• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Ultrasonic actuated haptic device comprising a support (2), a user interaction element (4) adapted to be displaced at least in rotation and / or in translation relative to said support (2), a first contact surface (8.1) integral in motion of the interaction element (4), a second contact surface (6.1) integral in motion of the support (2), resonators (10, 11), a control unit (18) such as it excites the resonators at at least one resonant frequency such that it generates a mode of vibration in the plane and the appearance of an ultrasonic lubrication phenomenon between the first contact surface (8.1) and the second surface of contact (6.1).
    公开号:FR3054072A1
    申请号:FR1656723
    申请日:2016-07-13
    公开日:2018-01-19
    发明作者:Edouard Leroy；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:

    Holder (s): COMMISSIONER OF ATOMIC ENERGY AND ALTERNATIVE ENERGIES Public establishment.
    Extension request (s)
    Agent (s): BREVALEX Limited liability company.
    HAPTIC DEVICE USING VIBRATION LUBRICATION.
    FR 3 054 072 - A1 (57) Haptic device with ultrasonic actuation comprising a support (2), a user interaction element (4) able to be moved at least in rotation and / or in translation relative to said support (2), a first contact surface (8.1) integral in movement with the interaction element (4), a second contact surface (6.1) integral in movement with the support (2), resonators (10, 11) , a control unit (18) such that it excites the resonators at at least one resonant frequency such that it generates a vibration mode in the plane and the appearance of an ultrasonic lubrication phenomenon between the first surface of contact (8.1) and the second contact surface (6.1).
    * A t
    HAPTIC DEVICE USING VIBRATION LUBRICATION
    DESCRIPTION
    TECHNICAL AREA AND PRIOR ART
    The present invention relates to a haptic device implementing vibration lubrication.
    A haptic device allows a user to have an interaction with a machine for example. The user experiences haptic feedback when handling the haptic device, for example in the form of notches or a mechanical stop. The interaction between the user and the machine is therefore enriched and can be more intuitive. The haptic device can take the form of a rotary button in this case the interface opposes a torque resistant to the user as a function of the angular position of the actuation button and of the displacement applied by the user, thus making it possible to define haptic patterns that will be felt by the user when they turn the button. The haptic interface can alternatively take the form of a button moving linearly. The haptic interface provided with the haptic device has the advantage of being reconfigurable and thus of adapting to the interaction in progress.
    There are several technologies to generate this haptic feedback.
    One of these technologies uses motors that generate torque on the button, but they have the disadvantage of being bulky.
    The resistant torque can be generated by a magnetorheological fluid to which a magnetic field is applied which depends on the torque that one wants to generate. For example, the higher the magnetic field, the more the viscosity of the fluid increases, and the greater the torque applied to the button. Haptic devices using such a fluid are very efficient, but they can have a certain bulk and can include a large number of mechanical parts.
    Another technology is entirely electric and uses a piezoelectric material. The document Koyama, Totsuyo, Kenjiro Tokemuro, and Tokoshi Maeno. Development of on Ultrosonic Brake. Journal of Advanced Mechanical Design,
    Systems, and Manufacturing 1, no. 1 (2007): 122-129 describes an ultrasonic brake that can be used in haptic devices. The ultrasonic brake uses a piezoelectric disc fixed on a vibrating device, the assembly forming a stator, a rotor is arranged on the disc. By feeding the piezoelectric disc so that it vibrates at a natural frequency of 21.5 kHz, an out-of-plane vibration generated, which causes the appearance of a levitation force which is applied between the stator and the rotor , the friction torque between the rotor and the stator is then reduced.
    This device requires a relatively thick vibrating device, resulting in a certain amount of space.
    There are also interfaces in the form of a tactile surface, on which a finger moves. The user experiences haptic feedback depending on the position of the finger for example. The haptic feedback is generated by piezoelectric resonators located below the surface. The resonators are excited so that ultrasonic vibrations normal to the tactile surface are generated, which modulates the friction felt at the level of a finger moving on the surface. This type of interface poses design problems in terms of force and position sensor and in terms of ultrasonic excitation. In addition, the effect of vibrations may not be present on the entire tactile surface.
