EP3379371B1 - Interface module with haptic feedback - Google Patents

Interface module with haptic feedback Download PDF

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Publication number
EP3379371B1
EP3379371B1 EP18163780.2A EP18163780A EP3379371B1 EP 3379371 B1 EP3379371 B1 EP 3379371B1 EP 18163780 A EP18163780 A EP 18163780A EP 3379371 B1 EP3379371 B1 EP 3379371B1
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EP
European Patent Office
Prior art keywords
flyweight
motor
return means
interface module
elastic return
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EP18163780.2A
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German (de)
French (fr)
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EP3379371A1 (en
Inventor
Stéphanie DABIC
Nour-Eddine EL-OUARDI
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Dav SA
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Dav SA
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce

Definitions

  • the present invention relates to a haptic feedback interface module, in particular for a passenger compartment of a motor vehicle DE 200 21 536 U1 discloses a haptic feedback interface.
  • the vehicles have a large number of functions to adjust such as air conditioning, an audio system, a navigation assistant. These functions can also each have several parameters, for example for an air conditioning a user of the vehicle can control the temperature of the air flow, the intensity of the air flow and its direction or its origin from different outputs (on the windshield, the user's body up, the user's lower body, etc.).
  • the interface modules with a scrolling menu allow you to control a large number of functions with a compact module, but navigating the menus requires the driver's attention for sometimes several seconds. These seconds of inattention represent a risk of accident during traffic since the driver is no longer focused on the environment and especially other road users.
  • interface modules are often provided with a force feedback device to provide a haptic feedback to the user to indicate that a modification of the parameter has been taken into account without requiring him to look away from the road.
  • a haptic feedback is generally made in the form of a vibration of all or part of the interface module which provides a haptic feedback ensuring the user that his command is taken into account.
  • haptic feedback interface modules with an eccentric flyweight rotated by an electric motor fixed on an interface element that touches the user.
  • the flyweight due to its rotation causes a movement of the interface element that the user in contact with said interface element feels as a haptic feedback.
  • the weight The eccentric may contact a predefined surface forming a stop or end of travel, and transmit its kinetic energy to the impact.
  • the interface modules thus obtained have a haptic feedback that is not reproducible and often low because of a momentum limited by the short movements of the weight before its impact on the stop.
  • the interface module thus obtained makes it possible to dissipate more energy in the vibrations, and generates a controlled haptic feedback due to the return to a known position of the eccentric flyweight.
  • the flyweight thus starting from a known starting position until reaching a known arrival position, the vibrations and therefore the haptic feedback profile are reproducible with increased fidelity.
  • the interface module may have one or more of the following features, taken alone or in combination.
  • the elastic return means define in a state of maximum deformation an elastic stop of the movement of the eccentric weight.
  • It comprises a mechanical stop contacting the eccentric flyweight limiting the stroke of the weight in a state of maximum deformation of the elastic return means.
  • the rest position of the weight corresponds to a state of least deformation of the elastic return means.
  • the flyweight is configured to traverse in rotation at least one, preferably at least two complete turns between the state of rest and the state of maximum deformation.
  • the elastic return means comprise at least one of the following elements: a helical spring, a spring blade, a torsion spring, polyurethane strips, cross-linked rubber strips.
  • the eccentric flyweight is rotated via a shaft of the electric motor, and the elastic return means comprise a helical spring, surrounding the shaft, one end of which is rotatably connected to the eccentric flyweight, the other end being connected to an element fixed in rotation.
  • the eccentric flyweight is driven in helical motion by an endless screw and the elastic return means comprise a compression-deformable helical spring whose at least one end is free to rotate, arranged around a motor shaft and extended or compressed during the rotation of the eccentric weight.
  • the elastic return means comprise an elastic band or an extended spring, connected to the eccentric weight so as to wind around said flyweight or a motor shaft when it is rotated.
  • the elastic return means comprise a leaf spring disposed axially along the axis of rotation, connected to an end portion of the weight.
  • the step of reducing or stopping the power supply of the motor may include a step of short circuiting the motor to slow the return to the home position of the weight.
  • the step of reducing or stopping the motor power supply may alternatively comprise a controlled current injection step so that the motor actively brakes the return to the home position of the weight.
  • the step of detecting a stop position by measuring the supply current can be done by detecting a value of current consumed by the motor greater than a threshold current value.
  • Figure la is schematically shown a haptic feedback interface module 1 integrated into a vehicle cabin, here in particular at the center console.
  • Interface Module 1 is installed in the vehicle's center console: the vertical or inclined front panel wall, located between the driver and the passenger at the front of the vehicle. This location allows the driver, who is here the user U of the interface module 1, to easily interact with the interface module 1 while having the periphery of his field of vision in normal driving situation.
  • Such an interface module 1 allows the control of at least one function of an organ of the motor vehicle such as the control of the functions of an air conditioning system, an audio system, a telephony system or even of a navigation system.
  • the interface module 1 can also be used for window lifts, exterior mirrors, motorized seats or to control interior lights, central locking, sunroof, hazard lights or the mood lights.
  • the interface module 1 comprises a haptic feedback module 3, integral with an interface element, here a screen 5 on which is placed a touch screen 7.
  • the screen 5 may for example be a liquid crystal display , light-emitting diodes (LEDs), in particular organic light-emitting diodes (OLED).
  • the touch screen 7 may be a resistive or capacitive touch screen
  • the interface element 5 may comprise a control member such as a push button, a rotary wheel or a multi-directional lever ("joystick” or joystick) to which the haptic feedback module 3 is connected.
  • the haptic feedback module 3 then provides the vibrating haptic feedback to said control member when it is actuated by the user U.
  • the screen 5 displays menus and icons, and the user U , interacting with the touchscreen 7 can navigate the menus displayed and change the functions associated with the icons, in particular by placing a finger on said touchpad 7.
  • the normal on the screen 5 and / or the touch screen 7 makes it possible to define an axis z along which the interface module 1 is set in motion to generate the haptic feedback.
  • the haptic feedback module 3 provides a haptic feedback in the form of a vibration of the screen 5 and the touch-sensitive panel 7 on which the user U presses his finger, so that the user U feels the said vibration, meaning for example the taking in account of a selection or an order.
  • the haptic feedback module 3 can be screwed, glued, nested, clipped, riveted or generally fixed to the interface element 5 by means of any fastener allowing the transmission of the vibrations of the haptic feedback module 3 to the element. interface 5.
  • the haptic feedback module 3 is shown in more detail in figure 2 .
  • the haptic feedback module 3 comprises an eccentric flyweight 9 and an electric motor 11.
  • the eccentric flyweight 9 is intended to be rotated by the motor 11 around an axis A.
  • eccentric is meant here that the center of gravity G of the weight 3 is offset relative to its axis of rotation A , so as to be at a radial distance d non-zero of said axis A.
  • the electric motor 11 is selectively powered by a control unit 13.
  • the control unit 13 comprises in particular calculation means such as one or more processors, and an electronic memory which are either dedicated or integrated and shared in a global electronic network of the vehicle.
  • the control unit 13 can in particular control the power supply and the operation of various pieces of equipment of the vehicle by means of transistors (for example metal-oxide with effect of MOSFET fields).
  • the haptic feedback module 3 further comprises elastic return means 15, here in the form of a torsion spring.
  • the elastic return means are forcibly engaged with the flyweight 9. They are here connected on the one hand to the flyweight 9 and on the other hand to the interface element 5, fixed in rotation relative to the flyweight 9 , and define in a state of least deformation a rest position of the flyweight 9.
  • the elastic return means 15 may be attached to other elements fixed in rotation relative to the flyweight 9, such as a chassis or a frame of the interface module 1 or the haptic feedback module 3.
  • rest position here comprises a position to which the flyweight 9 returns under the effect of the elastic return means 15 in the absence of power supply of the motor 11.
  • the rest position is either a position which is a stop position mechanical, for example if the weight 9 is pressed against the elastic return means 15 against a mechanical stop limiting the stroke of said weight 9, a position of the weight 9 in which the elastic return means 15 are in a configuration rest, ie zero deformation, corresponding to the minimum deformation energy.
  • the elastic return means 15 may in particular comprise metal springs, made of synthetic material, a leaf spring or any spring in the sense of the ISO26909 2010 standard; as well as strips of elastic material, in particular of plastics (polyurethane, cross-linked rubber).
  • the elastic return means 15 comprise here a helical spring surrounding a shaft 17 connecting the weight 9 to the motor 11.
  • the helical spring 15 is deformed in rotation and opposes a couple resistance to the engine torque exerted by the electric motor 11 as a function of an angle of rotation of the flyweight 9.
  • the elastic return means 15 and the motor 11 can also be attached to a frame or frame forming the haptic feedback module 3.
  • the haptic feedback module 3 thus obtained is compact and easily manipulated for easy and fast assembly in the module interface 1.
  • FIG. figure 3 A graph of a resistance torque exerted by the elastic return means 15 as a function of the rotation angle ⁇ is represented in FIG. figure 3 .
  • the graph of the figure 3 shows the torque T in Newton meters (Nm) as a function of the rotation angle ⁇ of the weight 9 in radians (rad).
  • the abscissa axis is graduated from ⁇ 0 , a rest position of the flyweight 9 to ⁇ max , an abutment position and therefore maximum rotation of the flyweight 9.
  • the elastic return means 15 oppose increasing torque with the rotation angle ⁇ , first linearly, then exponentially.
  • the resistance torque T reaches the value T max corresponding to the maximum torque that the motor 11 can exert on the shaft 17 connected to the weight 9, the rotational movement of the flyweight 9 is stopped, which forms a stop said elastic stop.
  • elastic stop means a stop without physical interaction of the weight 9 with a material stop, but an immobilization of the flyweight 9 due to the balance between the maximum engine torque T max and the resistance torque T ( ⁇ max ) to the maximum deformation position ⁇ max .
  • the maximum deformation ⁇ max reached here is an observed maximum, which may not correspond to a maximum of elastic deformation of the elastic return means 15 (for example before deformation or breakage), but rather to the maximum distance to the rest position. ⁇ 0 during normal operation of the haptic feedback module 3.
  • the presence of the elastic return means 15 allows the weight 9 to receive a higher energy and thus generate a greater haptic feedback. It is also possible to dimension the elastic return means 15 so that the elastic stop position ⁇ max is reached after the weight 9 has traveled at least one, in particular at least two complete turns.
  • the elastic return means return the weight 9 to the equilibrium position ⁇ 0 , can save energy while obtaining symmetrical haptic feedback patterns over time.
