DE102012008784A1 - Haptic user interface - Google Patents

Abstract

The invention relates to a haptic user interface for a hand comprising a first device (1) for electromechanical conversion operatively connected to a first probe element (2), which first probe element (2) is arranged to change its haptic state. According to the invention, it is proposed that the haptic user interface comprises a second device (3) for electromechanical conversion operatively connected to a second probe element (4), which second probe element (4) is set to change its haptic state, the first probe element (2) and the second probe element (4) are arranged so that the haptic state of the first probe element (2) and the haptic state of the second probe element (4) can be detected simultaneously with a finger and the first probe element (2) its haptic state independent of the haptic Condition of the second probe element (4) can take. The invention also relates to a portable mobility aid (17) having such a haptic user interface.

Description

The invention relates to a haptic user interface for a hand with the features of the preamble of claim 1.

Especially for blind persons or persons with other impairments of vision, the haptic perception, which encompasses perception by all senses of the skin and sensitivity to depth, forms an important possibility for both conveying and receiving information. This is especially true for situations in an environment where there may be a variety of sources of noise or a multitude of other people. Because, in principle, information can also be communicated acoustically, but this is at the expense of the perceptibility of the already existing acoustic information. By using the haptic is thus avoided that the sense of hearing is overloaded with information.

The herein haptic user interface can be used for a variety of applications. Known haptic user interfaces consist of one or more probe elements, which can change their haptic state. This can be done by a Braille display in the touch elements, more often it happens by a. Agility of the feeler elements. These sensing elements on a device may be touched by one or more fingers of a user. The user can now generate a signal by changing the haptic state of the probe element or of the probe elements themselves, for example by moving them to a certain position. Alternatively or additionally, the device can give a signal to the user by the feeler or the feeler elements change their haptic state and are moved, for example by a motor in a certain direction, whereby a force is exerted on the respective fingers of the user. Such a mechanism is generally known as force feedback from the field of input devices of computer game hardware, such as joypads.

It is particularly useful if the probe element or the probe elements can not only change their haptic state with one degree of freedom, but this variability of the probe elements has several degrees of freedom.

It is also very important for the haptic user interfaces here-in contrast to the computer game hardware-that a finger is already sufficient for interaction with the user interface since the mobility aids in which it is to be used can advantageously also be operated by only one hand which means the use of the haptic interface with a finger. In contrast, computer game hardware is held regularly with both hands.

It is known from the prior art that such mobility of the haptic user interface with two degrees of freedom is achieved by arranging, as it were, two mechanisms for the movement in one degree of freedom one behind the other. So revealed the EP 1 813 244 A2 a portable display device in which a probe element is pivotally mounted in a first bearing about a vertical axis and the first bearing is pivotally mounted in a second bearing about a transverse axis.

A disadvantage of such an arrangement is that the pivotable mounting of another bearing leads to a disproportionate increase in the structural complexity and thus to disproportionate costs and an increased risk of failure.

The above problem is solved in a haptic user interface according to the preamble of claim 1 by the features of the characterizing part of claim 1.

It is essential to realize that not necessarily the same probe element this haptic variability, z. B. must have a mobility in two or more degrees of freedom. Rather, this functionality can also be divided into two or more individual feeler elements, which each have a mobility in one degree of freedom, as long as they are arranged so that they can always be detected both simultaneously with a finger. The detectability of the sensing elements with a finger also means that the sensing elements can be pressed by this finger and thus moved.

It should be noted at this point that the feature of the detectability of both probe elements by a finger here only one way of defining the positioning of the two probe elements provides each other. In principle, the user interface may be arranged to be "readable" by other extremities of the user.

According to the proposal, at least one of the two feeler elements is designed as a flat feeler element. This means that the probe element is not a tip, but rather is perceived as a surface by a touch operation. Disk-shaped feeler elements have proven to be useful here, as will be explained below.

Due to the division into two scanning elements, the respective mobility of the probe element can be implemented completely independently of the respective other probe element. Instead of a situation, for example, in which there is a cascaded and therefore dependent storage, according to the invention a orthogonal storage in the mathematical sense can be achieved, in which therefore a mechanical and functional decoupling of the two mobilities. By dividing these into separate mechanical systems, each individual system can be reduced in complexity on its own, with consequent gains in economy and robustness against external forces.