    STATEMENT OF THE INVENTION
    It is therefore an object of the present invention to provide a haptic device of simple structure, offering improved haptic feedback and having a reduced bulk.
    The object of the present invention is achieved by a haptic device comprising a support, an element of interaction with the user which can be moved at least in rotation and / or in translation relative to said support, a first contact zone secured in movement of the interaction element, a second contact zone integral in movement with the support, at least one resonator, means for exciting the resonator at at least one resonant frequency such that it generates a vibration mode in the plane of the resonator and the appearance of a phenomenon of lubrication between the first contact zone and the second contact zone.
    The resonator preferably comprises a piezoelectric material. As a variant, it could for example comprise a magnetostrictive material.
    The inventors have discovered that the implementation of a vibration mode in the plane was significantly more effective in generating lubrication than a vibration mode orthogonal to the plane generating a levitation phenomenon implemented by the devices of the state. of technique. The vibration mode in the plane generates a sliding in the plane and causes the appearance of lubrication.
    The implementation of a vibration mode in the plane is particularly advantageous in the case of a rotary haptic button because the tangential forces generated add up to the radial end of the resonator, causing an amplification of the lubrication effect. . The area at which lubrication appears can then advantageously be limited to an annular area.
    The implementation of a vibration mode in the plane does not require a thick vibrating device. The size of the haptic device can be reduced.
    The haptic device may include an element of interaction with the mobile user in rotation or in translation.
    Very advantageously, the resonant frequency is an ultrasonic frequency so as to generate ultrasonic lubrication.
    The present invention therefore relates to a haptic device comprising a support, an element of interaction with the user able to be moved at least in rotation and / or in translation relative to said support, a first contact zone integral in movement of the interaction element, a second contact zone integral in movement with the support, at least one first resonator, a control unit such that it excites the resonator at at least one resonant frequency generating a vibration mode in the plane and the appearance of a vibration lubrication phenomenon between the first contact zone and the second contact zone.
    Preferably, the resonant frequency is between 70 kHz and 200 kHz so as to generate ultrasonic lubrication.
    In an exemplary embodiment, the first resonator comprises a plate and a pad made of a material capable of generating vibrations fixed to said plate, one of the faces of the first plate forming the first contact zone or the second contact zone.
    In another exemplary embodiment, the first resonator comprises a plate and a pad made of a material capable of generating vibrations fixed to said plate, one of the faces of the first plate forming the first contact zone and said device comprising a second resonator comprising a plate and a pellet of material capable of generating vibrations fixed to said plate, one of the faces of the first plate forming the second contact zone.
    In an embodiment in which the interaction element is capable of being rotated, the first contact area and / or the second contact area may be of annular shape.
    In an embodiment in which the interaction element is able to be displaced in translation along a longitudinal axis, the second contact zone can be carried by a beam suspended from the support and extend along the longitudinal axis and at least one material element capable of generating vibrations can be fixed to the beam.
    The device can advantageously include at least one detector of the position of the interaction element relative to the support. The position sensor is for example magnetic.
    Also advantageously, the haptic device can comprise a sensor for detecting the intention of the user in order to detect the forces exerted by the user before the rotation of the interaction element. The sensor for detecting the intention of action of the user may for example include a torque sensor in the case of a mobile interaction element in rotation.
    According to an additional characteristic, the control unit can be an electronic controller of the microcontroller type, advantageously associated with an amplifier and a frequency controller.
    In an advantageous example, at least one of the first and second contact zones is made of brass.
    In an exemplary embodiment, the first and second zones are kept in contact with one another by elastic means.