  • the figure 4 illustrates such a symmetrical haptic feedback pattern.
  • the figure 4 is composed of two graphs, respectively the speed of rotation V ( t ) of the weight 9 during the time t, and the displacement z ( t ) of the interface element 5 over time t which corresponds to the haptic profile with elastic stop H BE .
  • the rotation speed V ( t ) of the weight 9 is initially zero, which corresponds to an initial moment when the weight 9 is at rest at the position ⁇ 0 , in particular in the state of least deformation of the elastic return means 15.
  • the control unit triggers the supply of the motor 11, which gradually increases the speed V ( t ).
  • the elastic return means 15 exert an increasing return torque opposing the rotation.
  • the speed V ( t ) is consequently stabilized at a maximum value at a moment M 1 .
  • the speed of rotation decreases and then vanishes when the weight 9 reaches its maximum deformation position ⁇ max .
  • the position z ( t ) of the interface element 5 is in the form of sinusoidal vibrations, with the envelope having a function proportional to the absolute value of the rotation speed V ( t ).
  • the haptic profile H BE is therefore maximal at instants M 1 , M 2 , and vanishes between these two instants when the maximum deformation position ⁇ max is reached.
  • the haptic feedback is then felt as two vibrations separated by a period of immobility of the interface element.
  • the second vibration is generated without power of the motor 11, and is symmetrical with respect to the time of the first.
  • a haptic feedback module 3 according to another embodiment of the invention.
  • the motor 11 is connected to the weight 9 by a telescopic shaft which comprises a worm 19 which causes an axial shift along the axis A of the weight 9 during its rotation.
  • the worm 19 has a fixed part 19a, rotatable and fixed in axial translation relative to the interface element 5, and a movable part 19b, rotatable and in translation with the flyweight 9.
  • the fixed parts 19a and mobile 19b are respectively parallelepipedal and tubular, the parallelepipedal fixed part, of square or rectangular section, fitting into a complementary housing of the movable part 19b which bears on its cylindrical outer periphery a screw thread which cooperates with a tapping or finger 19c for driving the mobile part 19b in translation when the worm 19 is rotated.
  • the flyweight 9, secured to the movable portion 19b is then also driven in translation, translational movement which is added to the rotational movement to form a helical movement.
  • the elastic return means 15 comprise in the embodiment of the Figure 5a and 5b a helical spring deformed in rotation and connected on the one hand to the motor 11 and on the other hand to the flyweight 9.
  • the end 151 of the spring 15 is axial and inserted into a corresponding bore of the movable part 19b, in which is movable in translation.
  • the haptic feedback module 3 comprises a mechanical stop 21 against which the weight 9 comes to bear when its stop position ⁇ max is reached.
  • This mechanical stop 21 may advantageously comprise a suitable surface with in particular a material or treatment that absorbs shocks, for example a surface of silicone or other plastic material absorbing shocks.
  • the weight 9 is in the rest position ⁇ 0
  • the elastic return means 15 maintain the weight 9 at said rest position ⁇ 0 , either by being prestressed or being in the minimum deformation configuration.
  • said rest position ⁇ 0 worm 19 is in the minimum elongation configuration, the fixed portion 19a then being wholly or almost fully nested in the tubular movable portion 19b.
  • the lengthening of the path of the weight 9 allows the motor 11 to provide more kinetic energy to the weight 9 before it reaches the stop, and thus strengthen the haptic feeling, especially during the frank vibration of the second phase ii of the figure 4 when the weight 9 reaches the stop 21.
  • the elastic return means 15 are, in figure 6 , at their maximum elongation, and exert a strong restoring force on the flyweight 9.
  • control unit 13 supplies the electric motor 11 with current, said motor 11 drives the worm 19 in rotation, the weight 9 is driven in helical motion until it reaches the stop 21.
  • unit control circuit 13 interrupts the power supply of the motor 11, the elastic return means 15 drive by the return force of the return of the feeder 9 to its starting position.
  • the translational component of the movement makes it possible to place the abutment 21 along the axis A so that the counterweight 9 travels several revolutions, advantageously more than two, before coming into abutment against the abutment 21, as represented in FIG. figure 5b .
  • the fact that the weight 9 goes through at least one, in particular at least two complete turns before reaching the stop 21 makes it possible to lengthen the path of the weight 9 during which the motor 11 accelerates the weight, and thus to reinforce the haptic feedback felt.
  • control unit 13 can, when returning the feeder 9 from the maximum deformation position ⁇ max to the equilibrium position ⁇ 0 , supply the electric motor 11 with current so as to generate a torque which opposes the return torque T ( ⁇ ) generated by the elastic return means 15, in order to slow the return to the equilibrium position ⁇ 0 and to limit, or even eliminate, the haptic feedback felt during the return of the flyweight 9 from the stop position ⁇ max to the equilibrium position ⁇ 0 .
  • the embodiment of the Figures 6a, 6b is largely analogous to the embodiment of the Figures 5a, 5b , but is distinguished by the use of a helical spring 15 deformable compression.
  • Said spring 15 is wound around a portion of the fixed portion 19a of the motor shaft 11, in particular the non-inserted portion in the movable portion 19b.
  • the spring 153 has two free ends 153, which can simply be a closed loop by crushing the last turn. One of the free ends 153 bears against a radial surface of the motor 11 around the fixed part 19a, the other free end 153 bears against a radial surface of the moving part 19b on the motor side 11. The free ends 153 thus allow free rotation of the spring 15 with respect to both the motor 11 and the fixed parts 19a and 19b mobile.
  • the elastic means 15 are generally arranged between a fixed element in rotation, for example the frame of the motor 11, a frame or the screen 5 or the touch screen 7.
  • Other elements can be interposed to serve as element PTO, for example a washer, on which a spring end 15 bears.
  • FIG. figure 7 is composed of two graphs, respectively the speed of rotation V ( t ) of the weight 9 during the time t , and the displacement z ( t ) of the interface element 5 over time t which corresponds to the haptic profile with mechanical stop.
  • FIG 7 two velocity curves V 1 ( t ) and V 2 ( t ) are represented with the associated haptic feedback profiles H1, H2.
  • the two speed curves correspond to two cases: in the first ( V 1 ( t ), H1) the control unit 13 interrupts the current supply of the motor 11 when the stop position ⁇ max is reached, in the second ( V 2 ( t ), H2) the control unit 13 supplies current to the motor 11 after the stop position ⁇ max is reached to slow down the return to the initial position ⁇ 0 of the weight 9.
  • the speed V 1 ( t ), V 2 ( t ) is initially zero, which corresponds to a system initially at rest.
  • the control unit 13 supplies the motor 11, the speed V 1 ( t ), V 2 ( t ) increases gradually during a first phase i.
  • the control unit 13 interrupts in the first case the supply of the motor 11.
  • the elastic return means 15 then cause the return to the initial rest position ⁇ 0 of the weight 9
  • the speed of rotation V 1 ( t ) then becomes negative, and gradually increases in absolute value.
  • control unit 13 triggers at time t 2 a limited supply of the motor 11, which limits the absolute value of the return speed V 2 ( t ) to the rest position ⁇ 0 .
  • the speed V 2 ( t ) is then kept low enough not to trigger perceptible vibrations of the interface element 5.
  • the haptic profiles H1, H2 obtained accordingly are represented in figure 7 and make it possible to distinguish three phases i, ii, iii during the generation of haptic feedback.
  • the first phase i ranging from the original time 0 to a time t 1 , is the phase during which the weight 9 is rotated by the electric motor 11. During this phase, the haptic feedback H1 is generated by the rotation of the weight 9 whose center of gravity G is offset with respect to the axis of rotation A.
  • the second phase ii ranging from the first time t 1 to a second time t 2 corresponds to the arrival in elastic stop of the weight 9, which results in a short and frank vibration, high amplitude.
  • the third phase iii extends beyond the second time t 2 , and corresponds to the return of the weight 9 by the action of the elastic return means 15 which bring the weight 9 to its rest position.
  • the haptic feedback is again generated by the rotation of the weight 9 whose center of gravity G is offset with respect to the axis of rotation A.
  • the motor 11 is not or little powered during the third phase iii.
  • the return torque T exerted by the elastic return means 15 is then the only action that the feeder 9 undergoes, so that it returns to its rest position ⁇ 0 quickly.
  • the user U therefore feels during this third phase iii a haptic feedback similar to that felt during the first step.
  • a suitable dimensioning of the motor 11 and the means elastics makes it possible to obtain an important symmetry between the first and the third phase i, iii.
  • the electric motor 11 is supplied with current during the third phase iii so as to provide a motor torque which slows the return to the rest position ⁇ 0 of the weight 9.
  • the user U does not feel haptic feedback in the third phase iii.
  • the first haptic feedback profile H1 is therefore symmetrical in time: diffuse vibrations due to the rotation of the flyweight 9 eccentric from the equilibrium position ⁇ 0 to the stop position ⁇ max , followed by a corresponding frank vibration on arrival at abutment ⁇ max of the flyweight 9, and again diffuse vibrations when returning the flyweight 9 from the stop position ⁇ max to the equilibrium position ⁇ 0 .
  • the second haptic profile H2 has no haptic feel during the return of the flyweight 9 of the stop position ⁇ max at the equilibrium position ⁇ 0 .
  • haptic profiles H1, H2 can in particular be used to signify to the user U two different things. For example, one can be used to indicate the consideration of the command, and the other to signal an impossibility to access the request of the user U. Alternatively or additionally, profiles H1, H2 may be alternated or sequenced to provide longer and more complex haptic feedbacks.
  • said motor 11 When reducing or stopping the power supply of the motor 11, said motor 11 can be short circuited to slow the return to the home position of the feeder 9 by current dissipation.
  • a controlled current injection step can be performed so that the motor 11 actively brakes the return to the rest position of the weight 9.
  • FIG 8 represents a haptic feedback module 3, in which the control unit 13 delivers a variable current i ( t ), measured by an ammeter 23 which relays the measured value to the control unit 13.
  • the control unit 13 can regulate said speed.
  • the rotation of the weight 9 is controlled from its starting position (of lesser deformation or rest) ⁇ 0 , to its stop position ⁇ max (physical or elastic abutment).
  • ⁇ max physical or elastic abutment
  • the detection of a stop position ⁇ max by measuring the supply current i ( t ) can in particular be done by detecting a current value consumed by the motor 11 greater than a threshold current value i 0 .
  • the return to abutment (elastic or physical) at the position of least deformation ⁇ 0 can be detected analogously by detecting a threshold value exceeding i 0 .
  • the figure 9 shows an alternative embodiment of elastic return means 15 for haptic feedback module 3.
  • the elastic return means 15 comprise an elastic band or a flexible spring, connected on the one hand to the element d 5 and on the other hand to the flyweight 9.
  • the elastic return means 15 are stretched in extension and the elastic return means 15 can, when a complete revolution or more is possible, wind up around the shaft 17 or the weight 9.
  • the elastic return means 15 are then deformed in extension and thus oppose a torque to the torque of the motor 11.
  • Such elastic return means 15 make it possible to obtain a compact haptic feedback module 3 in axial length along the axis A.
  • the elastic return means 15 alternately comprise a spring blade, connected firstly to the distal end of the weight 9, and secondly to the interface element 5.
  • the spring blade forming the elastic return means 15 is arranged axially in length along the axis A.
  • Such elastic return means 15 make it possible to obtain a compact haptic feedback module 3 in radial dimension perpendicular to the axis A.
  • the invention makes it possible to obtain compact haptic feedback modules 3, providing an increased haptic feedback that can be folded over time.