In addition, a haptic user interface according to the invention also offers the possibility of prioritizing a haptic change in state of, for example, the first probe element higher than a haptic change of state of the second probe element. It would be conceivable to block the movement of the first probe element while simultaneously enabling the movement of the second probe element or vice versa. In any case, according to the invention, this is more favorable and simpler to implement than the restriction of the movement in one degree of freedom of a single probe element, which is basically movable with two degrees of freedom.

The subject matter of claim 3 describes a particularly suitable combination of degrees of freedom of mobility. The operability of two scanning elements by means of a finger presupposes that they always comply with a certain maximum distance from each other regardless of their current position. A rotational mobility of a probe element is better suited than a purely translational mobility in order to avoid too large a spatial separation of the two probe elements by such a reciprocal movement.

Also particularly advantageous is an embodiment according to claim 6, wherein a probe element is formed by a disc and this can be moved about an axis of rotation which is parallel to a disc surface and in or on the disc. Thus, the radius of rotation of the disc can be reduced, which makes it easier to store the disc so tightly that no water or other contaminants can penetrate through gaps on the disc edges.

The prestressing of the disc provided in the particularly preferred embodiment of claim 8 makes it possible for the first device for electromechanical conversion to exert a force on the disc at most in one direction.

A particularly compact, dense and with a single finger, especially a thumb, very easy to use haptic user interface provides the preferred embodiment according to claim 10, which comprises two substantially concentric to each other arranged disc-shaped sensing elements, each rotating about a rotation axis. In this way, the distance between the two probe elements regardless of their respective position remains consistently small.

Finally, the use of a cable transmission or a hydraulic transmission according to the particularly preferred embodiment of claim 14 allows to arrange the sensors or actuators in quasi any distance from the probe elements, which u. a. opens the possibility to achieve by their positioning a desired weight distribution in a hand device with the haptic user interface according to the invention.

It is particularly advantageous to use the inventive haptic user interface as part of a portable mobility aid for visually impaired persons, which corresponds to the subject matter of claims 16 to 18.

In the following the invention will be explained in more detail with reference to a drawing showing only one exemplary embodiment. In the drawing shows

1 a) a schematic representation of a proposed haptic user interface with two probe elements, b) the first probe element and c) the second probe element,

2 a portable mobility aid with the proposed haptic user interface from the 1 ,

The haptic user interface shown in the drawing is adapted to be operated with only one hand. Since it is particularly suitable for a device that is held in one hand, the haptic user interface can even be operated with only a single finger of that hand. In this way, an operation with one hand is possible while this hand holds the device and thus without the need to turn off the device.

According to the invention, the haptic user interface comprises a first device 1 for electromechanical conversion. By this is meant a device which converts either an electrical signal into a haptic state change, such as a mechanical movement or other change, or conversely, such a haptic state change into an electrical one Signal converts or can cause a conversion in both directions. The conversion mechanism in one direction may work quite differently than the conversion mechanism in the other direction. For example, the conversion of the electrical signal into a mechanical movement can take place by means of a stepper motor controlled by the electrical signal while at the same time this movement is detected by a position sensor and a different electrical signal is emitted therefrom. However, one and the same mechanism may be responsible for this conversion in both directions, for example based on the piezoelectric effect.

Actively connected to the first device according to the invention 1 is a first probe element 2 , which is set up so that it can change its haptic state. With the haptic state is the sum of the characteristics of the probe element 2 meant, which can be perceived haptically - ie with the skin senses and the depth sensitivity. In particular, this includes both the position of the probe element 2 as well as its surface texture in the broader sense.

Actively connected here and below means that the device in question for electromechanical conversion, either triggered by a received electrical signal, can causally bring about a change in the haptic state of the corresponding probe element or conversely an otherwise caused change in the haptic state of this probe element of the device for electromechanical conversion be recorded and from it a corresponding electrical signal can be generated. The existing active compound can also mean that both possibilities described are realized equally and therefore not mutually exclusive.

Next, a second device according to the invention 3 provided for electromechanical conversion, which with a second probe element 4 is operatively connected, which is also set up to change its haptic state. In this case, the type of change of the haptic state of the second probe element needs 4 not with that of the first probe element 2 match.