    BRIEF DESCRIPTION OF THE DRAWINGS
    The present invention will be better understood on the basis of the description which follows and of the appended drawings in which:
    FIG. 1 is a schematic representation of a view in longitudinal section of an example of a rotary haptic button according to the invention,
    FIG. 2 is an exploded view of a practical embodiment of the rotary haptic button in FIG. 1,
    FIG. 3 is a graphic representation of the variation in the coefficient of friction between the surfaces in contact as a function of the amplitude of vibration,
    FIG. 4 is a graphic representation of the variation in the maximum torque / minimum torque ratio exerted on the interaction element as a function of the amplitude of vibration,
    FIG. 5 is a schematic representation of a view in longitudinal section of another example of a rotary haptic button according to the invention comprising a single resonator,
    FIG. 6 is a schematic representation of a view in longitudinal section of another example of a rotary haptic button according to the invention comprising a single resonator,
    FIG. 7 is a schematic representation of a view in longitudinal section of an example of a haptic button mobile in translation according to the invention,
    FIG. 8 is a schematic representation of a view in longitudinal section of an example of a sphere-shaped haptic button according to the invention,
    FIG. 9 is a schematic representation of a top view and of a longitudinal section view of a haptic button according to another exemplary embodiment,
    FIG. 10 is a schematic representation of a view in longitudinal section of another example of a haptic button in the shape of a sphere according to the invention using a linear contact,
    - Figure 11 is a schematic representation of a longitudinal sectional view of an example of a rotary haptic button according to the invention implementing a linear contact.
    DETAILED PRESENTATION OF PARTICULAR EMBODIMENTS
    In Figures 1 and 2, one can see a schematic and exploded representation respectively of an example of rotary haptic device according to the invention. The rotary haptic device Dl comprises a housing 2 and an interaction element 4 with the user mounted capable of pivoting with respect to the housing around a longitudinal axis X. The interaction element 4 will be designated in the following of the description by "button". The button 4 is intended to be manipulated by a user for example by one or more fingers of the user to at least put it in rotation around the axis X.
    The device comprises at least a first resonator 10 comprising a plate 6 and an actuator 12 made of a material capable of generating vibrations.
    The material capable of generating vibrations is preferably a piezoelectric material. Alternatively it could be for example a magnetostrictive material, for example galfenol.
    For simplicity, the material capable of generating vibrations will be designated in the following description by "piezoelectric material".
    In the example shown, the device comprises a second resonator 11 comprising a second plate 8 and an actuator 13 made of piezoelectric material.
    The actuators 12, 13 are advantageously formed by pellets made of piezoelectric material.
    The resonators extend in two parallel planes perpendicular to the axis of rotation.
    The first plate 6 is immobilized with respect to the housing and the second plate 8 is immobilized with respect to the button, each plate 6, 8 has the shape of a disc coaxial with the longitudinal axis X and has a first face 6.1, 8.1 in contact l with each other.
    The pad 13 is fixed on a second face 6.2 of the plate 6 and the pad 12 is fixed on a second face 8.2 of the plate 8.
    Preferably, the plates 6, 8 are made of a material resistant to wear and offering a sufficient coefficient of friction between them. The plates 6, 8 are for example made of brass. Preferably, the coefficient of friction in the absence of vibration between the two plates 6, 8 is greater than or equal to 0.25.
    In addition, the material of the plates is chosen so as to have good acoustic properties in order to provide a device with silent operation or at least of reduced sound level.
    The piezoelectric pellet is for example made of lead titano-zirconate (PZT) or polyvinylidene fluoride (PVDF) and for example of thickness between 0.1 and 1 mm.
    The plate or plates 6, 8 are for example made of brass, aluminum or epoxy-type polymer.
    As a variant, it is possible to envisage covering at least the faces of the pellets coming into contact with a layer of a polymer material, for example of the epoxy type.
    According to another variant, the pellets could be made of a piezoelectric material resistant to wear and having a sufficient coefficient of friction. The pellets would then be directly in contact with each other. The pellets could be made for example of a polymeric material having piezoelectric properties.
    Each piezoelectric pad or actuator is fixed to the plate so that the vibrations generated by excitation of the piezoelectric material are transmitted to the plate, the assembly forming a resonator.
    Preferably, the first plate 6 is supported in the housing by several discrete zones, for example three in order to limit the damping of the vibrations applied by the patch. The first plate 6 is for example fixed to the housing by gluing.