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Description

La présente invention concerne un module d'interface à retour haptique, en particulier pour un habitacle de véhicule automobile
DE 200 21 536 U1 divulgue une interface à retour haptique.The present invention relates to a haptic feedback interface module, in particular for a passenger compartment of a motor vehicle
DE 200 21 536 U1 discloses a haptic feedback interface.

Les véhicules présentent un nombre important de fonctions à régler telles que la climatisation, un système audio, un assistant de navigation. Ces fonctions peuvent en outre présenter chacune plusieurs paramètres, par exemple pour une climatisation un usager du véhicule peut contrôler la température du flux d'air, l'intensité du flux d'air et sa direction ou son origine à partir de différentes sorties (sur le pare-brise, vers le haut du corps de l'utilisateur, sur le bas du corps de l'utilisateur etc.).The vehicles have a large number of functions to adjust such as air conditioning, an audio system, a navigation assistant. These functions can also each have several parameters, for example for an air conditioning a user of the vehicle can control the temperature of the air flow, the intensity of the air flow and its direction or its origin from different outputs (on the windshield, the user's body up, the user's lower body, etc.).

Pour contrôler ces paramètres on peut soit utiliser de multiples commutateurs en rotation (molettes) ou en translation (boutons poussoirs), soit intégrer un module d'interface avec un écran et des menus défilants.To control these parameters one can either use multiple switches in rotation (knobs) or translation (push buttons), or integrate an interface module with a screen and scrolling menus.

Les modules d'interface avec un menu défilant permettent de contrôler un grand nombre de fonctions avec un module compact, mais la navigation dans les menus requiert l'attention du conducteur durant parfois plusieurs secondes. Ces secondes d'inattention représentent un danger d'accident lors de la circulation puisque le conducteur n'est alors plus concentré sur l'environnement et en particulier les autres usagers de la route.The interface modules with a scrolling menu allow you to control a large number of functions with a compact module, but navigating the menus requires the driver's attention for sometimes several seconds. These seconds of inattention represent a risk of accident during traffic since the driver is no longer focused on the environment and especially other road users.

Ces modules d'interface sont souvent pourvus d'un dispositif à retour de force pour fournir un retour haptique à l'utilisateur pour lui signaler qu'une modification du paramètre a été prise en compte sans nécessiter qu'il détourne son regard de la route. Un tel retour haptique est généralement réalisé sous forme d'une vibration de tout ou partie du module d'interface qui fournit un retour haptique assurant à l'utilisateur que sa commande est prise en compte.These interface modules are often provided with a force feedback device to provide a haptic feedback to the user to indicate that a modification of the parameter has been taken into account without requiring him to look away from the road. . Such a haptic feedback is generally made in the form of a vibration of all or part of the interface module which provides a haptic feedback ensuring the user that his command is taken into account.

Pour générer les vibrations il est connu d'utiliser des modules d'interface à retour haptique avec une masselotte excentrée entraînée en rotation par un moteur électrique fixé sur un élément d'interface que touche l'utilisateur. La masselotte, du fait de sa rotation entraîne un mouvement de l'élément d'interface que l'utilisateur en contact avec ledit élément d'interface ressent en tant que retour haptique. En outre, la masselotte excentrée peut entrer en contact avec une surface prédéfinie formant une butée ou bout de course, et transmettre son énergie cinétique à l'impact.To generate the vibrations it is known to use haptic feedback interface modules with an eccentric flyweight rotated by an electric motor fixed on an interface element that touches the user. The flyweight, due to its rotation causes a movement of the interface element that the user in contact with said interface element feels as a haptic feedback. In addition, the weight The eccentric may contact a predefined surface forming a stop or end of travel, and transmit its kinetic energy to the impact.

