EP1584021A1 - Manual simulation interface - Google Patents

Manual simulation interface

Info

Publication number
EP1584021A1
EP1584021A1 EP03809983A EP03809983A EP1584021A1 EP 1584021 A1 EP1584021 A1 EP 1584021A1 EP 03809983 A EP03809983 A EP 03809983A EP 03809983 A EP03809983 A EP 03809983A EP 1584021 A1 EP1584021 A1 EP 1584021A1
Authority
EP
European Patent Office
Prior art keywords
actuators
handle
cuff
rod
displacement
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.)
Withdrawn
Application number
EP03809983A
Other languages
German (de)
French (fr)
Inventor
Florian Gosselin
Tanguy Jouan-De-Kervenoael
Christine Megard
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 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 CEA filed Critical Commissariat a lEnergie Atomique CEA
Publication of EP1584021A1 publication Critical patent/EP1584021A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • 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
    • G05G1/02—Controlling members for hand actuation by linear movement, e.g. push buttons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04785—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement
    • G05G9/04788—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04774—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional switches or sensors on the handle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/01—Indexing scheme relating to G06F3/01
    • G06F2203/015—Force feedback applied to a joystick
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20201—Control moves in two planes

Definitions

  • the subject of the invention is a manual simulation interface envisaged above all as a link with a virtual environment, carried by the user at arm's length and which allows him to both impose certain commands while receiving, according to the simulated environment, various sensations of tact in return.
  • the simulation interface comprises two clearly different reaction modes for expressing the accomplishment of actions of different natures. It becomes possible to distinguish in response to operator actions on the one hand feedback of effort, associated in particular with grasping, and on the other hand more delicate action reactions associated with tactile recognition.
  • the simulation interface is characterized in that it comprises a cuff attached to a user's wrist and a handle placed in front of a user's hand, the handle is mounted to the cuff by displacement actuators, and the handle has tactile actuators in front of fingers of the hand, the displacement and tactile actuators being controlled by motors sensitive to simulation response pulses.
  • a rod can replace the cuff; it then makes it possible to hold the interface by the other hand of the user. It can also be added to the cuff to support the handle.
  • the handle can comprise a portion close to the cuff, equipped with at least a thumb control button; or the cuff (or the rod) can be equipped with a contactless displacement sensor, whose movements are identified in the surrounding environment.
  • This interface worn by the user should also remain light, especially in its mobile parts. It is thus advantageous that the control actuators of the displacement actuators are placed on the cuff (or the rod) rather than on the movable handle that they cause to move.
  • the richness in the sensations of reaction also depends on the number of possible movements that can be inflicted on the handle.
  • the displacement actuators control displacements in different essentially perpendicular directions, two of the displacement actuators being placed between opposite lateral edges of the handle and a support portion associated with the cuff.
  • the handle is then very mobile; it is even movable in all directions if it comprises a transverse rod mounted on said two actuators, which control movements in directions perpendicular to each other and inclined relative to the rod, and a third displacement actuator is disposed between the transverse rod and a main portion of the handle by sliding the main portion on the rod.
  • FIG. 1 is a general view of an embodiment of the interface, FIGS. 2, 3, 4 and 5 specific views,
  • the interface of FIG. 1 comprises a cuff 1 composed of a band which the user fastens around the wrist, for example by superimposing edges 2 covered with gripping fabric or by any equivalent means, and a handle 3 extending in front of the user's hand.
  • the cuff 1 has a double role of support and, in this embodiment, of indication of movement of the user.
  • the cuff 1 supports the handle 3 by means of a mount 4 which is essentially composed of a rod 5 extending next to the handle 3.
  • the rod 5 carries at its opposite ends two linear actuators 6 and 7, for example with screw and nut, which are oriented in two directions perpendicular to each other. These two directions are also strongly inclined with respect to a rod 8 along which the handle 3 can slide and which is connected at its ends to XY tables 41 and 42 allowing it to move in translation in two directions under the action of motors 51.
  • the rod 8 extends through a recess in a main portion 10 of the handle 3, and a third actuator 11 is housed in this recess. It is integral with the main portion 10 and slides along the rod 8, again thanks to a screw and nut mechanism.
  • the rod 8 has a non-circular section for retaining the main portion 10 in rotation, in which it slides.
  • the movements of the displacement actuators 6, 7 and 11 move the main portion 10 of the handle, held by the user, in directions essentially perpendicular to the space according to movements close to translations or felt as such by the user. It is so possible to simulate various reactions of the virtual environment in a complex way by combinations of these translations.
  • Another means by which reactions from the environment can be transmitted to the user consists of tactile actuators 12, the number of which is preferably between one and four and which are arranged on a crown of the main portion 10, places where the user places their fingertips.
  • the touch actuators 12 consist of miniature vibrators which are commercial products. Some models are adjustable in intensity or even in direction of vibration to give more detailed sensations. Loudspeaker motors can also be used. The distance between the body of the handle 3 and the crown supporting the actuators.
