• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A haptic interface with at least two degrees of freedom comprising: - at least one interaction element (4) with a user, - at least two passive brakes (6, 8) each extending along an axis (X, Y), each of the brakes (6, 8) being able to exert a resistant force around its axis (X, Y), said forces being controllable, - measuring means (14, 16) of a position of the interaction element (4) with a user, - detection means (11, 13) of the force applied to the interaction element (4) with the user - a control unit (UC) capable of send brake control orders according to information on the position of the interaction element with the user and on the force applied on the interaction element (4) with the user, so that said passive brakes (6, 8) generate resistant forces according to at least one given haptic pattern.
    公开号:FR3056315A1
    申请号:FR1658875
    申请日:2016-09-21
    公开日:2018-03-23
    发明作者:Laurent ECK；Edouard Leroy；Gwenael Changeon
    申请人:Commissariat a lEnergie Atomique CEA；Commissariat a lEnergie Atomique et aux Energies Alternatives CEA；
    IPC主号:
    专利说明:

    Holder (s): COMMISSIONER OF ATOMIC ENERGY AND ALTERNATIVE ENERGIES Public establishment.
    Extension request (s)
    Agent (s): BREVALEX Limited liability company.
    VX) HAPTIC INTERFACE WITH AT LEAST TWO DEGREES OF FREEDOM HAVING IMPROVED HAPTIC FEELING.
    FR 3 056 315 - A1
    Haptic interface with at least two degrees of freedom including:
    - at least one element of interaction (4) with a user,
    - at least two passive brakes (6, 8) each extending along an axis (X, Y), each of the brakes (6, 8) being able to exert a resistant force around its axis (X, Y ), said efforts being controllable,
    - means for measuring (14, 16) of a position of the interaction element (4) with a user,
    - Detection means (11, 13) of the force applied to the interaction element (4) with the user
    - a control unit (UC) capable of sending brake audit orders as a function of information on the position of the element of interaction with the user and on the force applied to the element of interaction (4) with the user, so that said passive brakes (6, 8) generate resistant forces according to at least one given haptic pattern.

    HAPTIC INTERFACE WITH AT LEAST TWO DEGREES OF FREEDOM HAVING
    AN IMPROVED HAPTIC FEELING
    DESCRIPTION
    TECHNICAL AREA AND PRIOR ART
    The present invention relates to a haptic interface with at least two degrees of freedom having an improved haptic feeling.
    A haptic interface can be used to command or control a system such as various devices in a motor vehicle, such as for example an air conditioning system and a geolocation system. A haptic interface is particularly advantageous when the user must keep his attention, in particular visual, on the environment for example when driving.
    The haptic interface includes an effector, also called a joystick, with two degrees of freedom. A resistant force opposes the displacement of the effector as a function, for example, of its position. By modulating the resistant force as a function of the position of the effector, it is possible to define haptic patterns which will be felt by the user when he moves the effector.
    We seek in particular to produce haptic interfaces whose effector or element of interaction with the user offers at least two degrees of freedom. In order to improve the haptic feeling of the user, it is desired to be able to ensure good guidance of the effector according to complex trajectories, for example along radial directions or according to a circle in the plane of the effector.
    Such guidance is achievable in the case of an active haptic interface which comprises one or more electric motors. Indeed the motors can be easily controlled to generate forces and / or displacements in order to guide the effector. The motors are controlled from information supplied by the position sensor (s).
    However, this type of interface is generally bulky because of electric motors, has a relatively high cost and can sometimes prove to be dangerous for the user since it can generate an effort or an unexpected displacement that can injure the user. In addition, it can present instability problems making its control complex.
    Passive haptic interfaces can only generate a resistant force opposing a force applied by the user by means of brakes. A passive haptic interface can for example comprise one or more magnetorheological brakes, each brake comprising a magnetorheological fluid whose apparent viscosity is modified by the application of a magnetic field in order to define the predefined haptic patterns.