The first probe element 2 and the second probe element 4 are arranged so that the haptic state of the first probe element 2 and the haptic state of the second probe element 4 can be detected simultaneously with one finger. This finger may in particular be a thumb. As far as the first probe element 2 and the second probe element 4 are also adapted to respond to a mechanical action by a finger - such as by an electrical signal from the respective device for electromechanical conversion is generated - so the simultaneous detectability with a finger also means the possibility at the same time and thus in any case without a detachment of the Fingers on both feeler elements 2 . 4 to interact with the finger. An alternative quantification of the simultaneous detectability of the haptic state of the two sensing elements 2 . 4 may be that regardless of the respective haptic state of the two sensing elements 2 . 4 this a distance 5 one centimeter apart - measured as the shortest distance 5 between the two feeler elements 2 . 4 - Do not exceed, more preferably not exceed a distance of five millimeters. A particularly good simultaneous detectability results when the feeler elements 2 . 4 Do not exceed a distance of two millimeters.

According to the invention can now be the first probe element 2 its haptic state regardless of the haptic state of the second probe element 4 taking. This includes both the taking of a haptic state, which by the first device 1 is caused to the electromechanical conversion and thus goes back to an electrical signal, as well as one which is based on a mechanical action by the finger. This independence provides a mechanical decoupling of the two sensing elements 2 . 4 by which the respective ability to change the haptic state for the first probe element 2 and the second probe element 4 orthogonal and thus independent of the other probe element 2 . 4 can be implemented, which allows many constructive simplifications.

Here and preferably, both feeler elements 2 . 4 around flat; here disk-shaped, feeler elements, which, as explained above, are perceived by a touch operation as surfaces. It is also conceivable, however, that the one probe element is a flat probe element, and the other probe element is a tip, for example a stylus of a braille line.

Noteworthy is the fact that a Braille display is also suitable for the provision of a flat probe element, namely, when the Braille styli are jointly perceived as a surface when being touched. A surface formed in this way can be positioned and swiveled at will by controlling the individual feeler pins accordingly.

In a preferred embodiment, the change in the haptic state of the first probe element means 2 a movement of the first scanning element 2 along a first path of movement 6 , Accordingly, the first probe element 2 a movement along the first path of movement 6 regardless of the haptic state of the second probe element 4 perform and thus in particular independent of a position of the second sub-element 4 , Furthermore, according to the first probe element 2 and the second probe element 4 each arranged so that a position of the first probe element 2 and the haptic state - here again in particular the position - of the second probe element 4 can be detected simultaneously with the finger.

In a further preferred embodiment, the first movement path 6 a movement about a first axis of rotation 7 dar. The movement of the first probe element 2 is thus a rotational movement about this axis 7 , By a rotational movement of the first probe element 2 can be achieved more easily on a regular basis, that the small or almost missing distance 5 to the second probe element 4 can be maintained. The term rotation axis is here purely meant below the defined by the rotational movement, geometric axis. Consequently, no physical axis necessarily exists for this.

It is also preferred that the change in the haptic state of the second probe element 4 a movement of the second probe element 4 along a second path of movement 8th means.

Preferably, it is also provided that the second movement path 8th a movement around one - here in the 2 recognizable - second axis of rotation 9 represents. In this case, the first axis of rotation 7 a right angle to the second axis of rotation 9 form. The rotation axes 7 . 9 may further preferably be such that the first axis of rotation 7 and the second rotation axis 9 in the first probe element 2 or in the second probe element 4 to cut.

Particularly suitable for a rotational movement is the preferred embodiment, wherein the first probe element 2 a first, here and preferably substantially circular, disc 2a includes and in particular from this first disc 2a consists. In this case, the first axis of rotation 7 parallel to a surface of the first disc 2a run. As a result, that means the disc 2a a tilting movement along its first path of movement 6 performs. Advantageously, the tilting movement and thus the first path of movement 6 so limited that no such big gaps on the edge of the first disc 2a which could cause dust or water to penetrate. In the 2 is shown that the first axis of rotation 7 transverse to a longitudinal axis 1a is aligned so that the disc 2a - related to this longitudinal axis 1a - Performs a tilting movement in the forward and backward direction. Just as well, the first axis of rotation 7 also along the longitudinal axis 1a which still makes them a right angle to the axis of rotation 9 would form. From the point of view of the serving hand, however, there would be a tilting movement in the lateral direction or, in other words, in left-right direction.

It is also advantageous to whom the first axis of rotation 7 in the first disc 2a or on a surface of the first disc 2a runs. With a course of the rotation axis 7 in the first disc 2a is meant that the geometric axis of rotation 7 the first disc 2a cuts. With a course along the surface of the first disc 2a is meant that the geometric axis of rotation 7 the disc 2a touched on this surface. This embodiment ensures that the with the disc 2a in contact fingers does not need to perform any major movement over the entire path of movement 6 to stay in contact with the disc.