  • reactions simulated by the displacement actuators 6, 7 and 11, comprising in a known manner a motor, an encoder or another measuring means, can typically be forces of resistance to a thrust or a virtual action of the same kind. user; and reactions simulated by the touch actuators can be touching virtual objects or other actions without the use of force by the user; or changes of state of virtual objects.
  • the virtual environment is supported by a central control system which is informed by sensors that can be of good kinds different, some of which are located on the interface and others are located elsewhere. It governs the movement actuators via motors, and the touch actuators 12 by defining their reactions according to the way it has been programmed.
  • the virtual environments themselves are very varied and are not the subject of the invention.
  • the exploration of the virtual environment is also carried out by operator commands. Some can be provided through the interface discussed here.
  • the main portion 10 comprises at least one button 13 at the end of a straight part containing the rod 8 opposite to the touch actuators 12: this right part of the handle is a support for the thumb of the operator, who presses on buttons 13 as soon as necessary.
  • the command of these buttons can be associated with a specific action in the environment, such as taking a tool or another object.
  • Other control means are constituted by a movement sensor 14 on the cuff 1. It is a sensor of the optical, magnetic or other type, which allows, using a radiation source 17 forming a fixed reference, to measure the displacements in position and orientation of the interface with respect to the source 17. This type of sensor is well known.
  • the movements of the interface can be converted into different actions, such as movements in the virtual environment.
  • the cuff 1 to carry displacement actuators 6 and 7.
  • These actuators are constituted in a known manner by a motor, an encoder and a screw and nut system.
  • the actuator 11 and advantageously located on the rod 8 and in a recess of the handle 3.
  • the embodiment of FIG. 5 illustrates another form of the invention, different at the junction between the cuff 1 and the handle 3 (unchanged) .
  • Six actuators are used here to offer as many degrees of freedom of movement.
  • Six motors 18 are used to control these actuators, five of which are visible, the sixth, controlling an actuator similar to the actuator 11 by its function and its location, being in the handle 3.
  • each table 19 or 20 is carried by each table 19 or 20 and control the movements on the slides. If these movements are identical and in the same directions, pure translations of the handle are obtained; if the directions are opposite, pure rotations.
  • the handle 3 is supported by a pair of cardan joints 27 between the tables 19 and 20 and the ends of the rod 8, as well as a slide 29 between the lower end of the rod 8 and the table 20 to adjust the space between the universal joints 27 integral with the tables 18 and 20.
  • a fifth actuator 28, coaxial with the rod 8, rotates the latter around its axis.
  • the cuff 1 could be eliminated: the user would then directly grasp the rod 5 next to the handle 3 with his other hand. In this case, the control by simulation would be done with said other hand, which would move the interface, and the reactions would be felt by the first hand as before.
  • FIG. 7 represents a general view thereof.
  • This embodiment also includes a cuff 31, a handle 33, a mount 34, and two displacement actuators 36 and 37 whose general characteristics are the same as those of the corresponding parts 1, 3, 4, 6 and 7 already encountered.
  • the displacement actuators 36 and 37 are constructed differently as it appears in FIG. 6.
  • the screw actuators are replaced by cable actuators of a particular kind. Each of them comprises a motor 38, a drive pulley 39 located at the end of an engine output shaft 40, a pair of return pulleys 41 and 42, a cable 43 visible in FIG. 6A, and a take-up pulley 44 , reduced here to a sector.
  • the receiving pulleys 44 are both connected to the mount 34, and the motors 38 of the displacement actuators 36 and 37 are respectively fixed to bases 45 and 46 belonging respectively to the cuff 31 and to the handle 33.
  • the cable 43 is fixed at its two ends to the receiving pulley 44; it is rolled up, between its ends, successively to the deflection pulley 41, the driving pulley 39 and the other deflection pulley 42.
  • the particularity of the displacement actuators 36 and 37 is that, contrary to the usual design, the driving pulley 39 has an axis of rotation which is perpendicular to those of the idler pulleys 41 and 42 and the take-up pulley 44.
  • the transmissions of the displacement actuators 36 and 37 are both placed at the height of the user's wrist, and the mount 34 is bent, so that the axes of rotation Y and Z of the receiving pulleys 44 are perpendicular to each other and s extend through the wrist: the interface therefore has a mobility zone which coincides well with that of the user, so that it does not interfere with its natural movements.
  • the handle is provided with tactile actuators 47 shown diagrammatically in Figure 6 and which should be understood that they are mounted on the housing of the handle 33. This housing may also include other buttons, not shown, which can take the appearance of pushers or knobs to cause actuations or sequences.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • User Interface Of Digital Computer (AREA)
  • Prostheses (AREA)
  • Position Input By Displaying (AREA)

Abstract

The invention relates to a manual simulation interface. The inventive interface consists of a sleeve (1) which is attached around the user's forearm and a grip element (3) comprising touch-sensitive actuators (12) which press against the tips of the fingers and thumb-actuated control buttons (13). In addition, other actuators (6, 7, 11) connect the grip (3) to the sleeve (1) and can be used to move the grip in a noticeable manner in response to impulses from the environment. Moreover, the sleeve is provided with a wireless displacement transducer. In this way, with the best embodiments of the invention, the user avails of two very different means both for giving commands (buttons 13 and sensor 14) and for receiving a response from the virtual environment (actuators 6, 7 and 11 and touch-sensitive actuators 12). The interface is light and easy to use and can be used to explore virtual environments for entertainment or educational purposes, or to visit a location, etc.