    An example of a haptic interface with two degrees of freedom is for example described in the document US7061466. It comprises two electromagnetic brakes each comprising a shaft arranged perpendicular to one another. A lever is mechanically connected to the two shafts by means of a cardan connection so that the two brakes are assembled in parallel. Position sensors are provided to measure the position of the joystick in the two degrees of freedom. The electromagnetic brakes are controlled based on position and pre-recorded haptic patterns.
    Passive haptic interfaces offer the advantages of being safe and of reduced cost, but they do not make it possible to guide the effector along complex trajectories which are not along the axes of the brakes, offering a good haptic feeling. The brakes are controlled so as to interrupt the movement of the lever in one and / or the other of the directions controlled by the brakes when the measured position is outside the guide zone, but the user must then exercise a effort of the same order of magnitude as that provided by the brakes to disengage from this position, which is detrimental to the haptic feeling. In addition, the guidance offered by the interface is late, the effector being already outside the trajectory.
    STATEMENT OF THE INVENTION
    It is therefore an object of the present invention to provide a haptic interface with at least two degrees of freedom, offering an improved haptic feeling, in particular in guiding the effector along complex trajectories.
    The aim stated above is achieved by a haptic interface with at least two degrees of freedom, comprising an effector mechanically connected to at least two passive brakes, means for detecting the position of the effector and means for detecting the user intention to detect at least the direction of the force exerted by the user on the effector. Based on the knowledge of the position of the effector and the direction of the force exerted by the user, the control unit can send orders to the brakes very early so that they quickly or not generate a resistant force. so that it guides the effector along a given trajectory.
    The detection of the direction of the force makes it possible to determine very early the intention of the user even before a movement is detected, it then makes it possible to control the brakes as soon as possible. In addition, knowledge of the direction of the force allows a very fine knowledge of the direction that the effector will follow and therefore allows very fine control of the brakes.
    In the present application, the term "passive brake" means a brake which is capable only of generating a resistant force against a force exerted by the user. It is not able to generate an effort or a displacement in the absence of an external effort. For example, magnetorheological, electrorheological, electromagnetic brakes, ”are passive brakes. Devices using the active vibration lubrication phenomenon could also be used, for example using a piezoelectric system.
    Very advantageously, the amplitude of the force exerted by the user on the effector is measured, which makes it possible to best modulate the resistant forces generated by the brakes, offering a more flexible guidance.
    Advantageously, the means for detecting the force exerted by the user are arranged on or in the effector, offering a precise measurement of the force. It may for example be a capacitive sensor.
    The present invention therefore relates to a haptic interface with at least two degrees of freedom comprising:
    - at least one element of interaction with a user,
    at least two passive brakes each extending along an axis, each of the brakes being capable of exerting a resistant force around its axis, said forces being controllable,
    means for measuring a position of the element of interaction with a user,
    means of detecting the intention of action of the user on the element of interaction with the user
    a control unit capable of sending brake audit orders as a function of information on the position of the element of interaction with the user and on the intention of action of the user, so that said passive brakes generate resistant efforts according to at least one given haptic motif.
    Preferably, the means for detecting the intention of action of the user on the element of interaction with the user detect the direction of a force applied to the element of interaction with the user. The means for detecting the intention of action of the user on the element of interaction with the user can measure the intensity of the effort.
    According to an exemplary embodiment, the means for detecting the intention of action of the user comprise at least one force sensor linked to the element of interaction with the user. The force sensor can be a capacitive sensor in contact with the element of interaction with the user and comprise at least several capacitors with variable capacity, the capacity of which varies depending at least on the direction of the force applied to the element of interaction with the user.
    According to another exemplary embodiment, the means for detecting the intention of action of the user on the element of interaction with the user comprise a sensor at the level of each brake, said sensors being capable of detecting the torques exercised around each of the axes.