Du fait de mouvements complexes des éléments impliqués les modules d'interface ainsi obtenus présentent un retour haptique non-reproductible et souvent faible du fait d'un élan limité par les mouvements courts de la masselotte avant son impact sur la butée.Due to complex movements of the elements involved, the interface modules thus obtained have a haptic feedback that is not reproducible and often low because of a momentum limited by the short movements of the weight before its impact on the stop.

Afin de résoudre au moins partiellement le problème précédemment mentionné, l'invention a pour objet un module d'interface à retour haptique, en particulier pour habitacle de véhicule comportant :

  • un élément d'interface, destiné à être en contact avec un utilisateur du module d'interface,
  • un moteur électrique,
  • une masselotte excentrée, destinée à être entraînée en rotation autour d'un axe de rotation par le moteur pour transmettre de l'énergie cinétique à l'élément d'interface lors de sa rotation afin de mettre en mouvement ledit élément d'interface pour fournir un retour haptique,
caractérisé en ce qu'il comporte en outre :
des moyens de rappel élastiques, en prise de force avec la masselotte, configurés pour ramener la masselotte dans une position de repos lorsque le moteur n'est plus alimenté.In order to at least partially solve the problem mentioned above, the subject of the invention is a haptic feedback interface module, in particular for a vehicle passenger compartment comprising:
  • an interface element, intended to be in contact with a user of the interface module,
  • an electric motor,
  • an eccentric flyweight, intended to be rotated about an axis of rotation by the motor to transmit kinetic energy to the interface element during its rotation in order to move said interface element to provide a haptic feedback,
characterized in that it further comprises:
resilient return means, in power take-off with the flyweight, configured to return the weight to a rest position when the engine is no longer powered.

Le module d'interface ainsi obtenu permet de dissiper plus d'énergie dans les vibrations, et engendre un retour haptique contrôlé du fait du retour à une position connue de la masselotte excentrée. La masselotte partant ainsi d'une position de départ connue jusqu'à atteindre une position d'arrivée connue, les vibrations et donc le profil de retour haptique sont reproductibles avec une fidélité accrue.The interface module thus obtained makes it possible to dissipate more energy in the vibrations, and generates a controlled haptic feedback due to the return to a known position of the eccentric flyweight. The flyweight thus starting from a known starting position until reaching a known arrival position, the vibrations and therefore the haptic feedback profile are reproducible with increased fidelity.

Ledit module d'interface peut présenter une ou plusieurs des caractéristiques suivantes, prises seules ou en combinaison.The interface module may have one or more of the following features, taken alone or in combination.

Les moyens de rappel élastiques définissent en un état de déformation maximale une butée élastique du mouvement de la masselotte excentrée.The elastic return means define in a state of maximum deformation an elastic stop of the movement of the eccentric weight.

Il comporte une butée mécanique entrant en contact avec la masselotte excentrée limitant la course de la masselotte en un état de déformation maximale des moyens de rappel élastiques.It comprises a mechanical stop contacting the eccentric flyweight limiting the stroke of the weight in a state of maximum deformation of the elastic return means.

La position de repos de la masselotte correspond à un état de moindre déformation des moyens de rappel élastiques.The rest position of the weight corresponds to a state of least deformation of the elastic return means.

La masselotte est configurée pour parcourir en rotation au moins un, préférentiellement au moins deux tours complets entre l'état de repos et l'état de déformation maximale.The flyweight is configured to traverse in rotation at least one, preferably at least two complete turns between the state of rest and the state of maximum deformation.

Les moyens de rappel élastiques comportent au moins un élément parmi les éléments suivants : un ressort hélicoïdal, une lame ressort, un ressort en torsion, des bandes de polyuréthane, des bandes de caoutchouc réticulé.The elastic return means comprise at least one of the following elements: a helical spring, a spring blade, a torsion spring, polyurethane strips, cross-linked rubber strips.

La masselotte excentrée est entraînée en rotation via un arbre du moteur électrique, et les moyens de rappel élastiques comportent un ressort hélicoïdal, entourant l'arbre dont une extrémité est liée en rotation à la masselotte excentrée, l'autre extrémité étant liée à un élément fixe en rotation.The eccentric flyweight is rotated via a shaft of the electric motor, and the elastic return means comprise a helical spring, surrounding the shaft, one end of which is rotatably connected to the eccentric flyweight, the other end being connected to an element fixed in rotation.

La masselotte excentrée est entraînée en mouvement hélicoïdal par une vis sans fin et les moyens de rappel élastiques comportent un ressort hélicoïdal déformable en compression dont au moins une extrémité est libre en rotation, disposé autour d'un arbre du moteur et étendu ou compressé lors de la rotation de la masselotte excentrée.The eccentric flyweight is driven in helical motion by an endless screw and the elastic return means comprise a compression-deformable helical spring whose at least one end is free to rotate, arranged around a motor shaft and extended or compressed during the rotation of the eccentric weight.

Les moyens de rappel élastiques comportent une bande élastique ou un ressort en extension, relié à la masselotte excentrée de sorte à s'enrouler autour de ladite masselotte ou d'un arbre du moteur lorsqu'elle est mise en rotation.The elastic return means comprise an elastic band or an extended spring, connected to the eccentric weight so as to wind around said flyweight or a motor shaft when it is rotated.

Les moyens de rappel élastiques comportent une lame ressort disposée axialement le long l'axe de rotation, reliée à une portion extrémale de la masselotte.The elastic return means comprise a leaf spring disposed axially along the axis of rotation, connected to an end portion of the weight.

L'invention a aussi pour objet le procédé de génération de retour haptique avec un module d'interface tel que précédemment mentionné, caractérisé en ce qu'il comporte les étapes suivantes :

  • alimentation du moteur en courant électrique pour écarter la masselotte de la position de repos,
  • détection d'une position de butée de la masselotte par mesure du courant d'alimentation du moteur,
  • diminution ou arrêt de l'alimentation en courant du moteur pour que la masselotte retourne à une position de repos sous l'effet des moyens de rappel élastiques.
The subject of the invention is also the method of generating haptic feedback with an interface module as previously mentioned, characterized in that it comprises the following steps:
  • powering the motor with electric current to move the weight from the rest position,
  • detecting a stop position of the weight by measuring the current engine power,
  • reducing or stopping the power supply of the motor so that the weight returns to a rest position under the effect of the elastic return means.

L'étape de diminution ou arrêt de l'alimentation en courant du moteur peut comporter une étape de mise en court circuit du moteur pour freiner le retour à la position de repos de la masselotte.The step of reducing or stopping the power supply of the motor may include a step of short circuiting the motor to slow the return to the home position of the weight.

L'étape de diminution ou arrêt de l'alimentation en courant du moteur peut en alternative comporter une étape d'injection contrôlée de courant pour que le moteur freine activement le retour à la position de repos de la masselotte.The step of reducing or stopping the motor power supply may alternatively comprise a controlled current injection step so that the motor actively brakes the return to the home position of the weight.

L'étape de détection d'une position de butée par mesure du courant d'alimentation peut se faire par détection d'une valeur de courant consommé par le moteur supérieure à une valeur de courant seuil.The step of detecting a stop position by measuring the supply current can be done by detecting a value of current consumed by the motor greater than a threshold current value.

D'autres caractéristiques et avantages de l'invention apparaîtront plus clairement à la lecture de la description suivante, donnée à titre d'exemple illustratif et non limitatif, et des dessins annexés parmi lesquels :

  • les figures 1a, 1b montrent schématiquement un module d'interface comprenant un module de retour haptique selon un premier mode de réalisation de l'invention, dans un habitacle de véhicule en figure la et en vue en côté en figure 1b,
  • la figure 2 montre schématiquement un module de retour haptique selon un mode de réalisation de l'invention,
  • la figure 3 montre un graphe de la force de rappel de moyens de rappel élastiques selon la position de rotation de la masselotte d'un module de retour haptique,
  • la figure 4 montre des exemples de graphes de vitesse de rotation et de retour haptique correspondant aux modules des figures 1 à 3,
  • les figures 5a, 5b et 6a, 6b montrent deux modes de réalisation alternatifs de module de retour haptique à chaque fois dans leurs positions de repos et extrémale,
  • la figure 7 montre des exemples de graphes de vitesse de rotation et de retour haptique correspondant aux modules des figures 5a, 5b et 6a, 6b,
  • la figure 8 montre un mode de réalisation alternatif de module de retour haptique,
  • les figures 9 et 10 montrent des modes de réalisation alternatifs de moyens de rappel élastiques pour modules de retour haptique.
Other features and advantages of the invention will emerge more clearly on reading the following description, given by way of illustrative and nonlimiting example, and the appended drawings among which:
  • the Figures 1a, 1b schematically show an interface module comprising a haptic feedback module according to a first embodiment of the invention, in a vehicle passenger compartment in FIG. figure 1b ,
  • the figure 2 schematically shows a haptic feedback module according to an embodiment of the invention,
  • the figure 3 shows a graph of the restoring force of elastic return means according to the rotation position of the weight of a haptic feedback module,
  • the figure 4 shows examples of rotational speed graphs and haptic feedback corresponding to the modules of Figures 1 to 3 ,
  • the Figures 5a, 5b and 6a, 6b show two alternative embodiments of haptic feedback module each time in their rest and extremal positions,
  • the figure 7 shows examples of speed graphs and return haptic corresponding to the modules of Figures 5a, 5b and 6a, 6b ,
  • the figure 8 shows an alternative embodiment of haptic feedback module,
  • the Figures 9 and 10 show alternative embodiments of elastic return means for haptic feedback modules.