Description

INTERFACE DE SIMULATION MANUELLE MANUAL SIMULATION INTERFACE
DESCRIPTIONDESCRIPTION
Le sujet de l'invention est une interface de simulation manuelle envisagée avant tout comme liaison avec un environnement virtuel, que porte l'utilisateur au bout du bras et qui lui permet à la fois d'imposer certaines commandes tout en recevant, d'après l'environnement simulé, diverses sensations de tact en retour.The subject of the invention is a manual simulation interface envisaged above all as a link with a virtual environment, carried by the user at arm's length and which allows him to both impose certain commands while receiving, according to the simulated environment, various sensations of tact in return.
Des documents de l'art antérieur qui divulguent de telles ' interfaces se présentant sous forme de manche ou de poignée que tient l'utilisateur sont les brevets US 4 795 296 et 5 577 417. Les applications de telles interfaces sont nombreuses et comprennent les visites virtuelles, les jeux de simulation, les apprentissages, etc. L'utilisateur plongé dans l'environnement virtuel doit pouvoir agir par certaines actions et ressentir leurs effets, ce qui impose l'emploi d'interfaces commodes et assez riches pour permettre des échanges diversifiés avec 1 ' environnement . La plupart des interfaces connues sont trop simplistes pour permettre plus que des échanges rudimentaires, ce qui réduit l'intérêt des environnements virtuels et entrave leur développement.Prior art documents which disclose such interfaces in the form of a handle or handle held by the user are US Patents 4,795,296 and 5,577,417. The applications of such interfaces are numerous and include visits virtual games, simulation games, learning, etc. The user immersed in the virtual environment must be able to act by certain actions and feel their effects, which requires the use of convenient interfaces and rich enough to allow diversified exchanges with one environment. Most of the known interfaces are too simplistic to allow more than rudimentary exchanges, which reduces the interest of virtual environments and hinders their development.
Un avantage essentiel de l'interface selon l'invention est qu'elle comprend deux modes de réaction nettement différents pour exprimer l'accomplissement d'actions de différentes natures. Il devient possible de distinguer en réponse aux actions de l'opérateur d'une part des retours d'effort, associés notamment à une préhension, et d'autre part des réactions d'actions plus délicates associées à une reconnaissance tactile. L'interface de simulation est caractérisée en ce qu'elle comprend une manchette attachée à un poignet d'un utilisateur et une poignée placée devant une main de l'utilisateur, la poignée est montée à la manchette par des actionneurs de déplacement, et la poignée possède des actionneurs tactiles devant des doigts de la main, les actionneurs de déplacement et tactiles étant commandés par des moteurs sensibles à des impulsions de réponse de simulation. Une tige peut remplacer la manchette ; elle permet alors de tenir l'interface par l'autre main de l'utilisateur. Elle peut aussi être adjointe à la manchette pour soutenir la poignée.An essential advantage of the interface according to the invention is that it comprises two clearly different reaction modes for expressing the accomplishment of actions of different natures. It becomes possible to distinguish in response to operator actions on the one hand feedback of effort, associated in particular with grasping, and on the other hand more delicate action reactions associated with tactile recognition. The simulation interface is characterized in that it comprises a cuff attached to a user's wrist and a handle placed in front of a user's hand, the handle is mounted to the cuff by displacement actuators, and the handle has tactile actuators in front of fingers of the hand, the displacement and tactile actuators being controlled by motors sensitive to simulation response pulses. A rod can replace the cuff; it then makes it possible to hold the interface by the other hand of the user. It can also be added to the cuff to support the handle.
L'introduction d'actions variées par l'interface est aussi un avantage appréciable, qui peut être obtenu dans des formes particulières mais privilégiées de l'invention : ainsi, la poignée peut comprendre une portion proche de la manchette, équipée d'au moins un bouton poucier de commande ; ou encore la manchette (ou la tige) peut être équipée d'un capteur de déplacement sans contact, dont les mouvements sont repérés dans l'environnement proche.The introduction of various actions by the interface is also an appreciable advantage, which can be obtained in particular but preferred forms of the invention: thus, the handle can comprise a portion close to the cuff, equipped with at least a thumb control button; or the cuff (or the rod) can be equipped with a contactless displacement sensor, whose movements are identified in the surrounding environment.
