EP3371568A1 - Système et procédé de détection d'une application de pression en surface d'un objet par mesure de force - Google Patents
Système et procédé de détection d'une application de pression en surface d'un objet par mesure de forceInfo
- Publication number
- EP3371568A1 EP3371568A1 EP16788134.1A EP16788134A EP3371568A1 EP 3371568 A1 EP3371568 A1 EP 3371568A1 EP 16788134 A EP16788134 A EP 16788134A EP 3371568 A1 EP3371568 A1 EP 3371568A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- pressure
- application
- point
- elementary
- force
- 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- Withdrawn
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
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/0414—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means using force sensing means to determine a position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
-
- 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
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/0416—Control or interface arrangements specially adapted for digitisers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
Definitions
- the field of the invention is that of the detection of a pressure application on the surface of an object.
- the invention more particularly relates to a detection based on the use of a force and torque sensor which makes it possible to quantify the action / reaction forces of two bodies in contact, namely the object on the surface of which a pressure is locally exercised and a support of the object.
- a solution in this sense is to equip the surface of the object with an array of electrodes.
- the contact with an electrode causes a variation of capacity that can be measured. Only a finite number of contact points, determined by the number of electrodes, can therefore be detected and each touch zone must be covered with an electrode. In addition to changing the external appearance of the object, it is difficult with this solution to make the entire surface of a touch object. Finally, this solution does not make it possible to know the support force exerted.
- Solutions requiring the least intervention on the object to make touch are the optical methods.
- the methods of segmentation of video images, taken with a structured light or not, allow for example to distinguish the object of the finger or fingers in contact and thus locate them.
- These solutions are sensitive to lighting conditions and suffer from occlusion problems when the hand is obscured by the object or leaves the field of the camera. And this solution also does not allow to know the support force exerted.
- Another solution lies in the fact that the mechanical equilibrium of an object imposes that the forces exerted by a user on the surface of the object are compensated by the forces exerted by the support on this object, so that the sum of the efforts (support + action of the user) is zero at every moment.
- the force sensor is used to measure the forces and moments transmitted by the effector of the robot to the rest of the body of the robot.
- the object of the invention is to make the surface of an object tactile by coming to determine the position and the force of a contact exerted by a user on this surface, without having to instrument the surface of the object and that whatever be the material or the shape of the object.
- the invention proposes a system for detecting a pressure application on a surface of an object, comprising a support of the object equipped with at least one force and torque sensor, and a unit of process comprising a pressure application characterization module configured to calculate, from the measurements of the at least one force and torque sensor, the coordinates of a line of space passing through a point of application pressure on the surface of the object.
- the characterization module of the pressure application is furthermore configured to determine, by means of a ray tracing calculation, whether an elementary facet of a geometric model of the surface of the object representing said surface according to a mesh elementary facets intercepts the straight line passing through the point of application of pressure.
- the characterization module of the pressure application is also configured, on the determination that the elementary facet intercepts the straight line passing through the point of application of pressure, to associate the elementary facet with a location of the point of application of pressure;
- the characterization module of the pressure application is also configured to determine the normal and tangential components of the pressure application for the elementary facet associated with a location of the pressure application point; the characterization module of the pressure application is configured to calculate the dot product between the force measured by the force and torque sensor and the normal to the elementary facet, the ray launch calculation being performed to verify if the elementary facet intercepts the line passing through the pressure application point only if the calculated dot product is negative;
- the characterization module of the pressure application is configured to calculate the dot product between the force measured by the force and torque sensor and the normal to an elementary facet determined as intercepting the straight line passing through the application point of pressure;
- the geometric model of the surface of the object is described by a stereolithography file or by a computer-assisted design file;
- the invention also relates to a method and computer program product for detecting a pressure application on a surface of an object.
- FIG. 1 is a diagram defining the problem of detecting a pressure application on a surface of an object by analyzing the forces and moments exerted;
- FIG. 2 is a diagram of a system for detecting a pressure application on a surface of an object according to the invention
- the invention relates to a system for detecting a pressure application on a surface of an object using an analysis of the forces and moments exerted on the surface of the object and measured by means of at least one integrated force and torque sensor within a support of the object.
- the position of the at least one sensor relative to the object is known.
- FIG. 1 is a diagram of a conically shaped object 0 placed on a support S equipped with a force and torque sensor C at the point 0 taken as the origin of a Cartesian coordinate system i, j, k. The application of pressure is exerted at a point X of the surface of the object 0.
- the system 1 comprises a support of the object 0 equipped with at least one force and torque sensor 2-4, and a processing unit 5 configured to process the measurements of the at least one force and torque sensor 2-4.
- Each sensor 2-4 does not necessarily measure the forces and moments along the three axes but measures all the forces exerted on it by the object.
- at least one force and torque sensor equip each of the supports.
