CN106796455B - 提供对力觉感的改进控制的力觉接口 - Google Patents

提供对力觉感的改进控制的力觉接口 Download PDF

Info

Publication number
CN106796455B
CN106796455B CN201580055797.8A CN201580055797A CN106796455B CN 106796455 B CN106796455 B CN 106796455B CN 201580055797 A CN201580055797 A CN 201580055797A CN 106796455 B CN106796455 B CN 106796455B
Authority
CN
China
Prior art keywords
force
value
interaction element
user
database
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201580055797.8A
Other languages
English (en)
Chinese (zh)
Other versions
CN106796455A (zh
Inventor
劳伦特·艾克
何塞·洛扎德
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Commissariat a lEnergie Atomique et aux Energies Alternatives CEA filed Critical Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Publication of CN106796455A publication Critical patent/CN106796455A/zh
Application granted granted Critical
Publication of CN106796455B publication Critical patent/CN106796455B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/25—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using haptic output
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/80—Arrangements for controlling instruments
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/126—Rotatable input devices for instruments
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/08—Controlling members for hand actuation by rotary movement, e.g. hand wheels
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H19/00—Switches operated by an operating part which is rotatable about a longitudinal axis thereof and which is acted upon directly by a solid body external to the switch, e.g. by a hand
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H3/00—Mechanisms for operating contacts
    • H01H2003/008—Mechanisms for operating contacts with a haptic or a tactile feedback controlled by electrical means, e.g. a motor or magnetofriction

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • User Interface Of Digital Computer (AREA)
CN201580055797.8A 2014-09-29 2015-09-29 提供对力觉感的改进控制的力觉接口 Expired - Fee Related CN106796455B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR1459182A FR3026551B1 (fr) 2014-09-29 2014-09-29 Interface haptique offrant une maitrise du ressenti haptique amelioree
FR1459182 2014-09-29
PCT/EP2015/072317 WO2016050718A1 (fr) 2014-09-29 2015-09-29 Interface haptique offrant une maîtrise du ressenti haptique amelioree

Publications (2)

Publication Number Publication Date
CN106796455A CN106796455A (zh) 2017-05-31
CN106796455B true CN106796455B (zh) 2020-02-07

Family

ID=51866252

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580055797.8A Expired - Fee Related CN106796455B (zh) 2014-09-29 2015-09-29 提供对力觉感的改进控制的力觉接口

Country Status (6)

Country Link
US (1) US10246069B2 (enExample)
EP (1) EP3201732B1 (enExample)
JP (1) JP6634441B2 (enExample)
CN (1) CN106796455B (enExample)
FR (1) FR3026551B1 (enExample)
WO (1) WO2016050718A1 (enExample)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3010547B1 (fr) * 2013-09-09 2016-12-23 Dav Interface de commande a retour haptique
FR3010546B1 (fr) * 2013-09-09 2016-12-23 Dav Interface de commande a retour haptique
US10234960B1 (en) 2017-04-18 2019-03-19 Apple Inc. Variable response key and keyboard
CN108836765B (zh) * 2018-07-11 2021-03-26 国家康复辅具研究中心 智能助行装置以及用于控制其提供助行的方法
CN110822008B (zh) * 2019-11-21 2021-04-30 山东大学 一种基于磁流变液的驱动器
DE102019219437A1 (de) * 2019-12-12 2021-06-17 Zf Friedrichshafen Ag Bedienvorrichtung, Fahrzeug und Verfahren zum Betreiben eines Fahrzeugs
CN111731253B (zh) * 2020-06-08 2022-05-24 南京航空航天大学 集成式电子液压制动系统制动力控制装置及其控制方法
CN116507823A (zh) * 2020-10-15 2023-07-28 洛德公司 鼓式触觉反馈装置转向单元和方法
JP7465836B2 (ja) * 2021-03-09 2024-04-11 ヤンマーホールディングス株式会社 操作装置及び建設機械
DE102021120630A1 (de) * 2021-04-21 2022-10-27 Inventus Engineering Gmbh Bediensystem mit wenigstens einer Bedieneinrichtung und mit wenigstens einer Schnittstelleneinrichtung und Verfahren zum Betreiben eines Bediensystems
GB2607922A (en) * 2021-06-16 2022-12-21 Daimler Ag Haptic control module for a vehicle
JP7780987B2 (ja) * 2022-03-08 2025-12-05 本田技研工業株式会社 遠隔制御システム
US12124641B1 (en) * 2023-04-18 2024-10-22 GM Global Technology Operations LLC Translating rotary control
DE102023126552A1 (de) 2023-09-28 2025-04-03 Preh Gmbh Bedienelement mit einem drehbeweglich gelagerten Betätigungsteil und einer elektrisch ansteuerbaren Bremse zur Erzeugung einer Rasthaptik sowie zugehöriges Verfahren und Verwendung