Also particularly preferred is that the haptic user interface comprises a spring means which is adapted to the first probe element 2 along the first path of movement 6 pretension. If now the first probe element 2 from the first device 1 is to be brought to a position for electromechanical conversion, then this only in one direction - namely opposite to the bias - exert a force. A possible constructive implementation of this concept is to use an eccentric on the first probe element 2 act. This offers the further advantage that the eccentric can not run into a stop.

A further preferred embodiment provides that the second probe element 4 a second disc 4a with a substantially circular recess 10 includes. The second disc 4a is here and preferably designed annular and more preferably concentric with the first disc 2a aligned. It is particularly preferred that the second axis of rotation 9 perpendicular to the second disc 4a continues and continues that second axis of rotation 9 through the middle of the recess 10 runs. Such a course of the second axis of rotation 9 means one Rotation of the second disc 4a around its own axis, making one on the second disc 4a resting finger regardless of the position of the second disc 4a always in contact with her.

A particular embodiment provides that the first probe element 2 - here the first disc 2a - In the circular recess 10 is arranged. In such an arrangement and a rotation of the second disc 4a around its own axis - the second axis of rotation 9 on the one hand and a rotational tilting movement of the first disc 2a On the other hand, on the other hand, there can be a constant engagement of the finger with both discs 2a . 4a be guaranteed. The clear demarcation of the tilting from the rotational movement but also allows a precise differentiation of the two types of movement. In other words, it is easier for the user to specifically effect one of the two types of movement or to perceive without running the risk of having inadvertently triggered or otherwise mistakenly perceived the respective other type of movement.

This distinctive demarcation of the tilting of the rotational movement is also given in a further preferred embodiment, which completely corresponds to the embodiment just described with the only difference that the first, internally arranged disc 2a a rotary movement and the second, externally arranged disc 4a performs a tilting movement. This tilting movement, in turn, can take place either laterally or in the forward and backward direction.

A further embodiment is advantageous in which at least one surface of the first probe element 2 and at least one surface of the second probe element 4 in at least one haptic state of the first probe element 2 , Preferably in at least one position of the first probe element 2 along the first path of movement 6 , and in at least one haptic state of the second probe element 4 , in particular in at least one position of the second probe element 4 along the second path of movement 8th to form a plane. In this way, at least for a feeler element, which no longer forms this level on its respective path of movement at other positions, through this plane position a defined, also haptically detectable for the user. Be defined starting position.

A preferred embodiment provides that the second probe element 4 a haptic state independent of a haptic state of the first probe element 2 can take. This is the already inventively required independence of the haptic state of the first probe element 2 from the haptic state of the second probe element 4 in a reciprocal manner. In particular, when the haptic state of the second probe element 4 by a position of the second probe element 4 along the second path of movement 8th is formed, this means that the second probe element 4 a movement along the second path of movement 8th regardless of a position of the first probe element 2 can perform.

To a movement of the first or second probe element 2 . 4 to effect or such movement of the respective probe element 2 . 4 transferred to the device, which may be collectively referred to as an interaction, it is preferably provided that the first device 1 for electromechanical conversion, a first transmission 11 , which is preferably a spur gear, for cooperation with the first probe element 2 includes. Alternatively or additionally, in this case comprises the second device 3 for electromechanical conversion, a second transmission 12 , Also preferred is a spur gear, for cooperation with the second probe element 4 , These two gears 11 . 12 can - as well as in the 2 shown - arranged so that they through the operation of the other gearbox 11 . 12 are not affected and can therefore be designed and operated completely independently.

Alternatively to the spur gear is also a worm gear as the first transmission 11 as second gear 12 conceivable.

At the first transmission 11 and the second gear 12 each may be a self-locking or a non-self-locking transmission. The use of a self-locking gear has the advantage that not directly on the affected probe element 2 . 4 a detection must be made to about a position of the probe element 2 . 4 to determine. On the other hand, in a non-self-locking gear possible slippage between the two waves can otherwise damage the transmission 11 . 12 avoid.