- the processing unit 5 can in particular be connected to the at least one sensor 2-4 via a device 6 for acquiring the signals produced by the at least one sensor 2-4 which digitizes these signals. before communicating them to treatment unit 5.
- the processing unit 5 comprises a module 7 for characterizing the application of pressure which locates the point of application of the pressure and determines the force exerted at this point of application.
- the processing unit 5 may furthermore comprise a module 8 making it possible, from the characterization of the application of pressure, to form a control intended for an actuator 9 making it possible to produce a sensory feedback (visual, audio, haptic or other) to the user or to perform a physical action (eg control of the orientation of a camera) or virtual (eg an interaction with a virtual object or digital content).
- a module 8 making it possible, from the characterization of the application of pressure, to form a control intended for an actuator 9 making it possible to produce a sensory feedback (visual, audio, haptic or other) to the user or to perform a physical action (eg control of the orientation of a camera) or virtual (eg an interaction with a virtual object or digital content).
- the module 7 for characterizing the pressure application is configured to calculate, from the measurements of the at least one force and torque sensor, the coordinates of the action line passing through the point of application of pressure. on the surface of the object.
- the invention proposes, not an analytical resolution which requires a mathematical description of the geometry of the object restricted to simple shapes, but of use a parameterized radius throw algorithm with the coordinates of the line of action to identify the point (s) of intersection of the line with the surface of the object and thus identify the point of application of pressure on the surface of the object.
- the ray tracing algorithm is of the type conventionally used in computer graphics, especially for rendering textures.
- the module 7 for characterizing the application of pressure is thus more particularly configured to determine, by means of a ray launch calculation, whether an elementary facet of a geometric model of the surface of the object representing said surface according to a mesh of elementary facets intercepts the line passing through the point of application of pressure. This determination is carried out for all the elementary facets of the model, and as soon as a facet intercepts the action line, the facet is associated with a location of the point of application of pressure.
- the facets may be triangles, in which case the ray tracing algorithm is advantageously a radius-triangle intersection algorithm.
- the ray tracing algorithm is advantageously a radius-triangle intersection algorithm.
- the sum of the forces recorded by the sensors 2-4 also provides the three com posa nts (along the x, y, and z axes) of the force exerted on the surface of the object.
- This force vector can be expressed in the reference of the object and decomposed into a normal effort and a tangential force to the facet intercepting the action line.
- the module 7 for characterizing the application of pressure can also be configured to determine the normal and tangential components of the pressure application for the elementary facet associated with a location of the pressure application point.
- the normal component can in particular be used to provide a zoom control in a virtual environment.
- the tangential component is indicative of a coefficient of friction on the surface of the object. Because of this friction, the tangential component of the stress appears before the sliding of the finger on the surface. This tangential component thus marks the intention of the user and makes it possible to anticipate his movement.
- a facet associated with a location of the pressure application point is a facet that intercepts the action line. This interception is not necessarily unique, and in many cases we find at least two facets that correspond to the entry and exit points of the action line in the object.
- the force is however applied towards the object, so that at the point of application of pressure, the dot product enters the force measured by the at least one force and torque sensor and the normal to the elementary facet is negative.
- the module 7 for characterizing the application of pressure is configured to calculate, for each elementary facet, the dot product between the force measured by the force and torque sensor and the norma at the elementary facet. . The ray tracing calculation is then performed to check whether the elementary facet intercepts the action line only if the calculated scalar product is negative, which makes it possible to reduce computer processing.
- the module 7 for characterizing the pressure application is then configured to calculate the dot product between the force measured by the force and torque sensor and the normal to an elementary facet determined as intercepting the action line. It is thus possible to disambiguate the point of entry of the exit point of the action line into the object, and to retain the elementary facet of a negative dot product as the point of application of pressure.
- the geometric model used in the context of the invention does not necessarily reproduce all the details of the object but represents the surfaces that can be touched.
- a hollow object intended to be touched only on the outside can be modeled as full.
- the stereolithography file file describing the surface of the object to the printer is directly usable.
- Such a file is further advantageous in each of the facets there is particularly described by the normal to its surface, which can therefore easily be exploited for the calculation of the aforementioned dot product.
- a computer-aided design CAD file of a manufactured object can also be used.
- the model can be built using a 3D scanner or any image pickup means to reconstruct the surface of the object to be touch-sensitive in three dimensions.
- the invention is not limited to the system as described above but also extends to the method implemented by such a system, and in particular to a method for detecting a pressure application on a surface of an object, comprising a step of calculating, from measurements of at least one force and torque sensor equipping a support of the object, coordinates of a line of space passing through a point of application of pressure on the surface of the object, characterized in that it further comprises a step of determining, by means of a calculation of radius firing, if an elementary facet of a geometric model of the surface of the object representing said surface in a mesh of elementary facets intercepts the straight line passing through the point of application of pressure.
- the invention also relates to a computer program product comprising program code instructions for performing the steps of the method when said program is executed on a computer.