Il convient aussi que cette interface portée par l'utilisateur reste légère, surtout dans ses parties mobiles. Il est ainsi avantageux que les moteurs de commande des actionneurs de déplacement soient placés sur la manchette (ou la tige) plutôt que sur la poignée mobile qu'ils font mouvoir. La richesse dans les sensations de réaction dépend aussi du nombre de mouvements possibles qu'on peut infliger à la poignée. Avantageusement, les actionneurs de déplacement commandent des déplacements dans des directions différentes essentiellement perpendiculaires, deux des actionneurs de déplacement étant placés entre des bords latéraux opposés de la poignée et une portion de support associée à la manchette. La poignée est alors très mobile ; elle est même deplaçable dans toutes les directions si elle comprend une tige transversale montée sur lesdits deux actionneurs, qui commandent des déplacements dans des directions perpendiculaires entre elles et inclinées par rapport à la tige, et un troisième actionneur de déplacement est disposé entre la tige transversale et une portion principale de la poignée en faisant coulisser la portion principale sur la tige.This interface worn by the user should also remain light, especially in its mobile parts. It is thus advantageous that the control actuators of the displacement actuators are placed on the cuff (or the rod) rather than on the movable handle that they cause to move. The richness in the sensations of reaction also depends on the number of possible movements that can be inflicted on the handle. Advantageously, the displacement actuators control displacements in different essentially perpendicular directions, two of the displacement actuators being placed between opposite lateral edges of the handle and a support portion associated with the cuff. The handle is then very mobile; it is even movable in all directions if it comprises a transverse rod mounted on said two actuators, which control movements in directions perpendicular to each other and inclined relative to the rod, and a third displacement actuator is disposed between the transverse rod and a main portion of the handle by sliding the main portion on the rod.
Des liaisons plus complexes entre la manchette et la poignée sont possibles. Nous décrirons maintenant l'invention d'après les figures suivantes :More complex connections between the cuff and the handle are possible. We will now describe the invention from the following figures:
- la figure 1 est une vue générale d'une réalisation de l'interface, les figures 2, 3, 4 et 5 des vues particulières,FIG. 1 is a general view of an embodiment of the interface, FIGS. 2, 3, 4 and 5 specific views,
- et les figures 6, 6A et 7 des vues d'une autre réalisation,- and Figures 6, 6A and 7 views of another embodiment,
L'interface de la figure 1 comprend une manchette 1 composée d'une bande que l'utilisateur s'attache autour du poignet, par exemple par superposition de bords 2 couverts de tissu agrippant ou par tout moyen équivalent, et une poignée 3 s 'étendant devant la main de l'utilisateur.The interface of FIG. 1 comprises a cuff 1 composed of a band which the user fastens around the wrist, for example by superimposing edges 2 covered with gripping fabric or by any equivalent means, and a handle 3 extending in front of the user's hand.
La manchette 1 a un double rôle de support et, dans cette réalisation, d'indication de mouvement de l'utilisateur. La manchette 1 soutient la poignée 3 au moyen d'une monture 4 qui est composée essentiellement d'une tige 5 s'étendant à côté de la poignée 3. Dans la réalisation des figures 2 à 4, la tige 5 porte à ses extrémités opposées deux actionneurs 6 et 7 linéaires, par exemple à vis et écrou, qui sont orientés dans deux directions perpendiculaires entre elles. Ces deux directions sont aussi fortement inclinées par rapport à une tige 8 le long de laquelle la poignée 3 peut coulisser et qui est raccordée par ses extrémités à des tables en X-Y 41 et 42 lui permettant de se déplacer en translation dans deux directions sous l'action de moteurs 51.The cuff 1 has a double role of support and, in this embodiment, of indication of movement of the user. The cuff 1 supports the handle 3 by means of a mount 4 which is essentially composed of a rod 5 extending next to the handle 3. In the embodiment of FIGS. 2 to 4, the rod 5 carries at its opposite ends two linear actuators 6 and 7, for example with screw and nut, which are oriented in two directions perpendicular to each other. These two directions are also strongly inclined with respect to a rod 8 along which the handle 3 can slide and which is connected at its ends to XY tables 41 and 42 allowing it to move in translation in two directions under the action of motors 51.
La tige 8 s'étend à travers un évidement d'une portion principale 10 de la poignée 3, et un troisième actionneur 11 est logé dans cet évidement. Il est solidaire de la portion principale 10 et coulisse le long de la tige 8, encore grâce à un mécanisme à vis et écrou. La tige 8 a une section non circulaire pour retenir en rotation la portion principale 10, dans laquelle elle coulisse.The rod 8 extends through a recess in a main portion 10 of the handle 3, and a third actuator 11 is housed in this recess. It is integral with the main portion 10 and slides along the rod 8, again thanks to a screw and nut mechanism. The rod 8 has a non-circular section for retaining the main portion 10 in rotation, in which it slides.