Sur toutes les figures, les mêmes références se rapportent aux mêmes éléments.In all the figures, the same references refer to the same elements.

Les réalisations décrites en faisant référence aux figures sont des exemples. Bien que la description se réfère à un ou plusieurs modes de réalisation, ceci ne signifie pas nécessairement que chaque référence concerne le même mode de réalisation, ou que les caractéristiques s'appliquent seulement à un seul mode de réalisation. De simples caractéristiques de différents modes de réalisation peuvent également être combinées pour fournir d'autres réalisations.The embodiments described with reference to the figures are examples. Although the description refers to one or more embodiments, this does not necessarily mean that each reference relates to the same embodiment, or that the features apply only to a single embodiment. Simple features of different embodiments may also be combined to provide other embodiments.

En figure la est montré de façon schématique un module d'interface 1 à retour haptique intégré dans un habitacle de véhicule, ici en particulier au niveau de la console centrale.In Figure la is schematically shown a haptic feedback interface module 1 integrated into a vehicle cabin, here in particular at the center console.

Le module d'interface 1 est installé dans la console centrale du véhicule : la paroi du panneau avant verticale ou inclinée, située entre le conducteur et le passager à l'avant du véhicule. Cet emplacement permet au conducteur, qui est ici l'utilisateur U du module d'interface 1, d'interagir aisément avec le module d'interface 1 tout en l'ayant en périphérie de son champ de vision en situation normale de conduite.Interface Module 1 is installed in the vehicle's center console: the vertical or inclined front panel wall, located between the driver and the passenger at the front of the vehicle. This location allows the driver, who is here the user U of the interface module 1, to easily interact with the interface module 1 while having the periphery of his field of vision in normal driving situation.

Un tel module d'interface 1 permet la commande d'au moins une fonction d'un organe du véhicule automobile telle que la commande des fonctions d'un système de climatisation, d'un système audio, d'un système de téléphonie ou encore d'un système de navigation. Le module d'interface 1 peut également servir pour les commandes de lève-vitres, de positionnement des rétroviseurs extérieurs ou encore pour le déplacement de sièges motorisés ou pour commander des lumières intérieures, un verrouillage central, un toit ouvrant, les feux de détresse ou les lumières d'ambiance.Such an interface module 1 allows the control of at least one function of an organ of the motor vehicle such as the control of the functions of an air conditioning system, an audio system, a telephony system or even of a navigation system. The interface module 1 can also be used for window lifts, exterior mirrors, motorized seats or to control interior lights, central locking, sunroof, hazard lights or the mood lights.

Comme montré en figure 1b, le module d'interface 1 comporte un module de retour haptique 3, solidaire d'un élément d'interface, ici un écran 5 sur lequel est posé une dalle tactile 7. L'écran 5 peut par exemple être un écran à cristaux liquides, à diodes électroluminescentes (LED), en particulier diodes électroluminescentes organiques (OLED). La dalle tactile 7 peut être une dalle tactile résistive ou capacitiveAs shown in figure 1b , the interface module 1 comprises a haptic feedback module 3, integral with an interface element, here a screen 5 on which is placed a touch screen 7. The screen 5 may for example be a liquid crystal display , light-emitting diodes (LEDs), in particular organic light-emitting diodes (OLED). The touch screen 7 may be a resistive or capacitive touch screen

En alternative, l'élément d'interface 5 peut comprendre un organe de commande tel qu'un bouton poussoir, une molette rotative ou un levier multidirectionnel (« joystick » ou manche) auquel le module de retour haptique 3 est relié. Le module de retour haptique 3 fournit alors le retour haptique vibratoire audit organe de commande lors de son actionnement par l'utilisateur U.Alternatively, the interface element 5 may comprise a control member such as a push button, a rotary wheel or a multi-directional lever ("joystick" or joystick) to which the haptic feedback module 3 is connected. The haptic feedback module 3 then provides the vibrating haptic feedback to said control member when it is actuated by the user U.

L'écran 5 affiche des menus et icônes, et l'utilisateur U, en interagissant avec la dalle tactile 7 peut naviguer dans les menus affichés et modifier les fonctions associées aux icônes, en particulier en posant un doigt sur ladite dalle tactile 7.The screen 5 displays menus and icons, and the user U , interacting with the touchscreen 7 can navigate the menus displayed and change the functions associated with the icons, in particular by placing a finger on said touchpad 7.

La normale à l'écran 5 et/ou à la dalle tactile 7 permet de définir un axe z le long duquel le module d'interface 1 est mis en mouvement pour générer le retour haptique.The normal on the screen 5 and / or the touch screen 7 makes it possible to define an axis z along which the interface module 1 is set in motion to generate the haptic feedback.

Le module de retour haptique 3 fournit un retour haptique sous forme de vibration de l'écran 5 et de la dalle tactile 7 sur laquelle l'utilisateur U appuie son doigt, de sorte que l'utilisateur U ressente ladite vibration signifiant par exemple la prise en compte d'une sélection ou d'une commande.The haptic feedback module 3 provides a haptic feedback in the form of a vibration of the screen 5 and the touch-sensitive panel 7 on which the user U presses his finger, so that the user U feels the said vibration, meaning for example the taking in account of a selection or an order.

Le module de retour haptique 3 peut être vissé, collé, emboîté, clipsé, riveté ou de manière générale fixé à l'élément d'interface 5 au moyen de toute fixation permettant la transmission des vibrations du module de retour haptique 3 à l'élément d'interface 5.The haptic feedback module 3 can be screwed, glued, nested, clipped, riveted or generally fixed to the interface element 5 by means of any fastener allowing the transmission of the vibrations of the haptic feedback module 3 to the element. interface 5.

Le module de retour haptique 3 est montré plus en détails en figure 2.The haptic feedback module 3 is shown in more detail in figure 2 .

En figure 2 on voit que le module de retour haptique 3 comporte une masselotte excentrée 9 et un moteur électrique 11. La masselotte excentrée 9 est destinée à être entraînée en rotation par le moteur 11 autour d'un axe A. Par « excentrée » on entend ici que le centre de gravité G de la masselotte 3 est décalé par rapport à son axe de rotation A, de sorte à se trouver à une distance radiale d non-nulle dudit axe A.In figure 2 it can be seen that the haptic feedback module 3 comprises an eccentric flyweight 9 and an electric motor 11. The eccentric flyweight 9 is intended to be rotated by the motor 11 around an axis A. By "eccentric" is meant here that the center of gravity G of the weight 3 is offset relative to its axis of rotation A , so as to be at a radial distance d non-zero of said axis A.

Le moteur électrique 11 est sélectivement alimenté en courant par une unité de contrôle 13. L'unité de contrôle 13 comporte en particulier des moyens de calcul tels qu'un ou plusieurs processeurs, et une mémoire électronique qui sont soit dédiés soit intégrés et partagés dans un réseau électronique global du véhicule. L'unité de contrôle 13 peut en particulier contrôler l'alimentation et le fonctionnement de différents équipements du véhicule au moyen de transistors (par exemple métal-oxyde à effet de champs MOSFET).The electric motor 11 is selectively powered by a control unit 13. The control unit 13 comprises in particular calculation means such as one or more processors, and an electronic memory which are either dedicated or integrated and shared in a global electronic network of the vehicle. The control unit 13 can in particular control the power supply and the operation of various pieces of equipment of the vehicle by means of transistors (for example metal-oxide with effect of MOSFET fields).