- Figures 3a-3f illustrate different surfaces that can be made tactile by the implementation of the invention, even after the design and manufacture of an object and without affecting the design.
- Figure 3b Another application is illustrated in Figure 3b which makes touching furniture, such as the foot or the lampshade of a lamp.
- the invention makes it possible, for example, to control the intensity of the lighting by sliding one's finger on the foot of the lamp, or to modify the hue of the lighting by traversing the contour of the lampshade.
- the sensor or sensors are placed on a vertical support.
- a curved screen hung on the wall by means of such a support can thus be made tactile.
- a spherical surface is used to control the orientation of a camera or navigate in a virtual environment, such as mapping software.
- the spherical surface acts as a map of the world, and the affected position then naturally indicates the latitude and longitude of the place to be reached or the direction in which to point.
- the simultaneous access to the force exerted by the touch also makes it possible to zoom naturally on a point.
- a model or replica of a sculpture can be made tactile simply by placing it on an instrumented base. We can for example access specific multimedia content by touching an area of this model.
- a dashboard or control panel of a machine can be made tactile, regardless of its shape and without constraints on its materials or design.
- the fields of application of the invention are thus particularly varied.
- the automotive and aeronautics industries for example, can use it to create controls and functionalize the surfaces of a cockpit or a cockpit.
- the entertainment and culture industry can use it to enable interaction with digital content via tangible objects.
- the furniture industry can, thanks to the invention, propose home automation applications.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1560574A FR3043201B1 (fr) | 2015-11-04 | 2015-11-04 | Systeme et procede de detection d'une application de pression en surface d'un objet par mesure de force |
PCT/EP2016/076191 WO2017076789A1 (fr) | 2015-11-04 | 2016-10-31 | Système et procédé de détection d'une application de pression en surface d'un objet par mesure de force |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3371568A1 true EP3371568A1 (fr) | 2018-09-12 |
Family
ID=54848830
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16788134.1A Withdrawn EP3371568A1 (fr) | 2015-11-04 | 2016-10-31 | Système et procédé de détection d'une application de pression en surface d'un objet par mesure de force |
Country Status (5)
Country | Link |
---|---|
US (1) | US10585520B2 (fr) |
EP (1) | EP3371568A1 (fr) |
JP (1) | JP2018534593A (fr) |
FR (1) | FR3043201B1 (fr) |
WO (1) | WO2017076789A1 (fr) |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ZA701817B (en) | 1969-03-19 | 1971-02-24 | Thomson Csf T Vt Sa | Improvements in or relating to position indicating systems |
US20090256807A1 (en) * | 2008-04-14 | 2009-10-15 | Nokia Corporation | User interface |
US20150220197A1 (en) * | 2009-10-06 | 2015-08-06 | Cherif Atia Algreatly | 3d force sensor for internet of things |
FR2958424B1 (fr) * | 2010-04-02 | 2015-05-15 | Thales Sa | Dispositif d'interaction haptique. |
FR2962566B1 (fr) * | 2010-07-06 | 2013-05-17 | Commissariat Energie Atomique | Systeme de simulation d'un contact avec une surface par stimulation tactile |
TWI463359B (zh) * | 2010-11-09 | 2014-12-01 | Univ Nat Chiao Tung | 應用時間反轉法之觸控面板之定位及力回饋方法 |
EP2754008A4 (fr) * | 2011-06-21 | 2015-04-22 | Univ Northwestern | Dispositif d'interface tactile et procédé d'application de forces latérales sur un élément corporel |
GB2495486A (en) * | 2011-10-07 | 2013-04-17 | Hiwave Technologies Uk Ltd | Contextual haptic feedback in response to touch input |
FR2991791B1 (fr) | 2012-06-06 | 2014-08-08 | Commissariat Energie Atomique | Interface de stimulation tactile par retournement temporel |
FR2992120B1 (fr) * | 2012-06-15 | 2014-07-18 | Commissariat Energie Atomique | Actionneur pour moteur ultrasonique et moteur ultrasonique comportant au moins un tel actionneur |
-
2015
- 2015-11-04 FR FR1560574A patent/FR3043201B1/fr active Active
-
2016
- 2016-10-31 WO PCT/EP2016/076191 patent/WO2017076789A1/fr active Application Filing
- 2016-10-31 EP EP16788134.1A patent/EP3371568A1/fr not_active Withdrawn
- 2016-10-31 JP JP2018541520A patent/JP2018534593A/ja active Pending
- 2016-10-31 US US15/770,879 patent/US10585520B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
US10585520B2 (en) | 2020-03-10 |
US20180314375A1 (en) | 2018-11-01 |
WO2017076789A1 (fr) | 2017-05-11 |
FR3043201B1 (fr) | 2017-12-15 |
JP2018534593A (ja) | 2018-11-22 |
FR3043201A1 (fr) | 2017-05-05 |
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