Les mouvements des actionneurs de déplacement 6, 7 et 11 déplacent la portion principale 10 de la poignée, tenue par l'utilisateur, dans des directions essentiellement perpendiculaires de l'espace selon des mouvements proches de translations ou ressentis comme tels par l'utilisateur. Il est ainsi possible de simuler diverses réactions de l'environnement virtuel de façon complexe par des combinaisons de ces translations. Un autre moyen par lequel des réactions de l'environnement peuvent être transmises à l'utilisateur consiste en des actionneurs tactiles 12, dont le nombre est compris de préférence entre un et quatre et qui sont disposés sur une couronne de la portion principale 10, à des endroits où l'utilisateur pose les bouts de ses doigts. Les actionneurs tactiles 12 consistent en des vibreurs miniatures qui sont des produits du commerce. Certains modèles sont réglables en intensité ou même en direction de vibration pour donner des sensations plus détaillées. Des moteurs de haut-parleur peuvent aussi être employés. La distance entre le corps de la poignée 3 et la couronne supportant les actionneurs. 12, représentée fixe sur les figures de façon simplifiée, peut être réglable afin de placer les actionneurs tactiles 12 où ils sont le mieux ressentis. Des réactions simulées par les actionneurs de déplacement 6, 7 et 11, comprenant de façon connue un moteur, un codeur ou un autre moyen de mesure, peuvent typiquement être des forces de résistance à une poussée ou une action virtuelle du même genre de l'utilisateur ; et des réactions simulées par les actionneurs tactiles peuvent être des contacts sur des objets virtuels ou d'autres actions sans utilisation de force par l'utilisateur ; ou encore des changements d'état d'objets virtuels. L'environnement virtuel est soutenu par un système de commande central qui est renseigné par des capteurs pouvant être de genres bien différents, dont certains sont situés sur l'interface et d'autres sont situés ailleurs. Il régit les actionneurs de déplacement par l'intermédiaire de moteurs, et les actionneurs tactiles 12 en définissant leurs réactions d'après la façon dont il a été programmé. Les environnements virtuels eux-mêmes sont très variés et ne sont pas le sujet de l'invention.The movements of the displacement actuators 6, 7 and 11 move the main portion 10 of the handle, held by the user, in directions essentially perpendicular to the space according to movements close to translations or felt as such by the user. It is so possible to simulate various reactions of the virtual environment in a complex way by combinations of these translations. Another means by which reactions from the environment can be transmitted to the user consists of tactile actuators 12, the number of which is preferably between one and four and which are arranged on a crown of the main portion 10, places where the user places their fingertips. The touch actuators 12 consist of miniature vibrators which are commercial products. Some models are adjustable in intensity or even in direction of vibration to give more detailed sensations. Loudspeaker motors can also be used. The distance between the body of the handle 3 and the crown supporting the actuators. 12, shown fixed in the figures in a simplified manner, can be adjustable in order to place the touch actuators 12 where they are best felt. Reactions simulated by the displacement actuators 6, 7 and 11, comprising in a known manner a motor, an encoder or another measuring means, can typically be forces of resistance to a thrust or a virtual action of the same kind. user; and reactions simulated by the touch actuators can be touching virtual objects or other actions without the use of force by the user; or changes of state of virtual objects. The virtual environment is supported by a central control system which is informed by sensors that can be of good kinds different, some of which are located on the interface and others are located elsewhere. It governs the movement actuators via motors, and the touch actuators 12 by defining their reactions according to the way it has been programmed. The virtual environments themselves are very varied and are not the subject of the invention.
L'exploration de l'environnement virtuel s'effectue aussi par des commandes de l'opérateur. Certaines peuvent être fournies par l'interface dont il est question ici. La portion principale 10 comprend au moins un bouton 13 au bout d'une partie droite contenant la tige 8 à l'opposé des actionneurs tactiles 12 : cette partie droite de la poignée est un appui pour le pouce de l'opérateur, qui presse sur les boutons 13 dès que nécessaire. La commande de ces boutons peut être associée à une action déterminée dans l'environnement, comme la prise d'un outil ou d'un autre objet. D'autres moyens de commande sont constitués par un capteur de mouvements 14 sur la manchette 1. Il s'agit d'un capteur de type optique, magnétique ou autre, qui permet, à l'aide d'une source de rayonnement 17 formant une référence fixe, de mesurer les déplacements en position et en orientation de l'interface par rapport à la source 17. Ce type de capteur est bien connu. Les mouvements de l'interface peuvent être convertis en différentes actions, comme des mouvements dans l'environnement virtuel. Enfin, il est avantageux que la manchette 1 porte des actionneurs de déplacement 6 et 7. Ces actionneurs sont constitués de façon connue par un moteur, un codeur et un système à vis et écrou. L'actionneur 11 et situé avantageusement sur la tige 8 et dans un évidemment de la poignée 3. La réalisation de la figure 5 illustre une autre forme de l'invention, différente à la jonction entre la manchette 1 et la poignée 3 (inchangées) . Six actionneurs sont ici