OFS offset an angular range ANG around the equilibrium position E in which no force is generated by the motor. and the brake. The stability of the interface around the equilibrium position is further improved with respect to that controlled with the instruction of FIG. 9.
    In Figure 11, we can see the set of a haptic pattern that applies to the motor and the brake. As explained above, the motor is preferably adapted to the application of low torques while the brake can apply large torques. The motor can then be advantageously provided so that it applies alone, over a first angular range PI, the resisting force over the range [180 °; 280 °] in the example shown, then on a second angular range P2, the brake is also activated to apply an additional resisting force added to that generated by the motor. The force applied by the engine is designated Fm and the force applied by the brake is designated Ff and the total effort is designated Ft.
    The implementation of the motor and the brake makes it possible to minimize the sudden transitions and to increase the fluidity of the haptic interaction. The haptic interaction is then improved and the transparency of the interaction is increased.
    It will be understood that this type of setpoint can not be applied perfectly symmetrically in the simulation of a spring, because the brake can not simulate a return force on the second range P2. Despite the asymmetry of the profile obtained, since it is the effort Ft that is generated if the user moves the button against the spring, and it is the effort Fm that is generated if the user releases his action , the haptic feeling remains sufficient to be likened to a spring of high stiffness. The haptic interface according to the invention can also make it possible to reproduce the displacement of a pawl CL along a ratchet wheel RR shown in FIG. 12. The end of the pawl CL moves on the outer contour of the wheel. RR ratchet which comprises an alternation of ZP planar zones and concave zones ZC, a concave zone connecting to a planar zone by a radial plane PR extending along a radius of the wheel. A flat zone ZP connects to a concave zone ZC by an acute angle. When the pawl moves on the contour of the ratchet wheel clockwise or the wheel moves relative to the ratchet CL counterclockwise, it slides for example on a concave zone ZC, for this the brake is controlled to create viscous friction. To reproduce the movement of the pawl on a plane area ZP, the motor and / or the brake are controlled in order to simulate a spring effect. If the ratchet CL moves counterclockwise or the wheel is moving clockwise, a virtual stop is to be simulated when the ratchet comes into contact with the radial plane. For this, the brake and / or the motor are controlled to generate a sufficient effort to simulate a stop.
    In a very advantageous manner, the haptic interface according to the invention can be used to simulate a system requiring an absolute representation of the position. Indeed, the motor can be controlled to return the button to a desired position. For example, in the case of a rotary haptic interface simulating a rotary contactor having different notches and having a button having a marker or a visual marker. If the power supply of the interface is interrupted and the user maneuvers the interface, during the resumption of the power supply the motor will be able to reposition the button in its position before the cutting of the power supply. If there is no motor, the interface can not reposition itself. It would then follow a shift between the mark or visual marker of the button perceived by the user and the position of the interface expected by the haptic model.
    The control of the system could be carried out as follows. The current position of the button is stored regularly in the control electronics. This can be achieved by storing this information in a non-volatile memory. In case of power failure, the system thus has a memorization of the last position of the button. When the supply returns, the control electronics initializes and then compares the current position of the button with the last position stored in the non-volatile memory. The electric motor is then controlled for example at a constant speed, until the position of the button is equal to the memorized position. The engine is then stopped and the interface becomes operational. Alternatively, one can generate a "spring effect" type control whose stable position corresponds to the last position stored in the non-volatile memory. The button then resumes its last position as if it had been actuated by a return spring.
    It will be understood that the examples of haptic patterns described are non-limiting examples.
    权利要求:
    Claims (19)
    [1" id="c-fr-0001]
    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 secured at least in translation or at least in rotation of the interaction element (1) with the user, - measuring means for measuring a current angular position (14) of the interaction element (1) with the user, - means for determining the direction of rotation of the interaction element with the user, - a brake comprising a fluid whose apparent viscosity varies according to an external stimulus and a system of generation (6) of said stimulus on command in said fluid, the interaction element (12) with the fluid being arranged in the fluid, - electromechanical means rotary devices having a shaft integral with rotation of the element of interaction with the user, - a control unit (UC) able to generate commands to said generation system of said stimulus to modify the value of the stimulus, and to the electromechanical means, - means for detecting the torque exerted by a user on the interaction element (1) with the user, in the case of an interaction element with the rotating mobile user, in order to know the direction of the torque and if the torque is greater than one value given for a given direction, the control unit controlling the generating 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.
    [2" id="c-fr-0002]
    2. haptic interface according to claim 1, wherein the electromechanical means (M) comprise an electric motor.
    [3" id="c-fr-0003]
    A haptic interface according to claim 1 or 2, wherein the means for determining the direction of rotation of the user interaction element is formed by the means for detecting the torque exerted by a user on the user element. interaction with the user or use temporal variations of the means for measuring a current angular position (14) of the interaction element (1) with the user,
    [4" id="c-fr-0004]
    4. haptic interface according to one of claims 1 to 3, wherein the control unit (UC) is configured to generate orders electromechanical means (M) to bring the interaction element with the user (1). ) in at least one given position.
    [5" id="c-fr-0005]
    5. haptic interface according to one of claims 1 to 4, wherein the control unit (UC) is configured to generate orders electromechanical means (M) and the system for generating said stimulus so that they act simultaneously on the interaction element with the user (1).
    [6" id="c-fr-0006]
    6. haptic interface according to one of claims 1 to 5, wherein the control unit (UC) is configured to generate orders electromechanical means (M) so that they apply a torque to the interaction element with the user (1) compensating for friction applying to the interaction element with the user (1).