    For example, passive brakes may include a fluid whose apparent viscosity varies as a function of an external stimulus, for example a magnetorheological fluid, and a system for generating said stimulus on command in said fluid and an element for interacting with the fluid. disposed in the fluid and mechanically connected to the user interaction element.
    According to an additional characteristic, the element of interaction with the user and the passive brakes are mechanically connected by a universal joint.
    The haptic interface may include magnetic return means for the element of interaction with the user in a rest position.
    The present invention also relates to a method for controlling a haptic interface according to the invention, in which, when the control unit applies a haptic pattern for guiding the element of interaction with the user, at least the along one side of a given plane, the control unit:
    - determines the position of the user interaction element,
    - determines at least the direction of the force applied to the element of interaction with the user
    - sends orders to the passive brakes so that the resistant forces generated encourage the user to get closer to the plane.
    The intensity of the force applied to the element of interaction with the user is advantageously measured and the intensities of the resistant forces applied by the passive brakes are advantageously dependent on the intensity of the force.
    The user interaction element may be guided only on one side of the plane and the intensities of the resistant forces applied by the passive brakes may be dependent on the position of the user interaction element compared to the plan so as to provide a haptic feeling to the user when crossing the plan.
    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 an example of a haptic interface according to the invention,
    FIG. 2 is a representation of an example of guiding an effector obtainable thanks to the present invention,
    FIG. 3A is a perspective view of an exemplary embodiment of a haptic interface according to the invention,
    FIG. 3B is a detailed view of FIG. 3A at the level of the cardan connection,
    FIG. 4 is a schematic representation of an effector provided with a force detector which can be implemented in the present invention,
    FIG. 5 is a graphic representation illustrating the guidance obtained thanks to the haptic interface according to the invention,
    - Figures 6A and 6B are schematic representations of other exemplary embodiments of haptic interfaces with two degrees of freedom according to the invention.
    DETAILED PRESENTATION OF PARTICULAR EMBODIMENTS
    In Figure 1, we can see a schematic representation of an example of haptic interface according to the invention.
    The haptic interface comprises an interaction element 4 with a user or effector articulated on a frame and at least two brakes 6, 8. The effector is mechanically connected to the brakes 6, 8 so as to have at least two degrees of freedom . The brakes are capable of applying a braking torque around the X and Y axes respectively.
    The haptic interface also comprises at least one position sensor 14, 16 of the effector and at least one sensor of the intention of action of the user 11, 13 which detects the force exerted by the user on the effector, and a control unit UC or controller comprising a database BD of haptic patterns and which is able to send orders to the brakes to reproduce a haptic pattern based on the position of the effector, of the effort exerted on the effector 4 and possibly external information. The user's action intention sensor detects at least the direction of the effort.
    By knowing the position of the effector and the direction of the force, the control unit can ensure effective effector guidance and offering a good haptic feeling for the user.
    In Figure 2, we can see a top view of different directions that can be taken by the effector, an authorized displacement zone designated by OK and a prohibited displacement zone designated by N. Knowing the direction of the applied force on the effector by the user, the control unit can generate orders to the brakes so that they block given directions, the orders being sent very quickly and the response of the brakes being very fast, the user has not aware of the activation / deactivation of the brakes respectively on each X and Y axis.
    In FIGS. 3A and 3B, one can see a practical example of a haptic interface with two degrees of freedom according to the invention. It will be understood that this example is in no way limiting as will be described in the following description.
    The effector 4 has in the example shown in the form of a lever extending in the rest position along a longitudinal axis Z perpendicular substantially to the plane of the frame 2 and has a first longitudinal end intended to be gripped by the hand of the operator and equipped for example with a knob 5 and a second longitudinal end mechanically connected to the brakes. The pommel is mounted on a rod 7 comprising the second longitudinal end 4.2.