utilisés pour offrir autant de degrés de liberté de déplacement. Six moteurs 18 sont utilisés pour commander ces actionneurs, dont cinq sont visibles, le sixième, commandant un actionneur semblable à l'actionneur 11 par sa fonction et son emplacement, étant dans la poignée 3.The exploration of the virtual environment is also carried out by operator commands. Some can be provided through the interface discussed here. The main portion 10 comprises at least one button 13 at the end of a straight part containing the rod 8 opposite to the touch actuators 12: this right part of the handle is a support for the thumb of the operator, who presses on buttons 13 as soon as necessary. The command of these buttons can be associated with a specific action in the environment, such as taking a tool or another object. Other control means are constituted by a movement sensor 14 on the cuff 1. It is a sensor of the optical, magnetic or other type, which allows, using a radiation source 17 forming a fixed reference, to measure the displacements in position and orientation of the interface with respect to the source 17. This type of sensor is well known. The movements of the interface can be converted into different actions, such as movements in the virtual environment. Finally, it is advantageous for the cuff 1 to carry displacement actuators 6 and 7. These actuators are constituted in a known manner by a motor, an encoder and a screw and nut system. The actuator 11 and advantageously located on the rod 8 and in a recess of the handle 3. The embodiment of FIG. 5 illustrates another form of the invention, different at the junction between the cuff 1 and the handle 3 (unchanged) . Six actuators are used here to offer as many degrees of freedom of movement. Six motors 18 are used to control these actuators, five of which are visible, the sixth, controlling an actuator similar to the actuator 11 by its function and its location, being in the handle 3.
En haut et en bas de la poignée 3 , on trouve comme précédemment des tables de mouvement planAt the top and bottom of the handle 3, there are, as before, planar movement tables
(en X-Y) 19 et 20 constituées de deux glissières perpendiculaires 21 et 22 permettant de déplacer les deux extrémités de la poignée 3. Deux actionneurs 23 et(in X-Y) 19 and 20 made up of two perpendicular slides 21 and 22 making it possible to move the two ends of the handle 3. Two actuators 23 and
24, ou 25 et 26, sont portés par chaque table 19 ou 20 et commandent les mouvements sur les glissières. Si ces mouvements sont identiques et de mêmes sens, des translations pures de la poignée sont obtenues ; si les sens sont opposés, des rotations pures. La poignée 3 est soutenue par une paire de cardans 27 entre les tables 19 et 20 et les extrémités de la tige 8, ainsi qu'une glissière 29 entre l'extrémité basse de la tige 8 et la table 20 pour ajuster l'espace entre les cardans 27 solidaires des tables 18 et 20. Un cinquième actionneur 28, coaxial à la tige 8, fait tourner celle- ci autour de son axe. La manchette 1 pourrait être supprimée : l'utilisateur saisirait alors directement la tige 5 à côté de la poignée 3 par son autre main. Dans ce cas, la commande par la simulation se ferait avec ladite autre main, qui déplacerait l'interface, et les réactions seraient ressenties par la première main comme précédemment .24, or 25 and 26, are carried by each table 19 or 20 and control the movements on the slides. If these movements are identical and in the same directions, pure translations of the handle are obtained; if the directions are opposite, pure rotations. The handle 3 is supported by a pair of cardan joints 27 between the tables 19 and 20 and the ends of the rod 8, as well as a slide 29 between the lower end of the rod 8 and the table 20 to adjust the space between the universal joints 27 integral with the tables 18 and 20. A fifth actuator 28, coaxial with the rod 8, rotates the latter around its axis. The cuff 1 could be eliminated: the user would then directly grasp the rod 5 next to the handle 3 with his other hand. In this case, the control by simulation would be done with said other hand, which would move the interface, and the reactions would be felt by the first hand as before.
Un nouvel exemple de réalisation de l'invention sera décrit au moyen des dernières figures, et d'abord de la figure 7 qui en représente une vue générale. Ce mode de réalisation comprend encore une manchette 31, une poignée 33, une monture 34, et deux actionneurs de déplacement 36 et 37 dont les caractéristiques générales sont les mêmes que celles des pièces correspondantes 1, 3, 4, 6 et 7 déjà rencontrées. Toutefois, les actionneurs de déplacement 36 et 37 sont construits de façon différente ainsi qu'il apparaît à la figure 6. Les actionneurs à vis sont remplacés par des actionneurs à câble d'un genre particulier. Chacun d'eux comprend un moteur 38, une poulie motrice 39 située au bout d'un arbre 40 de sortie du moteur, une paire de poulies de renvoi 41 et 42, un câble 43 visible à la figure 6A, et une poulie réceptrice 44, réduite ici à un secteur. Les poulies réceptrices 44 sont toutes deux reliées à la monture 34, et les moteurs 38 des actionneurs de déplacement 36 et 37 sont respectivement fixés à des embases 45 et 46 appartenant respectivement à la manchette 31 et à la poignée 33. Le câble 43 est fixé à ses deux extrémités à la poulie réceptrice 