Le module de retour haptique 3 comporte en outre des moyens de rappel élastiques 15, ici sous forme de ressort en torsion. Les moyens de rappel élastiques sont en prise de force avec la masselotte 9. Ils sont ici reliés d'une part à la masselotte 9 et d'autre part à l'élément d'interface 5, fixe en rotation par rapport à la masselotte 9, et définissent en un état de moindre déformation une position de repos de la masselotte 9. En alternative, les moyens de rappel élastiques 15 peuvent être rattachés à d'autres éléments fixes en rotation par rapport à la masselotte 9, tels qu'un châssis ou un bâti du module d'interface 1 ou du module de retour haptique 3.The haptic feedback module 3 further comprises elastic return means 15, here in the form of a torsion spring. The elastic return means are forcibly engaged with the flyweight 9. They are here connected on the one hand to the flyweight 9 and on the other hand to the interface element 5, fixed in rotation relative to the flyweight 9 , and define in a state of least deformation a rest position of the flyweight 9. Alternatively, the elastic return means 15 may be attached to other elements fixed in rotation relative to the flyweight 9, such as a chassis or a frame of the interface module 1 or the haptic feedback module 3.

Par position de repos on comprend ici une position à laquelle la masselotte 9 retourne sous l'effet des moyens de rappel élastiques 15 en l'absence d'alimentation du moteur 11. La position de repos est soit une position qui est une position de butée mécanique, par exemple si la masselotte 9 est en appui contraint par les moyens de rappel élastiques 15 contre une butée mécanique limitant la course de ladite masselotte 9, soit une position de la masselotte 9 dans laquelle les moyens de rappel élastiques 15 sont en une configuration de repos, c'est à dire de déformation nulle, correspondant au minimum d'énergie de déformation.By rest position here comprises a position to which the flyweight 9 returns under the effect of the elastic return means 15 in the absence of power supply of the motor 11. The rest position is either a position which is a stop position mechanical, for example if the weight 9 is pressed against the elastic return means 15 against a mechanical stop limiting the stroke of said weight 9, a position of the weight 9 in which the elastic return means 15 are in a configuration rest, ie zero deformation, corresponding to the minimum deformation energy.

Les moyens de rappel élastiques 15 peuvent en particulier comporter des ressorts métalliques, en matériau synthétique, une lame-ressort ou tout ressort au sens de la norme ISO26909 2010 ; ainsi que des bandes de matériau élastique en particulier en matières plastiques (polyuréthane, caoutchouc réticulé).The elastic return means 15 may in particular comprise metal springs, made of synthetic material, a leaf spring or any spring in the sense of the ISO26909 2010 standard; as well as strips of elastic material, in particular of plastics (polyurethane, cross-linked rubber).

Les moyens de rappel élastiques 15 comportent ici un ressort hélicoïdal entourant un arbre 17 reliant la masselotte 9 au moteur 11. Lorsque la masselotte 9 est mise en mouvement en rotation par le moteur 11, le ressort hélicoïdal 15 est déformé en rotation et oppose un couple de résistance au couple moteur exercé par le moteur électrique 11 en fonction d'un angle de rotation de la masselotte 9.The elastic return means 15 comprise here a helical spring surrounding a shaft 17 connecting the weight 9 to the motor 11. When the weight 9 is set in rotation by the motor 11, the helical spring 15 is deformed in rotation and opposes a couple resistance to the engine torque exerted by the electric motor 11 as a function of an angle of rotation of the flyweight 9.

Les moyens de rappel élastiques 15 et le moteur 11 peuvent aussi être fixés à un bâti ou cadre formant enceinte du module de retour haptique 3. Le module de retour haptique 3 ainsi obtenu est compact et aisément manipulable pour un montage facilité et rapide dans le module d'interface 1.The elastic return means 15 and the motor 11 can also be attached to a frame or frame forming the haptic feedback module 3. The haptic feedback module 3 thus obtained is compact and easily manipulated for easy and fast assembly in the module interface 1.

Un graphe d'un couple de résistance exercé par les moyens de rappel élastiques 15 en fonction de l'angle de rotation θ est représenté en figure 3. Le graphe de la figure 3 montre le couple T en Newton mètres (Nm) en fonction de l'angle de rotation θ de la masselotte 9 en radians (rad).A graph of a resistance torque exerted by the elastic return means 15 as a function of the rotation angle θ is represented in FIG. figure 3 . The graph of the figure 3 shows the torque T in Newton meters (Nm) as a function of the rotation angle θ of the weight 9 in radians (rad).

L'axe des abscisses est gradué de θ0, une position de repos de la masselotte 9 à θmax, une position de butée et donc de rotation maximale de la masselotte 9.The abscissa axis is graduated from θ 0 , a rest position of the flyweight 9 to θ max , an abutment position and therefore maximum rotation of the flyweight 9.

En partant d'un couple nul ou minimal à la position de repos les moyens de rappel élastiques 15 opposent un couple croissant avec l'angle de rotation θ, d'abord linéairement, puis exponentiellement. Lorsqu'à la valeur d'angle de rotation θmax le couple de résistance T atteint la valeur Tmax correspondant au couple maximal que le moteur 11 peut exercer sur l'arbre 17 lié à la masselotte 9, le mouvement de rotation de la masselotte 9 est arrêté, ce qui forme une butée dite butée élastique.Starting from a zero or minimum torque at the rest position, the elastic return means 15 oppose increasing torque with the rotation angle θ, first linearly, then exponentially. When at the rotation angle value θ max the resistance torque T reaches the value T max corresponding to the maximum torque that the motor 11 can exert on the shaft 17 connected to the weight 9, the rotational movement of the flyweight 9 is stopped, which forms a stop said elastic stop.

Par butée élastique on entend une butée sans interaction physique de la masselotte 9 avec une butée matérielle, mais une immobilisation de la masselotte 9 du fait de l'équilibre entre le couple moteur maximal Tmax et le couple de résistance T(θmax) à la position de déformation maximale θmax.By elastic stop means a stop without physical interaction of the weight 9 with a material stop, but an immobilization of the flyweight 9 due to the balance between the maximum engine torque T max and the resistance torque T (θ max ) to the maximum deformation position θ max .

La déformation maximale θmax atteinte est ici un maximum observé, qui peut ne pas correspondre à un maximum de déformation élastique des moyens de rappel élastiques 15 (par exemple avant déformation ou rupture), mais plutôt à l'écart maximal à la position de repos θ0 lors du fonctionnement normal du module de retour haptique 3.The maximum deformation θ max reached here is an observed maximum, which may not correspond to a maximum of elastic deformation of the elastic return means 15 (for example before deformation or breakage), but rather to the maximum distance to the rest position. θ 0 during normal operation of the haptic feedback module 3.

La présence des moyens de rappel élastiques 15 permet à la masselotte 9 de recevoir une énergie plus importante et donc de générer un retour haptique plus important. On peut aussi dimensionner les moyens de rappel élastiques 15 pour que la position de butée élastique θmax soit atteinte après que la masselotte 9 a parcouru au moins un, en particulier au moins deux tours complets.The presence of the elastic return means 15 allows the weight 9 to receive a higher energy and thus generate a greater haptic feedback. It is also possible to dimension the elastic return means 15 so that the elastic stop position θ max is reached after the weight 9 has traveled at least one, in particular at least two complete turns.

L'utilisation d'une butée dite « butée élastique » permet en outre de réduire le bruit généré par le module de retour haptique 3, puisqu'il n'y a alors pas de chocs mécaniques.The use of a stop called "elastic stop" also makes it possible to reduce the noise generated by the haptic feedback module 3, since there is no mechanical shock.

Lorsque l'unité de contrôle 13 interrompt l'alimentation du moteur électrique, les moyens de rappel élastiques ramènent la masselotte 9 à la position d'équilibre θ0, on peut ainsi économiser de l'énergie tout en obtenant des motifs de retour haptique symétriques dans le temps.When the control unit 13 interrupts the power supply of the electric motor, the elastic return means return the weight 9 to the equilibrium position θ 0 , can save energy while obtaining symmetrical haptic feedback patterns over time.

La figure 4 illustre un tel motif de retour haptique symétrique. La figure 4 est composée de deux graphes, respectivement de la vitesse de rotation V(t) de la masselotte 9 au cours du temps t, et du déplacement z(t) de l'élément d'interface 5 au cours du temps t ce qui correspond au profil haptique avec butée élastique HBE. The figure 4 illustrates such a symmetrical haptic feedback pattern. The figure 4 is composed of two graphs, respectively the speed of rotation V ( t ) of the weight 9 during the time t, and the displacement z ( t ) of the interface element 5 over time t which corresponds to the haptic profile with elastic stop H BE .

La vitesse de rotation V(t) de la masselotte 9 est initialement nulle, ce qui correspond à un instant initial où la masselotte 9 est au repos à la position θ0, en particulier à l'état de moindre déformation des moyens de rappel élastiques 15.The rotation speed V ( t ) of the weight 9 is initially zero, which corresponds to an initial moment when the weight 9 is at rest at the position θ 0 , in particular in the state of least deformation of the elastic return means 15.