    In the example shown, the brake 6 is oriented along an X axis and the brake 8 is oriented along a Y axis perpendicular to the X axis and both perpendicular to the Z axis. The X axes and Y define a plane parallel to the plane of the frame. The brake 6 comprises a shaft 10 (FIG. 3B)) extending along the X axis and the brake 8 comprises a shaft (not visible) extending along the Y axis.
    In the example shown, the two brakes 6 and 8 have similar structures, only the brake 6 will be described in detail. It will be understood that a haptic interface comprising brakes of different structures does not depart from the scope of the present invention. Magnetorheological brakes have the advantage of having a relatively low cost and a small footprint while having a large dynamic of braking torque and a fast response time.
    An example of a brake is for example in the document W02016050717. The brake 6 comprises a shaft 10 movable in rotation about the axis X and mounted in a housing. The shaft 10 has one end mechanically connected to the second end 4.2 of the handle 4 and a second end (not visible) interacting with a magnetorheological fluid. The second end of the shaft is for example integral in rotation with a skirt arranged in a chamber filled with magnetorheological fluid. The brake also includes means for generating a magnetic field in the chamber so as to cause a change in the apparent viscosity of the magnetorheological fluid. When the viscosity increases, a resistant torque is applied to the skirt and to the shaft 10, and in fact to the handle via the mechanical connection between the shaft 10 and the handle 4.
    In the example shown, the interface includes angular position sensors 14 and 16 measuring the angular position of the brake shafts 6, 8. They may, for example, be incremental optical encoders or magnetic encoders.
    The user's action intention sensor determines at least the direction of the force applied by the user to the joystick so as to identify his intention before a change in position of the joystick is effectively detected.
    In the following description, the intention sensor will be designated a force sensor or a torque sensor for the sake of simplicity.
    To determine the force exerted on the lever, we can detect the torques around the X and Y axes at the brakes 6 and 8.
    In the example shown, each brake 6, 8 comprises a torque sensor 11, 13 respectively at the level of the brakes 6, 8. An example of such a sensor is described in the document WO2016050717. It includes for example a test body whose deformation caused by the torque applied by the user is detected by force sensors. The test body can be fixed by one end to the interface frame and by another end to the magnetorheological brake, for example the housing 8. The force sensors are in contact with the test body at sound level. end secured to the brake housing.
    The test body may include a cylindrical body with a circular section. The test body is for example of plastic material, such as ABS.
    When a torque is applied to the brake shaft 6, this causes torsional deformation of the test body via the brake housing itself in interaction with the fluid, itself in interaction with the skirt which is related to the tree. This deformation is detected by the force sensors.
    The material of the test body and its geometry can be determined according to the minimum and 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 to 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, the forces can be measured directly on the housing or on the rotary shaft, for this a torque sensor would be used.
    The force sensor is for example produced 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 displacement to a few tens of microns at full load. As a variant, the force sensor (s) could be replaced by one or more deformation sensors formed, for example, by strain gauges directly applied to the test body to detect its deformation.
    By knowing the torques around the X and Y directions, it is possible to determine the force applied to the lever.
    Alternatively and preferably, the force can be detected directly at the level of the lever, which makes it possible to obtain a more precise measurement of the force applied by the user.
    The sensor or sensors directly linked to the effector and the torque sensor or sensors arranged at the level of the brakes can be, for example, piezoresistive, piezoelectric, capacitive, magnetic or optical.
    Preferably, the sensor has a high sensitivity and a high rigidity, so that it does not disturb or little disturb the feeling of the user.
    FIG. 4 represents an example of a capacitive sensor 36 mechanically linked to the effector. F denotes the force exerted on the effector 4.
    The force sensor comprises a polymer matrix which is intended to be deformed by the force exerted by the user on the effector. For this, the sensor can be positioned, for example pinched, between the upper part of the effector 4 which is manipulated by the user, and the lower part of the effector linked to the axis 7, so as to undergo the forces interaction between the effector and the brakes. The sensor comprises for example four capacitors C1, C2, C3, C4 in the form of a quarter of a circle. The application of a force on the effector causes a deformation of the matrix and therefore a variation of one or more capacitors of the capacitors. By analyzing which capacitor (s) has or have seen its or their capacity varied and in what proportion, it is possible to determine the direction and the amplitude of the force applied by the user to the effector.