    Advantageously, the device includes means for mechanically holding the first two surfaces 6.1, 8.1 against each other. In the example shown, these are elastic means 14 which apply a given preload to the second plate 8 in the direction of the first plate 6. In the example shown, the elastic means 14 comprise a support ring 14.1 and fingers 14.2 projecting radially from the support ring and coming to bear axially against the second face 8.2 of the second plate 8 in the direction of the first plate 6. The fingers 14.2 apply the preload to the second plate. Preloading could be carried out using metal compression springs of known type or flat leaf springs of type, placed between the resonator and the frame.
    The pressure exerted by the spring between the two plates ensures the maximum braking force of the brake when it is not working and the immobilization of the two plates in the absence of vibration lubrication.
    Alternatively, these means could be magnetic. Other means are also possible. In another variant, it could be envisaged that the bearing force exerted by the user replaces all or part of the pressure exerted by the spring or by other means.
    The piezoelectric actuators are connected to an energy source so as to excite the actuators at a resonant frequency such that the resonator is vibrated according to a vibration mode in the plane.
    The resonant frequency having a vibration mode in the plane is at least equal to 10 kHz. Preferably the resonant frequency having a vibration mode in the plane is between 70 kHz and 200 kHz in order to generate ultrasonic lubrication. The sound level of the device in operation is then reduced.
    The expression “mode of vibration in the plane” is understood to mean a mode of vibration in which the displacements generated by excitation of the piezoelectric material have directions parallel to the plane of the resonator. In this case, the direction of vibration is normal to the direction of prestress applied by the spring.
    The haptic device also comprises at least one angular position sensor 16 of the button 4 and a control unit 18 in order to control the resonators 10, 11 to produce haptic patterns (FIG. 1).
    The position sensor 16 is such that it makes it possible to detect the angular position of the button relative to the housing with sufficient dynamics to be able to reproduce the desired haptic pattern.
    Advantageously, the position sensor is a magnetic sensor, the latter having the advantages of being compact and easy to integrate.
    Alternatively, it could be an optical sensor such as an optical wheel, or a sensor of any other type having sufficient dynamics.
    The control unit 18 is for example an electronic controller of the microcontroller type. It modulates the apparent coefficient of friction as a function of the position of the button and of a preset pattern. This controller is preferably associated with an amplifier 20 and a frequency controller 22 in order to maintain the excitation at resonance.
    The implementation of a position sensor makes it possible to obtain realistic sensations.
    According to an alternative embodiment, one can provide instead of or in addition to a position sensor, a modulation of the amplitude of the vibrations as a function of time. Such modulation could for example allow the user to count seconds or to feel a rhythm of music regardless of the amplitude of the movement it causes at the interface.
    The haptic device is intended to exert a resistant force opposing the movements of the button. This resistant effort is determined from ίο predefined haptic patterns according to the haptic rendering that one wishes to reproduce, these patterns are recorded in a database.
    A pattern is defined by a resistant force or braking force to be applied depending for example on the following data:
    - the current angular position of the button,
    - the current direction of rotation of the button,
    - the speed of movement of the button.
    A haptic pattern is therefore a set of braking force values to be applied to the button, ie a set of values defining the pattern, each value of the haptic pattern is associated with a given angular position of the button and with a direction of rotation of the button. . Each braking force value corresponds to a value of the coefficient of friction between the two plates 6 and 8 which corresponds to a value of the amplitude of vibration of the resonator which corresponds to a current intensity supplying the actuator.
    It will be understood that the same value of the pattern can be assigned for different angular positions or in the case of a linear interface for several different linear positions. In addition, different values can be assigned depending on the direction of travel.
    In the device according to the invention, the maximum braking force is obtained when no excitation is applied to the resonator.
    In Figure 1, we can see a schematic representation of a haptic pattern which corresponds to a value of the amplitude of vibration A as a function of the angular position a of the button. This pattern is recorded in a database accessible by the control unit 18. The areas designated B correspond to the simulation of stops and the area designated T corresponds to the simulation of a textured surface.