44 ; il est enroulé, entre ses extrémités, successivement à la poulie de renvoi 41, la poulie motrice 39 et l'autre poulie de renvoi 42. La particularité des actionneurs de déplacement 36 et 37 est que, contrairement à la conception usuelle, la poulie motrice 39 a un axe de rotation qui est perpendiculaire à ceux des poulies de renvoi 41 et 42 et de la poulie réceptrice 44. Il résulte de cette disposition, rendue possible par la souplesse du câble 43, de placer les moteurs 38 le long de l'avant-bras et de la main de l'utilisateur, dans des positions où il n'encombre pas et ne cause aucune gêne ni aucune limitation réelle au mouvement de l'interface manuelle. En effet, s'il est vrai que les moteurs 38 sont encombrants, c'est qu'ils sont élancés dans la direction d'extension de l'arbre de sortie 40, mais fins dans les directions transversales. Il est avantageux de faire coïncider cette direction d'extension principale des moteurs 38 avec les directions principales de l'avant-bras et de la main de l'utilisateur.A new embodiment of the invention will be described by means of the last figures, and first of all in FIG. 7 which represents a general view thereof. This embodiment also includes a cuff 31, a handle 33, a mount 34, and two displacement actuators 36 and 37 whose general characteristics are the same as those of the corresponding parts 1, 3, 4, 6 and 7 already encountered. However, the displacement actuators 36 and 37 are constructed differently as it appears in FIG. 6. The screw actuators are replaced by cable actuators of a particular kind. Each of them comprises a motor 38, a drive pulley 39 located at the end of an engine output shaft 40, a pair of return pulleys 41 and 42, a cable 43 visible in FIG. 6A, and a take-up pulley 44 , reduced here to a sector. The receiving pulleys 44 are both connected to the mount 34, and the motors 38 of the displacement actuators 36 and 37 are respectively fixed to bases 45 and 46 belonging respectively to the cuff 31 and to the handle 33. The cable 43 is fixed at its two ends to the receiving pulley 44; it is rolled up, between its ends, successively to the deflection pulley 41, the driving pulley 39 and the other deflection pulley 42. The particularity of the displacement actuators 36 and 37 is that, contrary to the usual design, the driving pulley 39 has an axis of rotation which is perpendicular to those of the idler pulleys 41 and 42 and the take-up pulley 44. It follows from this arrangement, made possible by the flexibility of the cable 43, to place the motors 38 along the forearm and the hand of the user, in positions where it does not obstruct and does not cause any discomfort or any real limitation to the movement of the manual interface. Indeed, if it is true that the motors 38 are bulky, it is because they are slender in the direction of extension of the output shaft 40, but fine in the transverse directions. It is advantageous to make this main direction of extension of the motors 38 coincide with the main directions of the user's forearm and hand.
Les transmissions des actionneurs de déplacement 36 et 37 sont toutes deux placées à hauteur du poignet de l'utilisateur, et la monture 34 est coudée, ce qui fait que les axes de rotation Y et Z des poulies réceptrices 44 sont perpendiculaires entre eux et s ' étendent à travers le poignet : 1 ' interface a donc une zone de mobilité qui coïncide bien avec celle de l'utilisateur, de sorte qu'elle ne contrarie pas ses mouvements naturels. Ici encore la poignée est munie d' actionneurs tactiles 47 représentés schématiquement à la figure 6 et dont on doit comprendre qu'ils sont montés sur le boîtier de la poignée 33. Ce boîtier peut aussi comprendre d'autres boutons, non représentés, pouvant prendre l'aspect de poussoirs ou de molettes pour provoquer des actionnements ou des déroulements. On n'a pas représenté non plus un appareillage qui pourrait permettre de localiser l'interface dans l'espace et comprendrait un trièdre de boules réfléchissant la lumière et qui serait fixé à la manchette 31. Une caméra repérerait en permanence la forme et la position du trièdre sur son image pour en déduire sa position et son orientation. Un tel système, étant cependant déjà connu en soi, n'appartient pas à 1 ' invention. The transmissions of the displacement actuators 36 and 37 are both placed at the height of the user's wrist, and the mount 34 is bent, so that the axes of rotation Y and Z of the receiving pulleys 44 are perpendicular to each other and s extend through the wrist: the interface therefore has a mobility zone which coincides well with that of the user, so that it does not interfere with its natural movements. Here again the handle is provided with tactile actuators 47 shown diagrammatically in Figure 6 and which should be understood that they are mounted on the housing of the handle 33. This housing may also include other buttons, not shown, which can take the appearance of pushers or knobs to cause actuations or sequences. Nor has an appliance been shown which could make it possible to locate the interface in space and would include a trihedron of balls reflecting the light and which would be fixed to the cuff 31. A camera would permanently identify the shape and the position the trihedron on its image to deduce its position and orientation. Such a system, however, being already known per se, does not belong to the invention.