    [7" id="c-fr-0007]
    7. haptic interface according to one of claims 1 to 6, wherein the control unit (UC) is configured to generate orders electromechanical means (M) and the system for generating said stimulus so that, from at least one given angular position of the interaction element with the user (1), the generating system of said stimulus and / or the electromechanical means (M) act on the interaction element with the user (1), when the interaction element with the user (1) rotates in a first direction and in a second direction opposite to the first direction, to oppose the rotation of the interaction element with the user (1), and that the electromechanical means (M) assist the rotation of the interaction element with the user (1) at least when the latter is pivoted in the first direction or the second direction towards the angular position given.
    [8" id="c-fr-0008]
    The haptic interface of claim 7, wherein the control unit (UC) is configured so that when the user interaction element (1) is at the given angular position, it generates commands the electromechanical means (M) and / or the system for generating said stimulus to apply a non-zero force on the interaction element with the user (1).
    [9" id="c-fr-0009]
    The haptic interface of claim 7, wherein the control unit (UC) is configured so that when the user interaction element (1) is in an angular region on either side from the given angular position, it generates orders to the electromechanical means (M) and / or the system for generating said stimulus to apply no effort on the interaction element with the user (1).
    [10" id="c-fr-0010]
    The haptic interface of claim 9, wherein the control unit (UC) is configured so that when the user interaction element (1) is at the ends of the angular zone, it generates electromechanical means (M) commands and / or the generation system of said stimulus to apply a force on the interaction element with the user (1).
    [11" id="c-fr-0011]
    11. haptic interface according to one of claims 1 to 10, wherein the means for detecting the torque or the force applied by the user on the interaction element with the user (1) comprise at least one sensor d force (40.1, 40.2, 240.1, 240.2), preferably mounted prestressing.
    [12" id="c-fr-0012]
    12. haptic interface according to one of claims 1 to 11, wherein the means for detecting the torque comprise at least one sensor of the deformation caused by the torque or the force to one of the elements of the haptic interface.
    [13" id="c-fr-0013]
    A haptic interface according to one of claims 1 to 12, comprising a test body (26, 126, 226) which is arranged to be deformed by the torque applied by the user to the interaction element (1). ) with the user, the means for detecting the torque or force being in contact with said test body (26, 126, 226).
    [14" id="c-fr-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.
    [15" id="c-fr-0015]
    15. A method of controlling a haptic interface according to one of claims 1 to 14, comprising the steps of: - measuring the current position of the interaction element with the user, - recording said current position in a nonvolatile memory, - measurement of the current position of the interaction element with the user, for example following an interruption of a power supply of the control unit, - comparison of the measured current position and the position current record, - control electromechanical means for the current measured position corresponds to the current position recorded.
    [16" id="c-fr-0016]
    16. A method of controlling a haptic interface according to one of claims 1 to 14, for reproducing a haptic spring-type pattern, comprising the steps of: measuring the current position of the interaction element with the user - determination of the direction of rotation of the interaction element with the user - control of electromechanical means for applying a force in the direction of movement of the interaction element with the user, or - control of electromechanical means and / or the system for generating said stimulus to apply a force opposing the movement of the interaction element with the user.
    [17" id="c-fr-0017]
    17. A method of controlling a haptic interface according to one of claims 1 to 14, comprising the steps: - control electromechanical means for applying a force in the direction of movement of the interaction element with the user of such that the electromechanical means apply a torque compensating for a vacuum torque acting on the interaction element with the user.
    [18" id="c-fr-0018]
    18. 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 applied to the interaction element with the user, - determining the current position of the interaction element with the user. 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 registered haptic pattern for the current position determined and for the determined direction of rotation, - if the speed is less than a given speed and if the torque or force is greater than a positive threshold value or less than a negative threshold value, the direction of movement is ent 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 based on the registered haptic pattern for that current position and for the direction of displacement deduced.
    [19" id="c-fr-0019]
    The method of claim 18, wherein when the determined torque is less than a given value, no stimulus is applied to the fluid.
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    同族专利:
    公开号 | 公开日
    US10963051B2|2021-03-30|
    CN108139765A|2018-06-08|
    FR3042046B1|2017-10-20|
    CN108139765B|2020-06-19|
    JP6800222B2|2020-12-16|
    WO2017060330A1|2017-04-13|
    JP2018532196A|2018-11-01|
    EP3360026A1|2018-08-15|
    US20180284891A1|2018-10-04|
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    法律状态:
    2016-10-28| PLFP| Fee payment|Year of fee payment: 2 |
    2017-04-07| PLSC| Publication of the preliminary search report|Effective date: 20170407 |
    2017-10-31| PLFP| Fee payment|Year of fee payment: 3 |
    2018-10-30| PLFP| Fee payment|Year of fee payment: 4 |
    2019-10-31| PLFP| Fee payment|Year of fee payment: 5 |
    2020-10-30| PLFP| Fee payment|Year of fee payment: 6 |
    2021-10-29| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1559502A|FR3042046B1|2015-10-06|2015-10-06|HYBRID HAPTIC INTERFACE HAPPENED WITH IMPROVED HAPPINESS|FR1559502A| FR3042046B1|2015-10-06|2015-10-06|HYBRID HAPTIC INTERFACE HAPPENED WITH IMPROVED HAPPINESS|
    US15/765,748| US10963051B2|2015-10-06|2016-10-06|Hybrid haptic interface with improved haptic feedback|
    JP2018517277A| JP6800222B2|2015-10-06|2016-10-06|Composite haptic interface with improved haptic feedback|
    PCT/EP2016/073839| WO2017060330A1|2015-10-06|2016-10-06|Hybrid haptic interface with improved haptic feedback|
    EP16781337.7A| EP3360026A1|2015-10-06|2016-10-06|Hybrid haptic interface with improved haptic feedback|
    CN201680058750.1A| CN108139765B|2015-10-06|2016-10-06|Hybrid force sense interface with improved force sense feedback|
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