    Alternatively, one could use multi-axis strain gauge sensors developed for example by the company ATI. These sensors use piezoresistive strain gauges associated with electronics adapted to measure forces in several directions. Multi-axis sensors based on optical detection offered by the company Optoforce and multi-axis piezoelectric sensors offered by the company Kistler can also be used.
    The two brakes are assembled in parallel by a mechanical connection 18 between the lever 4 and the shafts. It is a universal joint system well known to those skilled in the art, a non-limiting example of which is shown in FIGS. 3A and 3B.
    In the example shown, the end 4.2 of the lever 4 is mounted in a part 20 by means of a sliding pivot 22. The shaft 10 is connected to the part 20 by an L-shaped part 24, a branch 24.1 of the L being integral with the shaft 10 and the other branch 24.2 of the L being articulated on the part 20 by a sliding pivot 26.
    The shaft 10 of the brake 8 is connected to the part 20 via two L-shaped parts 28, 30. The two L-shaped parts 28, 30 are articulated between L by a sliding pivot link 32, the L-shaped part 28 is articulated in rotation on the brake shaft 8 and the L-shaped part 30 is rotatably attached to the part 20.
    The interface includes stops to limit the displacement in the X and Y plane of the lever, in the example shown the stops are formed by a frame 33 arranged around the lever above the cardan joint.
    Advantageously, the interface comprises means 34 for returning to the rest position, i.e. the lever coaxial with the Z axis. These means are for example of the magnetic type disposed between the frame 2 and the cardan joint. These are for example two permanent magnets aligned with the axis Z, one being carried by the frame and the other by the cardan system and exerting a magnetic restoring force. Alternatively, a spring return system could be used, however it could induce friction.
    The lever can then be moved around the two axes X and Y and the brakes 6, 8 are able to apply resistant torques around its axes depending on the position of the lever and / or the action intention of the 'user.
    On the one hand, any other articulation between the lever and the brakes making it possible to produce an interface with at least two degrees of freedom is within the scope of the present invention, such as that described for example in the document Bin Liu. Development of 2d hoptic devices working with mognetorheologicol fluids. Moster's thesis, University of Wollongong, Austrolio, 2006 or in the document A. Milecki, P. Bachman, ond M. Chciuk. Control of o smoll robot by hoptic joystick with magnetorheologicalfluid. Mechatron. Syst. Mater.-MSM, 7, 2011.
    On the other hand, the brake structure could be different. Instead of a skirt, for example a disc could interact with the magnetorheological fluid. Furthermore, the brake could be of electrorheological or electromagnetic type. It can also be envisaged to use ultrasonic actuators using the principle of ultrasonic lubrication. Such actuators use, for example, piezoelectric ceramics vibrated. Unlike magnetorheological and electrorheological brakes, the ultrasonic actuators present a maximum resistant force when no current is supplied to the actuators. An ultrasonic brake that can be used in haptic devices is for example described in the document Koyama, Totsuyo, Kenjiro Tokemuro, and Takashi Maeno. Development of on Ultrosonic Broke. Journal of Advanced Mechanical Design, Systems, ond Monufocturing 1, no. 1 (2007): 122-129.
    In addition, the brake axes may not be perpendicular. In addition, the interface could have more than two brakes, for example it could have three axes at 120 °, each being provided with a brake
    The structure could be at three degrees of angular freedom.
    Furthermore, mechanical amplification systems, for example with capstans or gears could be used to reinforce the sensations of abutment or reduce the size.
    One could also consider that the effector 4 is movable along the axis Z offering a third degree of freedom. The effector 4 could also be controlled in rotation about the Z axis.