Based on this, it can be provided that the first transmission 11 a cable transmission or a hydraulic transmission. These two types of transmissions have the advantage that they are firstly very quiet and provide a pleasant feel and secondly that they can transmit forces effectively even over a long distance without any restrictions on the alignment. This second-mentioned property makes it possible to drive the respective transmission at a greater distance from the probe elements 2 . 4 to arrange. The freedom in the placement of these components within the device with the haptic user interface according to the invention, for example, a particularly suitable weight distribution can be achieved or taken into account in the construction of other geometric constraints. For example, in these types of transmissions, the longitudinal orientation of any existing motors regardless of a direction of movement of the sensing elements 2 . 4 to get voted.

One or both of these hydraulic transmissions may be microhydraulic transmissions.

It is also preferable that the first transmission 11 and / or the second transmission 12 is a friction gear or a lever gear is. The use of a friction gear is advantageous in the event that a feeler on the one hand experiences force in a first direction from an actuator via the transmission and at the same time the user exerts a force in an opposite direction with his finger. Since the friction gear is basically not self-locking, it can come in such a case, the emergence of large forces to slip in the friction gear. In contrast, in a spur gear, there is a risk that one of the involved gears will be damaged.

In the presence of multiple transmissions, each individual transmission can be chosen in its kind, regardless of the type of other transmission, so that readily about the first transmission 11 a rope transmission may be during the second transmission 12 a spur gear is.

A further preferred embodiment is characterized in that the first device 1 for electromechanical conversion and / or the second device 3 for electromechanical conversion a first 13 or a second actuator 14 for converting an electrical signal into a haptic state, preferably into a movement of the first probe element 2 or in a movement of the second probe element 4 , includes.

Preferably, both actuators can be used 13 . 14 each and independently of each other about a rotary actuator, which generates a rotational movement, or to act as a linear actuator, however, which generates a linear translational motion. A particularly suitable actuator of this latter type is for example a magnetic drive.

It is also preferred that the first device for electromechanical conversion and / or the second device for electromechanical conversion have a first 15 or a second one 16 Sensor for converting a haptic state, preferably a position, of the first probe element 2 or the second probe element 4 in an electrical signal. Each of these two sensors can either the haptic state of the first 2 or second probe element 4 Immediately capture and form the electrical signal from this. If also a respective actuator 13 . 14 - As described above - is present and via a respective self-locking gear 11 . 12 with the probe element 2 . 4 is operatively connected, then the respective sensor 15 . 16 also the haptic state of the probe element 2 . 4 and in particular a position of the probe element 2 . 4 by detecting the state of the actuator 13 . 14 determine. This offers the possibility of including the sensor 15 . 16 not in the immediate vicinity of the corresponding probe element 2 . 4 to have to order.

The herein haptic user interface is not limited to only two sensing elements, but may also include further sensing elements, such as a third probe element. In this case, in particular each further feeler element can have a mobility in a respective other direction, so that at least one additional degree of freedom of input and output of the haptic user interface arises for each further feeler element. It is also conceivable that some of the existing sensing elements are movable in more than one direction, but other sensing elements only along a single direction. In this case, all directions defined by the mobility of the feeler elements can be linearly independent of one another.

As a specific example, a third probe element can preferably be arranged as a further ring with a recess around the second probe element. This probe element could be similar to the first probe element for a tilting movement 2 be set, wherein preferably the corresponding axis of rotation perpendicular to the first axis of rotation 7 runs, what a 90 ° to the tilting movement of the first probe element 2 rotated tilting movement corresponds.

Preferably, a haptic user interface according to the embodiments described above is in a portable mobility aid 17 in particular being a portable mobility aid 17 for visually impaired people. Here and preferably corresponds to the longitudinal axis 1a when used as intended in a first approximation of the direction of movement of the user, the first axis of rotation 7 in the first approximation of a transverse axis and the second axis of rotation 9 in the first approximation of a vertical axis.

This portable mobility aid 17 may correspond in shape to a rod-like handle, which may be arranged for additional attachment of a long stick. In this combination it corresponds in appearance and basic principle about a long pole with additional electronic functionality, such as means for distance measurement, a wireless communication connection or other similar features correspond. The haptic user interface allows the user to control this additional functionality and obtain information from it.

Here is the applicability of the portable mobility aid 17 by no means limited to the assistance of visually impaired persons. Thus, a similar application results in a fire service in a building in the interior of which a strong smoke prevails. So here in particular the view of firefighters in use may be temporarily disturbed by the smoke. The same applies to divers, sailors or pilots who also experience inadequate visibility.