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101642908A (zh) * 2009-09-01 2010-02-10 东南大学 用于实现遥操作机器人控制的人机接口装置的被动力/力矩反馈驱动器

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3686686B2 (ja) * 1993-05-11 2005-08-24 松下電器産業株式会社 力覚呈示デバイス、データ入力装置、及びデータ入力デバイス装置
JP2003150261A (ja) * 2001-11-15 2003-05-23 Alps Electric Co Ltd ダンパー力付与操作制御装置
US7982711B2 (en) 2003-12-19 2011-07-19 Immersion Corporation Haptic profiling system and method
US8174512B2 (en) 2006-06-02 2012-05-08 Immersion Corporation Hybrid haptic device utilizing mechanical and programmable haptic effects
US8621348B2 (en) 2007-05-25 2013-12-31 Immersion Corporation Customizing haptic effects on an end user device
FR2930655B1 (fr) * 2008-04-29 2013-02-08 Commissariat Energie Atomique Interface a retour d'effort a sensation amelioree
FR2930654B1 (fr) * 2008-04-29 2013-02-08 Commissariat Energie Atomique Interface haptique a effort de freinage augmente
JP2010250421A (ja) * 2009-04-13 2010-11-04 Tokai Rika Co Ltd 操作装置
JP5471393B2 (ja) * 2009-12-11 2014-04-16 株式会社日本自動車部品総合研究所 入力装置
EP2518591B1 (en) * 2011-04-25 2018-05-30 LS Automotive Technologies Co., Ltd. Haptic steering wheel switch apparatus and haptic steering wheel switch system including the same
JP2013222399A (ja) * 2012-04-18 2013-10-28 Sony Corp 操作方法、制御装置及びプログラム
FR3010547B1 (fr) 2013-09-09 2016-12-23 Dav Interface de commande a retour haptique
FR3026553B1 (fr) * 2014-09-29 2021-03-19 Commissariat Energie Atomique Interface haptique prenant en compte l'intention d'action de l'utilisateur

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101642908A (zh) * 2009-09-01 2010-02-10 东南大学 用于实现遥操作机器人控制的人机接口装置的被动力/力矩反馈驱动器

Also Published As

Publication number Publication date
FR3026551A1 (fr) 2016-04-01
US20180229704A1 (en) 2018-08-16
CN106796455A (zh) 2017-05-31
EP3201732A1 (fr) 2017-08-09
JP2017530473A (ja) 2017-10-12
WO2016050718A1 (fr) 2016-04-07
US10246069B2 (en) 2019-04-02
JP6634441B2 (ja) 2020-01-22
FR3026551B1 (fr) 2017-12-22
EP3201732B1 (fr) 2020-03-04

Similar Documents

Publication Publication Date Title
CN106796455B (zh) 提供对力觉感的改进控制的力觉接口
JP6563010B2 (ja) 改善された触覚レンダリングを有する触覚インタフェース
CN108139765B (zh) 具有改进的力觉反馈的混合力觉接口
US10386929B2 (en) Haptic interface providing improved haptic feedback especially in the reproduction of a stop
JP6133360B2 (ja) 電動ブレーキ装置
JP5436191B2 (ja) インホイール型モータ内蔵センサ付き車輪用軸受装置
CN110733562B (zh) 用于控制线控转向系统的设备和方法
US20190217885A1 (en) Steering mechanism with haptic feedback
JP2002195897A (ja) トルクを測定するための装置及び該装置を備えるモジュール
JP2017530473A5 (enExample)
JP2005148063A (ja) 絶対トルクを検出するシステムと該システムからなるモジュール
GB2386881A (en) A simulated steering resistance system
US20120153938A1 (en) Angle sensor
WO2008039837A2 (en) Steering wheel position sensor
JP4483225B2 (ja) 電気ブレーキ装置
CN112623020A (zh) 转向装置
JP3695171B2 (ja) 車両用電動ブレーキ装置
WO2005056357A1 (ja) 操作入力装置
JP2002316502A (ja) リムホイール、リム組付けタイヤ、タイヤの状態検出装置、ａｂｓ、車両、タイヤの状態検出方法及びａｂｓの制御方法
KR102523442B1 (ko) 조향제어장치 및 조향제어방법
Djordjevic et al. A Novel Torque Sensing Approach to Eliminate Stiction in Haptic Devices with Hybrid Motor/Brake Actuation
JP2004053347A (ja) 回転角度計測装置

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20200207

Termination date: 20200929

CF01 Termination of patent right due to non-payment of annual fee