    In FIGS. 6A and 6B, one can see other embodiments of an interface with two degrees of freedom according to the invention. The same references as those used for Figures 3A and 3B are used for Figures 6A and 6B.
    In FIG. 6A, the structure of the cardan connection is similar to the structure of the interface in FIGS. 3A and 3B, but the user’s action intention sensor is linked to the effector 4 and has a force sensor 36 directly measuring the force applied to the effector 4.
    In FIG. 6B, the two brakes are assembled in series by a cardan connection 18 ′, the action intention is obtained by means of the measurements of the torques at the level of the brakes as for the interface of FIGS. 3A and 3B.
    An example of operation of the interface will now be described.
    The user grasps the joystick and moves it. The position sensor (s) measure the position of the joystick around the X and Y axes and the intention sensor (s) detect at least the direction of the force exerted by the user on the joystick. The information is processed by a control unit which sends orders to the brakes to generate a given resistance around the X and Y axes according to predetermined haptic patterns to be reproduced as a function of the position of the lever. The displacement speed vector (direction and amplitude) of the joystick and / or the acceleration vector (direction and amplitude) can also be taken into account, these can be obtained by deriving the measurements made by the position sensor.
    Electromagnetic fields are generated in the brakes causing an increase in the viscosity of the magnetorheological fluid.
    The magnetorheological and electrorheological brakes have a very short response time, of the order of a few milliseconds, and a large dynamic of resistive effort. They can then produce a wide variety of haptic patterns.
    The brakes can simulate stops, for example indicating to the user that he has reached a limit configuration that he is not allowed to exceed, reprogrammable notches with different spatial frequencies and different shapes, for example rectangular, sinusoidal , triangular, variable resistance ... the haptic patterns can be such that they guide the lever in a given direction.
    As indicated above, the control of the brakes is carried out on the basis of the state of actuation of the lever, ie on the basis of its position and at least of the direction of the force applied by the user on the controller. The control unit can also take into account the direction and the amplitude of the speed vector, and / or the direction and the amplitude of the throttle movement acceleration vector and / or the amplitude of the force applied to the joystick.
    Thanks to the information provided on the direction of the force applied to the joystick, it is possible to guide the joystick along complex trajectories.
    A graphical representation of an example of guidance is shown in Figure 5.
    We wish, for example, to realize a virtual stop for the joystick along a diagonal plane P shown in gray in FIG. 5. The zone ZL situated below the plane P is free, ie no action of the brakes limits the movement of the joystick and the zone ZC situated above the plane P is controlled, ie the control unit controls the brakes so that they apply resistant forces to the lever.
    The information provided by the position sensors is used to determine the position of the joystick. If the lever is in the free zone ZL, no brake activation order is given, the lever can be moved freely.
    If the lever is located on the guide plane P at point J, the direction of the force applied by the user is determined using the force or torque sensors.
    If the force detected has a direction tending to cause a movement inside the controlled zone ZC (shaded zone in FIG. 5) in the direction of point A, then the control unit sends an order to the brake 8 to block the movement around the Y axis and the brake 6 to release any force around the X axis. The user is then encouraged to join the point A 'lying on the plane P.
    If the force detected has a direction tending to cause movement within the controlled zone ZC in the direction of point B, then the control unit sends orders to the brakes 6 and 8 to block the movements around the axes X and Y.
    If the force applied has a direction tending to cause a movement inside the controlled zone ZC in the direction of point C, then the control unit sends an order to the brake 6 to block the movement around the axis X and the brake 8 releasing any resistant force around the axis Y, in order to encourage the user to reach point C '.
    If the applied force has a direction tending to cause a movement outside the controlled zone ZC in the direction of point D, then the brakes X and Y are released.
    Very advantageously, it can be provided that the intensity of the resisting force around one or other of the directions depends on the position of the lever relative to the guide plane. For example, it can be provided that the more the lever enters the controlled area, the greater the forces applied by the brakes. The effect felt would then be a “soft zone” of transition between the free zone and the controlled zone in order to indicate to the user that he has crossed the plane P and that he has entered the controlled zone.