    A virtual stop is defined by a haptic pattern for which a very high braking force is applied to the button, i.e. in the absence of excitation, so that the button cannot move in a given direction. The virtual stop is defined by an angular zone inside which the haptic pattern must apply and by a given direction of rotation of the button.
    Very advantageously, the haptic device also includes a sensor 23 for detecting the intention of the user in order to detect the forces exerted by the user before the rotation of the button. Advantageously, the information on the direction of rotation is then detected early, which improves the haptic rendering. This determination of the intention of action 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 button. This information therefore makes it possible to enrich the possible simulations, in particular the stop simulation using haptic patterns of the stop type.
    The operation of the haptic device is as follows.
    The user moves the button 4 around the X axis, the position sensor and advantageously the user's action intention sensor detect the angular position of the button and advantageously the direction in which the user has the intending to act on the button respectively, this information is sent to the control unit 18 which generates an order according to the haptic pattern to be reproduced. The actuator (s) are supplied with current or voltage whose frequency is such that the resonator (s) are excited at a frequency close to or equal to one of their resonant frequencies corresponding to a mode of vibration in the plane. For such a vibration mode, the forces are generated in the plane between the fixed part and the mobile part and the amplitude of the movements add up to the radial end of the resonators and cause a displacement in the shear plane, ie normal. at preload, this results in a radial tangential slip perpendicular to the direction of rotation and an ultrasonic lubrication effect between the fixed part and the mobile part. The coefficient of friction between the two pads is greatly reduced. The user can turn the button almost without friction.
    In Figure 3, we can see represented the evolution of the friction coefficient as a function of the tangential amplitude of vibration in pm for a button with a diameter of 35mm by estimating the maximum angular speed reached at 1 r / s (Vomax = O , lm / s). The resonant frequency is around 75 kHz.
    In general, with the actuators used, it is possible to reach a tangential amplitude of the order of 3 μm. For such an amplitude, the coefficient of friction is greatly lowered.
    In FIG. 4, we can see the evolution of the relationship between the maximum torque and the minimum torque Cmax / Cmin applied on the button as a function of the tangential amplitude of the vibration. For an amplitude of the order of 3 μm, a torque ratio of 5 is obtained. The torque which can therefore be exerted on the button is all the greater as the coefficient of friction decreases, and therefore as the amplitude of vibration increases.
    The type of simulated sensation can be chosen by varying the amplitude of the vibration as illustrated in FIG. 3. By increasing or decreasing the amplitude of the vibration, the friction is decreased or increased respectively. The control unit therefore modifies the amplitude of vibration as a function of the position of the button according to the haptic pattern to be reproduced. The amplitude of vibration depends on the standard of the current or the excitation voltage supplying the actuator (s).
    In addition, by modulating the spatial frequency of the vibration, i.e. by modifying the variation in the amplitude of the vibration as a function of the movement of the button, it is possible to modify the sensation felt by the user. For example, when the vibration is modulated at a high spatial frequency, for example less than mm, one can reproduce a feeling of texture, and when the vibration at a low spatial frequency, for example greater than mm, one can reproduce individual notches .
    Unlike haptic devices with magnetorheological fluid for example, in the absence of an electrical supply, the button is braked, in other words it is normally braked, lubrication only appearing when the actuator is electrically powered. In a magnetorheological fluid haptic device, the viscosity of the fluid and therefore the braking force increases with the magnetic field. In the absence of a field, only the friction of the magnetorheological fluid in the rest state is responsible for braking.
    In an advantageous embodiment, the resonator (s) of the device comprise a disc made of piezoelectric material and a ring. Indeed, as explained above, the displacement in the plane takes place at the level of the external radial edge of the resonator. An annular contact may therefore be sufficient. In the case of a device with two resonators, the other resonator can have the same structure or else include a vibrating plate fixed to a piezoelectric pellet. In the case of a device with a resonator, the facing surface could be formed of a plate or a ring.
    In Figure 9, we can see a device DT which differs from DI in that the resonator 11 'has a ring shape. The 4 'button also has a ring shape.