In addition, the portable mobility aid 17 be connected as input and output device to a personal computer, such as in the context of the preparation of a visually impaired person on a track to be expired or for use in a computer game.

In the following, some further functionalities of the portable mobility aid will be briefly described by way of example. It is conceivable, for example, two such portable mobility aids 17 which communicate via a wireless link to couple together in a master-slave arrangement. In this case, for example, a non-visually impaired user of the master device can transmit via the haptic user interface of his device orientation information to the slave device, which in turn passes this information via his haptic user interface to his, possibly visually impaired user. In this way, the one person can direct another person and thus support him in his orientation.

However, such an orientation function can also be provided by a single proposed mobility support 17 if it has, for example, a module of a global navigation satellite system (GNSS) and on this basis communicates to the user a specific route guidance. In particular, the global navigation satellite system may be the Global Positioning System (GPS).

By the two independently detectable haptic states of the first probe element 2 on the one hand and the second probe element 4 On the other hand, an orientation information in the sense of a route guidance (by the first probe element 2 ) and once a collision information about any existing obstacles (by the second probe element 4 ) are communicated to the user. This collision information can be generated by corresponding distance sensors of the portable mobility aid. Distance sensors based on ultrasound, radar and laser as well as capacitive sensors and also visual sensors such as video cameras are conceivable here.

Furthermore, a preferred embodiment of the portable mobility aid is characterized 17 characterized in that the first axis of rotation 7 perpendicular to a longitudinal axis 1a portable mobility assistance 17 is aligned and / or the second 9 Rotation axis perpendicular to the longitudinal axis 1a portable mobility assistance 17 is aligned. This choice of orientation of the axes of rotation 7 . 9 is particularly suitable for the operation of the haptic user interface by a thumb of the hand holding the portable mobility aid.

Also, it is particularly preferred that the portable mobility aid 17 a stop 18 has on its upper side, which in the direction of the longitudinal axis 1a is arranged next to the haptic user interface. This stop 18 is concave on the side facing the haptic user interface and is suitable for receiving the thumb or other finger used to manipulate the haptic user interface. By the stop 18 can the position of the haptic user interface on the portable mobility aid 17 quickly and reliably palpates and the respective finger to operate properly positioned.

The stop is preferred 18 arranged on a carriage, which is a displacement of the stopper 18 along the longitudinal axis 1a allowed. In this way, the exact distance of the stop 18 to the haptic user interface depending on the size of the operating hand or the length and thickness of the serving fingers are dynamically adjusted.

Accordingly, it is particularly preferred that the portable mobility aid 17 designed as a one-handed handle. Special advantages result from the fact that it can be grasped by a human hand. It is also advantageous that in such a portable mobility aid 17 the haptic user interface is set up with a thumb of the portable mobility aid 17 to cooperate with one another.

QUOTES INCLUDE IN THE DESCRIPTION

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Cited patent literature

• EP 1813244 A2 [0006]

Claims (19)