    Very advantageously, the force sensor or sensors measure the intensity of the force exerted by the user. The resistance applied by the brake or brakes can be modulated according to the intensity of the effort, which makes it possible to offer a more flexible guidance instead of the feeling of abutment or wall which does not help the guidance. The haptic feeling is then significantly improved.
    It will be understood that the plane could be curved, for example the controlled area could be inside or outside a circle. In addition, it will be understood that the zone ZL could also be a controlled zone, the effector would then be guided along the plane P or along a curve, for example a circle. For example, the lever 4 could, according to a given haptic pattern, be authorized only to pivot around the axis Z along a closed curve forming a circle. Any other trajectory is possible, it can combine straight portions of different directions, curved portions of different curvature, straight portions and curved portions, etc.
    Thanks to the invention, there is an early knowledge of the direction in which the user intends to move the lever, allowing the brakes to be controlled accordingly. The rapid response time of the magnetorheological and electrorheological brakes allows transparent use vis-à-vis the user who is not aware of the activation of the brakes which removes the effects of "sticking" and contributes to giving the sensation a mechanical device and not an electromechanical brake.
    The force measurement notably makes it easier to produce haptic patterns of the stop or freewheel type in which the movement is blocked when the user exerts a force towards a precise direction. This allows the controller to make actuation decisions without the effector having moved, it is thus possible, as shown in the image below, to block the movement according to a certain angular range as shown in FIG. 2.
    In addition, by using very reactive brakes, very fine guidance of the effector is obtained.
    The reaction time of the magneto-rheological system is less than 10 ms, preferably of the order of a few milliseconds, for example between 3 ms and 5 ms.
    In the case of a brake using acoustic lubrication technology, the reaction time can be less than 1 ms. For example, the overall loop time (measurement + actuation) can be less than 10 ms. By considering only the measurement, a frequency of 1 kHz can be chosen, which corresponds to 1 ms between 2 measurements.
    Thanks to the invention, there is a haptic interface which, at the same time, provides effective effector guidance and having a good haptic feeling and ensures the safety of the user, because it implements passive brakes. unlike haptic interfaces using electric motors.
    A haptic interface according to the invention can be used in the automotive field to equip a dashboard and control different functions without requiring visual attention from the user, in the aeronautical field, in the field of remote controls, in the field video games.
    权利要求:
    Claims (12)
    [1" id="c-fr-0001]
    1. Haptic interface with at least two degrees of freedom comprising:
    - at least one element of interaction (4) with a user,
    - at least two passive brakes (6, 8) each extending along an axis (X, Y), each of the brakes (6, 8) being able to exert a resistant force around its axis (X, Y ), said efforts being controllable,
    - means for measuring (14, 16) of a position of the interaction element (4) with a user,
    - Detection means (11, 13, 36) of the user's intention to act on the interaction element (4) with the user
    a control unit (UC) capable of sending brake audit orders according to information on the position of the element of interaction with the user and on the intention of action of the user, so that said passive brakes (6, 8) generate resistant forces according to at least one given haptic pattern.
    [2" id="c-fr-0002]
    2. haptic interface according to claim 1, in which means for detecting (11, 13, 36) the intention of action of the user on the element of interaction (4) with the user detect the direction of an effort applied to the interaction element (4) with the user
    [3" id="c-fr-0003]
    3. haptic interface according to claim 2, in which means for detecting (11, 13, 36) the intention of action of the user on the element of interaction (4) with the user measure the intensity of effort.
    [4" id="c-fr-0004]
    4. Haptic interface according to claim 1, 2 or 3, in which means for detecting (36) the user's intention to act comprise at least one force sensor linked to the interaction element ( 4) with the user.