    Advantageously and as shown in FIG. 9, the zone inside the annular resonator and the button 4 ′ is used to place a display device of the watch face or touch screen 25 type, or else include '' other control buttons (music, etc ...).
    It will be understood that a device comprising a single annular resonator or identical to one of the resonators 10 and 11 of the DI device and the facing surface for example integral in movement with the button formed only of a ring does not depart from the scope of this invention.
    In Figure 5, we can see another embodiment of a haptic device according to the invention.
    The device D2 comprises a housing 102, a button 104 mounted capable of pivoting about a longitudinal axis X relative to the housing and a resonator 111.
    The resonator 111 comprises a plate 106 in the form of a disc, integral in rotation with the button and a piezoelectric patch 112 fixed on the first face 106.1 of the plate 106. The button 104 has an axial projection 104.1 fixed to a central zone of the second face 106.2. The plate 106 is supported by its first face 106.1 on the housing. In the example shown, the housing has a shoulder 120 on which the first face 106.2 of the plate 106 rests by an annular surface 106.3 located radially outside. Elastic means 114 bearing against the second face 106.2 maintain in contact the annular surface 106.3 and the shoulder.
    In this example, the pellet 12 being movable in rotation, its supply is carried out by a rotary electrical contact
    The advantage of the D2 device is that it only uses an active part.
    The operation of the device D2 is similar to that of the device D1. The pellet 112 is excited so as to vibrate the resonator in a mode in the plane. The vibrations are transmitted to the radial edge of the plate 106 in contact with the shoulder 120. A transverse sliding between the plate 106 and the shoulder 120 appears, this results in ultrasonic lubrication which can be modulated according to the haptic pattern.
    In Figure 6, we can see another embodiment of a haptic device D3. The device D3 comprises a single resonator 210 fixed in the housing 202.
    The housing 202 comprises a bottom 222 provided with a projection 224 on which the piezoelectric patch fixed to a plate 206 rests; the projection 224 forms an electrical contact for feeding the tablet. The button has a structure 226 secured to one side of the button 204, opposite to that intended to be manipulated by the user. The structure is such that it allows the rotation of the button relative to the housing around the projection 224 and surrounds the resonator. The structure 226 comprises a contact surface 228 in contact with an annular surface 206.3 radially exterior of the plate 206. In this example, the annular contact surface 206.3 of the plate 206 in contact with the button is located on the same face as the piezoelectric chip. The structure also incorporates elastic means 214 holding the plate 206 and the contact surface 228 integral with the button in contact.
    This device has the advantage of using a fixed resonator and of not requiring rotary electrical contact.
    The operation of the D3 device is similar to that of the
    D2.
    In FIG. 11, we can see another example of a rotation button D7, in which the button is in annular linear contact with the resonator.
    The resonator 610 has a ring shape suspended on the support and the button 604 has a flared base 604.1 which is supported on the inner edge 610.1 of the resonator 610. When the resonator is energized, lubrication appears between the surface of the base flared 604.1 and the inner edge 610.1 of the resonator.
    In Figure 7, we can see another embodiment of a haptic device D4 in which the button is movable in translation.
    The device D4 comprises a housing 302, a button 304 mounted capable of sliding along a beam 330 suspended in the housing 302.
    The device also includes one or more piezoelectric elements 332 capable of vibrating the beam 330. In the example shown, the device comprises two elements of piezoelectric material 312 of rectangular or square shape each fixed to a longitudinal end of the beam 330. The resonator extends in the plane of the beam. The vibrations generated are parallel to the plane of the resonator.
    The button is such that it surrounds the beam 330. Advantageously, the elastic preloading means (not shown) are integrated into the button.
    The device D4 is a non-limiting example of embodiment. For example, provision could be made to reverse the mobile part and the fixed part. The operation is similar to that of the devices already described. Acoustic lubrication appears between the beam and the button.
    Alternatively, the resonator could be integrated into the button.
    In Figure 8, we can see another embodiment of a haptic device D5 in which the interaction element is formed by a sphere 404. The resonator 410 has a plate 406 suspended in a housing 402 and has a cavity 434 of diameter close to or identical to that of the sphere. A piezoelectric patch 412 is fixed to a face of the plate 406 opposite to that comprising the cavity 434.