Haptic user interface for a hand comprising - a first device ( 1 ) for electromechanical conversion operatively connected to a first probe element ( 2 ), which first probe element ( 2 ) is adapted to change its haptic state, characterized in that it comprises - a second device ( 3 ) for electromechanical conversion operatively connected to a second probe element ( 4 ), which second probe element ( 4 ) is arranged to change its haptic state, - wherein at least one of the two sensing elements ( 2 . 4 ) is designed as a planar probe element or are, - wherein the first probe element ( 2 ) and the second probe element ( 4 ) are arranged so that the haptic state of the first probe element ( 2 ) and the haptic state of the second probe element ( 4 ) are simultaneously detectable with a finger, in particular a thumb, and - wherein the first probe element ( 2 ) its haptic state regardless of the haptic state of the second probe element ( 4 ) can take. Haptic user interface according to claim 1, characterized in that the change in the haptic state of the first probe element ( 2 ) a movement of the first probe element ( 2 ) along a first path of movement ( 6 ) means that the first probe element ( 2 ) a movement along the first path of movement ( 6 ) regardless of the haptic state, in particular a position, of the second probe element ( 4 ) and that the first probe element ( 2 ) and the second probe element ( 4 ) are arranged so that a position of the first probe element ( 2 ) and the haptic state, in particular a position, of the second probe element ( 4 ) are simultaneously detectable with the finger. Haptic user interface according to claim 2, characterized in that the first movement path ( 6 ) a movement about a first axis of rotation ( 7 ). Haptic user interface according to one of the preceding claims, characterized in that the change in the haptic state of the second probe element ( 4 ) a movement of the second probe element ( 4 ) along a second path of movement ( 8th ) means. Haptic user interface according to claim 4, characterized in that the second movement path ( 8th ) a movement about a second axis of rotation ( 9 ), preferably that the first axis of rotation ( 7 ) a right angle to the second axis of rotation ( 9 ), more preferably that the first axis of rotation ( 7 ) and the second rotation axis ( 9 ) in the first probe element ( 2 ) or in the second probe element ( 4 ) to cut. Haptic user interface according to one of the preceding claims, characterized in that the first probe element ( 2 ) a first, preferably substantially circular, disc ( 2a ), preferably that the first axis of rotation ( 7 ) parallel to a surface of the first disc ( 2a ) runs. Haptic user interface according to claim 6, characterized in that the first axis of rotation ( 7 ) in the first disc ( 2a ) or on a surface of the first disc ( 2a ) runs. Haptic user interface according to one of claims 2 to 7, characterized in that it comprises a spring means, which is adapted to the first probe element ( 2 ) along the first path of movement ( 6 ) to bias. Haptic user interface according to one of the preceding claims, characterized in that the second probe element ( 4 ) a second, relative to the first disc ( 2a ) preferably concentric disc ( 4a ) having a substantially circular recess ( 10 ), preferably that the second axis of rotation ( 9 ) perpendicular to the second disc ( 4a ), more preferably that the second axis of rotation ( 9 ) through the middle of the recess ( 10 ) runs. Haptic user interface according to claim 9, characterized in that the first probe element ( 2 ) in the substantially circular recess ( 10 ) is arranged. Haptic user interface according to one of the preceding claims, characterized in that at least one surface of the first probe element ( 2 ) and at least one surface of the second probe element ( 4 ) in at least one haptic state of the first probe element ( 2 ), preferably in at least one position of the first probe element ( 2 ) along the first path of movement ( 6 ), and in at least one haptic state of the second probe element ( 4 ), in particular in at least one position of the second probe element ( 4 ) along the second path of movement ( 8th ), form a plane. Haptic user interface according to one of the preceding claims, characterized in that the second probe element ( 4 ) a haptic state independent of a haptic state of the first probe element ( 2 ), preferably that the second probe element ( 4 ) a movement along the second path of movement ( 8th ) regardless of a position of the first probe element ( 2 ). Haptic user interface according to one of the preceding claims, characterized in that the first device ( 1 ) for electromechanical conversion, a first transmission ( 11 ), preferably a spur gear, for cooperation with the first sensing element ( 2 ) and / or the second device ( 3 ) for electromechanical conversion, a second transmission ( 12 ), preferably a spur gear, for cooperation with the second sensing element ( 4 ). Haptic user interface according to claim 13, characterized in that the first transmission ( 11 ) and / or the second transmission ( 12 ) comprises a cable transmission or a hydraulic, in particular a micro-hydraulic, transmission. Haptic user interface according to one of the preceding claims, characterized in that the first device ( 1 ) for electromechanical conversion and / or the second device ( 3 ) for electromechanical conversion a first ( 13 ) or a second actuator ( 14 ) for converting an electrical signal into a haptic state, preferably into a movement of the first probe element ( 2 ) or in a movement of the second probe element ( 4 ). Haptic user interface according to one of the preceding claims, characterized in that the first device ( 1 ) for electromechanical conversion and / or the second device ( 3 ) for electromechanical conversion a first ( 15 ) or a second ( 16 ) Sensor for converting a haptic state, preferably a position, of the first probe element ( 2 ) or the second probe element ( 4 ) in an electrical signal. Portable mobility aid ( 17 ), in particular for visually impaired persons, characterized in that it comprises a haptic user interface according to one of claims 5 to 16. Portable mobility aid ( 17 ) according to claim 17, characterized in that the first axis of rotation ( 7 ) perpendicular to a longitudinal axis ( 1a ) of the portable mobility aid ( 17 ) and / or the second ( 9 ) Axis of rotation perpendicular to a longitudinal axis ( 1a ) of the portable mobility aid ( 17 ) is aligned. Portable mobility aid ( 17 ) according to claim 17 or 18, characterized in that it is designed as a single-handed grip, preferably that it can be grasped by a human hand, more preferably that the haptic user interface is adapted to a thumb of the portable mobility aid ( 17 ) cooperate with one another.

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