A l'instant t = 0 l'unité de contrôle déclenche l'alimentation du moteur 11, ce qui fait monter progressivement la vitesse de rotation V(t). Lorsque la masselotte 9 s'éloigne de la position d'équilibre θ0, les moyens de rappel élastiques 15 exercent un couple de rappel croissant s'opposant à la rotation. La vitesse V(t) se stabilise en conséquence à une valeur maximale à un instant M1. Après l'instant M1, la vitesse de rotation décroît puis s'annule lorsque la masselotte 9 atteint sa position de déformation maximale θmax.At time t = 0 the control unit triggers the supply of the motor 11, which gradually increases the speed V ( t ). When the weight 9 moves away from the equilibrium position θ 0 , the elastic return means 15 exert an increasing return torque opposing the rotation. The speed V ( t ) is consequently stabilized at a maximum value at a moment M 1 . After the instant M 1 , the speed of rotation decreases and then vanishes when the weight 9 reaches its maximum deformation position θ max .

Lorsque la masselotte 9 atteint la position de déformation maximale θmax, l'unité de contrôle 13 interrompt l'alimentation en courant du moteur 11, et les moyens de rappel élastiques 15 entraînent un retour à la position d'équilibre θ0 de la masselotte 9. La vitesse V(t) augmente ainsi en valeur absolue tout en restant négative.When the weight 9 reaches the maximum deformation position θ max , the control unit 13 interrupts the power supply of the motor 11, and the elastic return means 15 cause a return to the equilibrium position θ 0 of the flyweight 9. The speed V ( t ) thus increases in absolute value while remaining negative.

Lorsque la masselotte 9 retourne vers sa position initiale, le couple qu'exercent les moyens de rappel élastiques 15 diminue progressivement, la vitesse V(t) augmente donc en valeur absolue jusqu'à atteindre un deuxième maximum de valeur absolue à un instant M2 puis décroît jusqu'à ce que la masselotte 9 atteigne la position de repos θ0.When the weight 9 returns to its initial position, the torque exerted by the elastic return means 15 gradually decreases, the speed V ( t ) increases in absolute value until reaching a second maximum absolute value at a time M 2 then decreases until the weight 9 reaches the rest position θ 0 .

La position z(t) de l'élément d'interface 5 se présente sous forme de vibrations sinusoïdales, avec pour enveloppe une fonction proportionnelle à la valeur absolue de la vitesse de rotation V(t).The position z ( t ) of the interface element 5 is in the form of sinusoidal vibrations, with the envelope having a function proportional to the absolute value of the rotation speed V ( t ).

Le profil haptique HBE est donc maximal aux instants M1, M2, et s'annule entre ces deux instants, lorsque la position de déformation maximale θmax est atteinte. Le retour haptique est alors ressenti sous forme de deux vibrations séparées par une période d'immobilité de l'élément d'interface. En particulier, la deuxième vibration est générée sans alimentation du moteur 11, et est symétrique par rapport au temps de la première.The haptic profile H BE is therefore maximal at instants M 1 , M 2 , and vanishes between these two instants when the maximum deformation position θ max is reached. The haptic feedback is then felt as two vibrations separated by a period of immobility of the interface element. In particular, the second vibration is generated without power of the motor 11, and is symmetrical with respect to the time of the first.

L'absence de butée mécanique permet aussi d'éviter un choc entre ladite éventuelle butée mécanique et la masselotte 9, ce qui permet d'allonger la durée de vie du module de retour haptique 3, et donc du module d'interface 1 dans lequel il est monté.The absence of a mechanical stop also makes it possible to avoid a collision between said possible mechanical stop and the weight 9, which makes it possible to extend the life of the haptic feedback module 3, and therefore of the interface module 1 in which it is mounted.

En figure 5a et 5b est montré un module de retour haptique 3 selon un autre mode de réalisation de l'invention. Dans ce mode de réalisation, le moteur 11 est relié à la masselotte 9 par un arbre télescopique qui comporte une vis sans fin 19 qui entraîne un décalage axial le long de l'axe A de la masselotte 9 lors de sa rotation. La vis sans fin 19 comporte une partie fixe 19a, mobile en rotation et fixe en translation axiale par rapport à l'élément d'interface 5, et une partie mobile 19b, mobile en rotation et en translation avec la masselotte 9.In Figure 5a and 5b is shown a haptic feedback module 3 according to another embodiment of the invention. In this embodiment, the motor 11 is connected to the weight 9 by a telescopic shaft which comprises a worm 19 which causes an axial shift along the axis A of the weight 9 during its rotation. The worm 19 has a fixed part 19a, rotatable and fixed in axial translation relative to the interface element 5, and a movable part 19b, rotatable and in translation with the flyweight 9.

Les parties fixe 19a et mobile 19b sont respectivement parallélépipédique et tubulaire, la partie fixe parallélépipédique, de section carrée ou rectangulaire, s'emboîtant dans un logement complémentaire de la partie mobile 19b qui porte sur sa périphérie extérieure cylindrique un pas de vis qui coopère avec un taraudage ou doigt 19c pour entraîner la partie mobile 19b en translation lorsque la vis sans fin 19 est mise en rotation.The fixed parts 19a and mobile 19b are respectively parallelepipedal and tubular, the parallelepipedal fixed part, of square or rectangular section, fitting into a complementary housing of the movable part 19b which bears on its cylindrical outer periphery a screw thread which cooperates with a tapping or finger 19c for driving the mobile part 19b in translation when the worm 19 is rotated.

La masselotte 9, solidaire de la partie mobile 19b est alors elle aussi entraînée en translation, mouvement de translation auquel s'ajoute le mouvement de rotation pour former un mouvement hélicoïdal.The flyweight 9, secured to the movable portion 19b is then also driven in translation, translational movement which is added to the rotational movement to form a helical movement.

Les moyens de rappel élastiques 15 comportent dans le mode de réalisation de la figure 5a et 5b un ressort hélicoïdal déformé en rotation et relié d'une part au moteur 11 et d'autre part à la masselotte 9. En particulier, l'extrémité 151 du ressort 15 est axiale et insérée dans un perçage correspondant de la partie mobile 19b, dans lequel elle est mobile en translation. Ainsi, lorsque la masselotte 9 évolue entre sa position de déformation minimale (figure 5a) et sa position de déformation maximale (figure 5b), l'extrémité axiale 151 coulisse dans le perçage, de sorte que le ressort 15 n'est déformé qu'en rotation.The elastic return means 15 comprise in the embodiment of the Figure 5a and 5b a helical spring deformed in rotation and connected on the one hand to the motor 11 and on the other hand to the flyweight 9. In particular, the end 151 of the spring 15 is axial and inserted into a corresponding bore of the movable part 19b, in which is movable in translation. Thus, when the weight 9 moves between its position of minimal deformation ( figure 5a ) and its position of maximum deformation ( figure 5b ), the axial end 151 slides in the bore, so that the spring 15 is deformed in rotation.

Le module de retour haptique 3 comporte une butée mécanique 21, contre laquelle la masselotte 9 vient s'appuyer lorsque sa position de butée θmax est atteinte. Cette butée mécanique 21 peut avantageusement comporter une surface adaptée avec en particulier un matériau ou traitement qui absorbe les chocs, par exemple une surface en silicone ou autre matériau plastique absorbant les chocs.The haptic feedback module 3 comprises a mechanical stop 21 against which the weight 9 comes to bear when its stop position θ max is reached. This mechanical stop 21 may advantageously comprise a suitable surface with in particular a material or treatment that absorbs shocks, for example a surface of silicone or other plastic material absorbing shocks.

En figure 5a, la masselotte 9 est en position de repos θ0, les moyens de rappel élastiques 15 maintiennent la masselotte 9 à ladite position de repos θ0, soit en étant précontraints soit en étant en configuration de déformation minimale. Dans ladite position de repos θ0 la vis sans fin 19 est en configuration d'élongation minimale, la partie fixe 19a étant alors entièrement ou presqu'entièrement emboîtée dans la partie mobile 19b tubulaire.In figure 5a , the weight 9 is in the rest position θ 0 , the elastic return means 15 maintain the weight 9 at said rest position θ 0 , either by being prestressed or being in the minimum deformation configuration. In said rest position θ 0 worm 19 is in the minimum elongation configuration, the fixed portion 19a then being wholly or almost fully nested in the tubular movable portion 19b.

En figure 5b, la masselotte 9 est en position de butée θmax, les moyens de rappel élastiques 15 sont alors dans un état de contrainte maximal et exercent sur la masselotte 9 une force de rappel. Dans ladite position de butée θmax, la vis sans fin 19 est en configuration d'élongation maximale : la partie fixe 19a est alors presqu'entièrement hors de la partie mobile 19b.In figure 5b , the weight 9 is in the stop position θ max , the elastic return means 15 are then in a state of maximum stress and exert on the weight 9 a return force. In said stop position θ max , the worm 19 is in maximum elongation configuration: the fixed portion 19a is then almost entirely out of the movable part 19b.