    [5" id="c-fr-0005]
    5. Haptic interface according to claim 4, in which the force sensor (36) is a capacitive sensor in contact with the interaction element (4) with the user and comprises at least several capacitors with variable capacity, including the capacity varies as a function at least of the direction of the force applied to the element of interaction with the user.
    [6" id="c-fr-0006]
    6. haptic interface according to one of claims 1 to 4, wherein the means for detecting the intention of action of the user on the interaction element (4) with the user comprises a sensor at the level of each brake, said sensors being able to detect the torques exerted around each of the axes.
    [7" id="c-fr-0007]
    7. Haptic interface according to one of claims 1 to 6, in which the passive brakes (6, 8) comprise a fluid whose apparent viscosity varies as a function of an external stimulus, for example a magnetorheological fluid, and a system of generation of said stimulus on command in said fluid and a fluid interaction element arranged in the fluid and mechanically connected to the interaction element (4) with the user.
    [8" id="c-fr-0008]
    8. Haptic interface according to one of claims 1 to 7, in which the user interaction element (4) and the passive brakes (6, 8) are mechanically connected by a cardan joint (18,18j .
    [9" id="c-fr-0009]
    9. haptic interface according to one of claims 1 to 8, comprising magnetic return means (34) of the interaction element (4) with the user in a rest position.
    [10" id="c-fr-0010]
    10. Method for controlling a haptic interface according to one of claims 1 to 9, in which, when the control unit (UC) applies a haptic pattern for guiding the interaction element (4) with the user at least along one side of a given plane, the control unit:
    - determines the position of the interaction element (4) with the user,
    - determines at least the direction of the force applied to the interaction element (4) with the user
    - Sends orders to the passive brakes (6, 8) so that the resistant forces generated generate the user to approach the plane.
    [11" id="c-fr-0011]
    11. The control method as claimed in claim 10, in which the intensity of the force applied to the interaction element (4) with the user is measured and the intensities of the resistant forces applied by the passive brakes (6, 8) are
    10 dependent on the intensity of the effort.
    [12" id="c-fr-0012]
    12. The control method as claimed in claim 10 or 11, in which the interaction element (4) with the user is guided only on one side of the plane and in which the intensities of the resistant forces applied by the brakes Passives (6, 8) are dependent on the position of the element of interaction (4) with the user relative to the plane so as to provide a haptic feeling to the user when crossing the plane.
    S.60708
    1/4
    BD UC
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    公开号 | 公开日
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    法律状态:
    2017-09-29| PLFP| Fee payment|Year of fee payment: 2 |
    2018-03-23| PLSC| Publication of the preliminary search report|Effective date: 20180323 |
    2018-09-28| PLFP| Fee payment|Year of fee payment: 3 |
    2019-09-30| PLFP| Fee payment|Year of fee payment: 4 |
    2020-09-30| PLFP| Fee payment|Year of fee payment: 5 |
    2021-09-30| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1658875|2016-09-21|
    FR1658875A|FR3056315B1|2016-09-21|2016-09-21|HAPTIC INTERFACE WITH AT LEAST TWO DEGREES OF FREEDOM HAVING IMPROVED HAPTIC RESOURCE|FR1658875A| FR3056315B1|2016-09-21|2016-09-21|HAPTIC INTERFACE WITH AT LEAST TWO DEGREES OF FREEDOM HAVING IMPROVED HAPTIC RESOURCE|
    EP17783935.4A| EP3516483A1|2016-09-21|2017-09-21|Haptic interface with at least two degrees of freedom having an improved haptic sensation|
    PCT/FR2017/052539| WO2018055296A1|2016-09-21|2017-09-21|Haptic interface with at least two degrees of freedom having an improved haptic sensation|
    US16/334,901| US11048330B2|2016-09-21|2017-09-21|Haptic interface with at least two degrees of freedom having an intention detector|
    JP2019515569A| JP2019530092A|2016-09-21|2017-09-21|Tactile interface with at least two degrees of freedom that improves tactile sensation|
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