    When the pellet 412 is excited, a lubricating effect appears between the surface of the cavity 434 and the outer surface of the sphere 404, and the sphere can be moved more or less easily around its center.
    In FIG. 10, we can see another embodiment of a haptic device D6 close to that of D5, it differs from this in that the contact between the sphere 504 and the resonator 510 is an annular linear contact . The resonator 510 has the shape of a ring whose inner edge 511 serves as a support for the sphere. When the resonator 510 is excited, a lubrication effect appears between the edge 511 of the resonator and the sphere.
    In the case of a haptic interface comprising a button movable in rotation, it can be provided that it is also movable in translation along the axis of rotation for example to perform a selection and / or validation action.
    Thanks to the invention, a haptic device of the rotary "button" type or a linear slide can be produced, making it possible to create notches and reconfigurable stops. Indeed, it is easy to modify the braking force applied to the interaction element by modifying on command the amplitude of the vibrations in the plane.
    Such a device is of significantly simpler design than that of the tactile interfaces, in particular in terms of force and position sensor and ultrasonic excitation. This avoids the problems of hollows and knots of vibration which appear during a resonant excitation and which are troublesome when using this effect for a tactile surface explored with the finger. Certain local effects mean that the generated effect is not present everywhere on the plate.
    权利要求:
    Claims (14)
    [1" id="c-fr-0001]
    1. Haptic device comprising a support (2, 102, 202, 302), an element of interaction with the user (4,104, 204, 304) able to be moved at least in rotation and / or in translation relative to said support (2, 102, 202, 302), a first contact zone integral in movement with the interaction element (4, 104, 204, 304), a second contact zone integral in movement with the support (2, 102, 202, 302), at least a first resonator (10,110), a control unit (18) such that it excites the resonator at at least one resonant frequency generating a mode of vibration in the plane and the appearance of a vibration lubrication phenomenon between the first contact zone and the second contact zone.
    [2" id="c-fr-0002]
    2. Haptic device according to claim 1, wherein the resonant frequency is between 70 kHz and 200 kHz so as to generate ultrasonic lubrication.
    [3" id="c-fr-0003]
    3. Haptic device according to claim 1 or 2, wherein the first resonator comprises a plate (6,106, 206) and a pellet of material capable of generating vibrations (12, 112, 212) fixed to said plate, one of the faces of the first plate (6, 106, 206) forming the first contact area or the second contact area.
    [4" id="c-fr-0004]
    4. Haptic device according to claim 1 or 2, in which the first resonator comprises a plate (8) and a pellet of a material capable of generating vibrations (13) fixed to said plate (8), one of the faces of the first plate (8) forming the first contact zone and said device comprising a second resonator comprising a plate (6) and a pad made of a material capable of generating vibrations (12) fixed to said plate (6), one faces of the first plate (6) forming the second contact area.
    [5" id="c-fr-0005]
    5. haptic device according to one of claims 1 to 4, in which the interaction element (4, 104, 204) is able to be moved in rotation and in which the first contact zone and / or the second zone contact are annular.
    [6" id="c-fr-0006]
    6. Haptic device according to claim 1 or 2, in which the interaction element (304) is capable of being moved in translation along a longitudinal axis, the second contact zone being carried by a beam (330) suspended from the support (302) and extending along the longitudinal axis and at least one element made of a material capable of generating vibrations (312) being fixed to the beam.
    [7" id="c-fr-0007]
    7. Haptic device according to one of claims 1 to 6, comprising at least one detector (16) of the position of the interaction element relative to the support.
    [8" id="c-fr-0008]
    8. Haptic device according to claim 7, wherein the position sensor (16) is magnetic.
    [9" id="c-fr-0009]
    9. Haptic device according to one of claims 1 to 8, comprising a detection sensor (23) of the user's intention in order to detect the forces exerted by the user before the rotation of the interaction element. .
    [10" id="c-fr-0010]
    10. A haptic device according to claim 9, in which the detection sensor (23) of the intention of action of the user comprises a torque sensor in the case of a mobile interaction element in rotation.