Claims

REVENDICATIONS
1) Interface de simulation, caractérisée en ce qu'elle comprend une poignée (3) placée devant une main d'un utilisateur, une manchette (1) attachée à un avant-bras de l'utilisateur et/ou une tige (4) saisie par l'autre main de l'utilisateur, la poignée est reliée à la manchette ou à la tige par des actionneurs de déplacement (6, 7, 11, 36, 37), et la poignée possède des actionneurs tactiles (12) devant des doigts de la main, les actionneurs de déplacement et tactiles étant commandés par des réponses d'actions de simulation.1) Simulation interface, characterized in that it comprises a handle (3) placed in front of a user's hand, a cuff (1) attached to a user's forearm and / or a rod (4) gripped by the other hand of the user, the handle is connected to the cuff or the rod by displacement actuators (6, 7, 11, 36, 37), and the handle has tactile actuators (12) in front fingers of the hand, the displacement and touch actuators being controlled by responses from simulation actions.
2) Interface de simulation selon la revendication 1, caractérisée en ce que la poignée (3) comprend une portion (10) proche de la manchette (1) ou de la tige, équipée d'au moins un bouton poucier (13) de commande .2) Simulation interface according to claim 1, characterized in that the handle (3) comprises a portion (10) close to the cuff (1) or the rod, equipped with at least one thumb button (13) for controlling .
3) Interface de simulation selon l'une quelconque des revendications 1 ou 2 , caractérisée en ce que la manchette ou la tige (4) est équipée d'un capteur de position ou de déplacement sans contact (14) avec une référence fixe.3) Simulation interface according to any one of claims 1 or 2, characterized in that the cuff or the rod (4) is equipped with a contactless position or displacement sensor (14) with a fixed reference.
4) Interface de simulation selon l'une quelconque des revendications 1 à 3, caractérisée en ce que des moteurs (16) de commande des actionneurs de déplacement sont placés sur la manchette.4) Simulation interface according to any one of claims 1 to 3, characterized in that motors (16) for controlling the movement actuators are placed on the cuff.
5) Interface de simulation selon l'une quelconque des revendications 1 à 4, caractérisée en ce que les actionneurs de déplacement commandent des déplacements dans des directions différentes essentiellement perpendiculaires, deux des actionneurs de déplacement (6, 7) étant placés entre des bords latéraux opposés de la manchette et une portion de support associée à la manchette. 6) Interface de simulation selon la revendication 5, caractérisée en ce que la poignée comprend une tige transversale (8) montée sur lesdits deux actionneurs, qui commandent des déplacements dans des directions perpendiculaires entre elles et inclinées par rapport à la tige, et un troisième actionneur de déplacement est disposé entre la tige et une portion principale (10) de la poignée (3) en faisant coulisser la portion principale sur la tige5) Simulation interface according to any one of claims 1 to 4, characterized in that the displacement actuators control displacements in different directions essentially perpendicular, two of the displacement actuators (6, 7) being placed between opposite lateral edges of the cuff and a support portion associated with the cuff. 6) Simulation interface according to claim 5, characterized in that the handle comprises a transverse rod (8) mounted on said two actuators, which control movements in directions perpendicular to each other and inclined relative to the rod, and a third displacement actuator is disposed between the rod and a main portion (10) of the handle (3) by sliding the main portion on the rod
(8). 7) Interface de simulation selon la revendication 5 ou 6, caractérisée en ce que quatre des actionneurs de déplacement sont placés par paires entre des tables de déplacement en X-Y adjacents à des bords latéraux opposés de la poignée et la portion de support associée à la manchette.(8). 7) Simulation interface according to claim 5 or 6, characterized in that four of the displacement actuators are placed in pairs between XY displacement tables adjacent to opposite lateral edges of the handle and the support portion associated with the cuff .
8) Interface de simulation selon l'une quelconque des revendications précédentes, caractérisée en ce que les actionneurs de déplacement (36, 37) comprennent un moteur (38) , une poulie motrice (39) , une poulie réceptrice (44) , et une transmission à câble8) Simulation interface according to any one of the preceding claims, characterized in that the displacement actuators (36, 37) comprise a motor (38), a driving pulley (39), a receiving pulley (44), and a cable transmission
(43) entre la poulie motrice et la poulie réceptrice, la poulie motrice et la poulie réceptrice ayant des axes perpendiculaires et les moteurs étant placés le long de l'avant-bras et de la main de l'utilisateur, les poulies réceptrices étant fixées à une monture (4) entre la manchette (1) et la poignée (3) , les moteurs (38) étant fixés respectivement à la manchette et à la poignée, et les poulies réceptrices ayant des axes de rotation traversant un poignet de l'utilisateur. (43) between the driving pulley and the receiving pulley, the driving pulley and the receiving pulley having perpendicular axes and the motors being placed along the forearm and the hand of the user, the receiving pulleys being fixed to a mount (4) between the cuff (1) and the handle (3), the motors (38) being fixed respectively to the cuff and to the handle, and the receiving pulleys having axes of rotation passing through a wrist of the user.
EP03809983A 2003-01-13 2003-12-15 Manual simulation interface Withdrawn EP1584021A1 (en)

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FR0300294 2003-01-13
FR0300294A FR2849937B1 (en) 2003-01-13 2003-01-13 MANUAL SIMULATION INTERFACE
PCT/FR2003/050170 WO2004066135A1 (en) 2003-01-13 2003-12-15 Manual simulation interface

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Also Published As

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JP2006513500A (en) 2006-04-20
AU2003302177A1 (en) 2004-08-13
WO2004066135A1 (en) 2004-08-05
FR2849937B1 (en) 2005-02-11
FR2849937A1 (en) 2004-07-16
US20060156848A1 (en) 2006-07-20

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