    [11" id="c-fr-0011]
    11. Haptic device according to one of claims 1 to 10, wherein the material capable of generating vibrations is a piezoelectric material.
    [12" id="c-fr-0012]
    12. Haptic device according to one of claims 1 to 11, in which the control unit (18) is an electronic controller of microcontroller type, advantageously associated with an amplifier (20) and a frequency controller (22).
    5
    [13" id="c-fr-0013]
    13. Haptic device according to one of claims 1 to 12, wherein at least one of the first and second contact zones is made of brass.
    [14" id="c-fr-0014]
    14. Haptic device according to one of claims 1 to 13, wherein the first and second zones are kept in contact with each other by
    10 elastic means (14, 114, 214, 314).
    S.58455
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    同族专利:
    公开号 | 公开日
    WO2018011522A1|2018-01-18|
    US10591997B2|2020-03-17|
    FR3054072B1|2021-05-21|
    US20190294248A1|2019-09-26|
    EP3485349A1|2019-05-22|
    EP3485349B1|2020-08-05|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP1349050A2|2002-03-29|2003-10-01|Alps Electric Co., Ltd.|Force feedback device|
    US20110115754A1|2009-11-17|2011-05-19|Immersion Corporation|Systems and Methods For A Friction Rotary Device For Haptic Feedback|FR3097667A1|2019-06-24|2020-12-25|Novares France|Control device for controlling a function of a vehicle interior|KR100954529B1|2007-11-27|2010-04-23|한국과학기술연구원|A ring type piezoelectric ultrasonic resonator and a piezoelectric ultrasonic rotary motor using thereof|
    FR3054072B1|2016-07-13|2021-05-21|Commissariat Energie Atomique|HAPTICAL DEVICE IMPLEMENTING VIBRATION LUBRICATION|
    FR3056315B1|2016-09-21|2018-09-28|Commissariat A L'energie Atomique Et Aux Energies Alternatives|HAPTIC INTERFACE WITH AT LEAST TWO DEGREES OF FREEDOM HAVING IMPROVED HAPTIC RESOURCE|
    US11050405B2|2018-01-16|2021-06-29|Government Of The United States Of America, As Represented By The Secretary Of Commerce|Micromechanical vibrasolator|DE102016015155A1|2016-05-13|2017-11-16|Liebherr-Werk Bischofshofen Gmbh|Arrangement for controlling a work machine|
    FR3054072B1|2016-07-13|2021-05-21|Commissariat Energie Atomique|HAPTICAL DEVICE IMPLEMENTING VIBRATION LUBRICATION|
    DE102017111031A1|2017-05-20|2018-11-22|Inventus Engineering Gmbh|Haptic control device|
    FR3097661B1|2019-06-24|2021-09-17|Commissariat Energie Atomique|DEVICE IMPLEMENTING LUBRICATION BY VIBRATION WITH INCREASED ROBUSTNESS|
    法律状态:
    2017-07-31| PLFP| Fee payment|Year of fee payment: 2 |
    2018-01-19| PLSC| Publication of the preliminary search report|Effective date: 20180119 |
    2018-07-27| PLFP| Fee payment|Year of fee payment: 3 |
    2019-07-31| PLFP| Fee payment|Year of fee payment: 4 |
    2020-07-31| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1656723A|FR3054072B1|2016-07-13|2016-07-13|HAPTICAL DEVICE IMPLEMENTING VIBRATION LUBRICATION|
    FR1656723|2016-07-13|FR1656723A| FR3054072B1|2016-07-13|2016-07-13|HAPTICAL DEVICE IMPLEMENTING VIBRATION LUBRICATION|
    EP17748538.0A| EP3485349B1|2016-07-13|2017-07-12|Haptic device using vibration-based lubrication|
    PCT/FR2017/051918| WO2018011522A1|2016-07-13|2017-07-12|Haptic device using vibration-based lubrication|
    US16/317,197| US10591997B2|2016-07-13|2017-07-12|Haptic device using vibration-based lubrication|
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