L'allongement du parcours de la masselotte 9 permet au moteur 11 de fournir plus d'énergie cinétique à la masselotte 9 avant son arrivée en butée, et donc de renforcer le ressenti haptique, en particulier lors de la vibration franche de la deuxième phase ii de la figure 4 lorsque la masselotte 9 atteint la butée 21.The lengthening of the path of the weight 9 allows the motor 11 to provide more kinetic energy to the weight 9 before it reaches the stop, and thus strengthen the haptic feeling, especially during the frank vibration of the second phase ii of the figure 4 when the weight 9 reaches the stop 21.

Les moyens de rappel élastiques 15 sont, en figure 6, à leur élongation maximale, et exercent une force de rappel importante sur la masselotte 9.The elastic return means 15 are, in figure 6 , at their maximum elongation, and exert a strong restoring force on the flyweight 9.

Ainsi, lorsque l'unité de contrôle 13 alimente le moteur électrique 11 en courant, ledit moteur 11 entraîne la vis sans fin 19 en rotation, la masselotte 9 est entraînée en mouvement hélicoïdal jusqu'à arriver à la butée 21. Lorsque l'unité de contrôle 13 interrompt l'alimentation en courant du moteur 11, les moyens de rappel élastiques 15 entraînent par la force de rappel le retour de la masselotte 9 à sa position de départ.Thus, when the control unit 13 supplies the electric motor 11 with current, said motor 11 drives the worm 19 in rotation, the weight 9 is driven in helical motion until it reaches the stop 21. When the unit control circuit 13 interrupts the power supply of the motor 11, the elastic return means 15 drive by the return force of the return of the feeder 9 to its starting position.

En particulier, la composante translationnelle du mouvement permet de placer la butée 21 le long de l'axe A de sorte que la masselotte 9 parcourt plusieurs tours, avantageusement plus de deux, avant de venir en butée contre la butée 21, comme représenté en figure 5b. Le fait que la masselotte 9 parcourt au moins un, en particulier au moins deux tours complets avant d'atteindre la butée 21 permet d'allonger le parcours de la masselotte 9 au cours duquel le moteur 11 accélère la masselotte, et donc de renforcer le retour haptique ressenti.In particular, the translational component of the movement makes it possible to place the abutment 21 along the axis A so that the counterweight 9 travels several revolutions, advantageously more than two, before coming into abutment against the abutment 21, as represented in FIG. figure 5b . The fact that the weight 9 goes through at least one, in particular at least two complete turns before reaching the stop 21 makes it possible to lengthen the path of the weight 9 during which the motor 11 accelerates the weight, and thus to reinforce the haptic feedback felt.

Lorsque la masselotte 9 atteint sa position de déformation maximale θmax l'unité de contrôle 13 interrompt l'alimentation en courant du moteur 11, et les moyens de rappel élastiques 15 exercent alors sur la masselotte 9 le couple de rappel qui la ramène à sa position initiale d'équilibre θ0.When the weight 9 reaches its maximum deformation position θ max the control unit 13 interrupts the current supply of the motor 11, and the elastic return means 15 then exert on the weight 9 the return torque which brings it back to its position. initial equilibrium position θ 0 .

En alternative, l'unité de contrôle 13 peut, lors du retour de la masselotte 9 de la position de déformation maximale θmax à la position d'équilibre θ0, alimenter le moteur électrique 11 en courant de manière à générer un couple qui s'oppose au couple de rappel T(θ) généré par les moyens de rappel élastiques 15, afin de ralentir le retour à la position d'équilibre θ0 et de limiter, voire supprimer, le retour haptique ressenti pendant le retour de la masselotte 9 de la position de butée θmax à la position d'équilibre θ0.Alternatively, the control unit 13 can, when returning the feeder 9 from the maximum deformation position θ max to the equilibrium position θ 0 , supply the electric motor 11 with current so as to generate a torque which opposes the return torque T (θ) generated by the elastic return means 15, in order to slow the return to the equilibrium position θ 0 and to limit, or even eliminate, the haptic feedback felt during the return of the flyweight 9 from the stop position θ max to the equilibrium position θ 0 .

Le mode de réalisation des figures 6a, 6b est analogue en grande partie au mode de réalisation des figures 5a, 5b, mais s'en distingue par l'utilisation d'un ressort hélicoïdal 15 déformable en compression.The embodiment of the Figures 6a, 6b is largely analogous to the embodiment of the Figures 5a, 5b , but is distinguished by the use of a helical spring 15 deformable compression.

Ledit ressort 15 est enroulé autour d'une portion de la partie fixe 19a de l'arbre du moteur 11, en particulier la portion non-insérée dans la partie mobile 19b. Le ressort 153 comporte deux extrémités libres 153, qui peuvent simplement être une boucle fermée par écrasement de la dernière spire. L'une des extrémités libres 153 est en appui contre une surface radiale du moteur 11 autour de la partie fixe 19a, l'autre extrémité libre 153 est en appui contre une surface radiale de la partie mobile 19b côté moteur 11. Les extrémités libres 153 permettent ainsi une libre rotation du ressort 15 par rapport à la fois au moteur 11 et aux parties fixe 19a et mobile 19b.Said spring 15 is wound around a portion of the fixed portion 19a of the motor shaft 11, in particular the non-inserted portion in the movable portion 19b. The spring 153 has two free ends 153, which can simply be a closed loop by crushing the last turn. One of the free ends 153 bears against a radial surface of the motor 11 around the fixed part 19a, the other free end 153 bears against a radial surface of the moving part 19b on the motor side 11. The free ends 153 thus allow free rotation of the spring 15 with respect to both the motor 11 and the fixed parts 19a and 19b mobile.

Dans la figure 6a, qui correspond à l'état de moindre déformation du ressort 15, la masselotte 9 est en position éloignée du moteur 11 : le ressort 15 est alors peu voire pas du tout compressé.In the figure 6a , which corresponds to the state of least deformation of the spring 15, the weight 9 is remote from the motor 11: the spring 15 is then little or not at all compressed.

Dans la figure 6b, qui correspond à l'état de déformation maximale du ressort 15, la masselotte 9 est proche du moteur 11, la partie fixe 19a étant partiellement rentrée dans la partie mobile 19b, et est en appui contre la butée mécanique 21. Le ressort 15, qui entoure la portion qui se trouve raccourcie de partie fixe 19a, est à son maximum de compression en fonctionnement normal.In the figure 6b , which corresponds to the state of maximum deformation of the spring 15, the weight 9 is close to the motor 11, the fixed part 19a being partially retracted into the movable part 19b, and bears against the mechanical stop 21. The spring 15, which surrounds the portion which is shortened of fixed portion 19a, is at its maximum compression during normal operation.

Les moyens élaastiques 15 sont de manière générale disposés entre un élément fixe en rotation, par exemple le bâti du moteur 11, un châssis ou bien l'écran 5 ou la dalle tactile 7. D'autres éléments peuvent être interposés pour servir d'élément de prise de force, par exemple une rondelle, sur laquelle une extrémité de ressort 15 vient en appui.The elastic means 15 are generally arranged between a fixed element in rotation, for example the frame of the motor 11, a frame or the screen 5 or the touch screen 7. Other elements can be interposed to serve as element PTO, for example a washer, on which a spring end 15 bears.

On peut comme mentionné réaliser deux profils de retour haptique en alimentant ou non le moteur 11 lors du retour de la masselotte 9 en position de moindre déformation sous l'effet des moyens de rappel élastiques 15. Ces profils sont représentés sommairement en figure 7. La figure 7 est composée de deux graphes, respectivement de la vitesse de rotation V(t) de la masselotte 9 au cours du temps t, et du déplacement z(t) de l'élément d'interface 5 au cours du temps t ce qui correspond au profil haptique avec butée mécanique.As mentioned, it is possible to make two haptic feedback profiles by supplying the motor 11 or not with the return of the weight 9 in the position of least deformation under the effect of the elastic return means 15. These profiles are represented summarily in FIG. figure 7 . The figure 7 is composed of two graphs, respectively the speed of rotation V ( t ) of the weight 9 during the time t , and the displacement z ( t ) of the interface element 5 over time t which corresponds to the haptic profile with mechanical stop.

En figure 7 sont représentées deux courbes de vitesse V 1(t) et V 2(t) avec les profils de retour haptique H1, H2 associés. Les deux courbes de vitesse correspondent à deux cas : dans le premier (V 1(t), H1) l'unité de contrôle 13 interrompt l'alimentation en courant du moteur 11 lorsque la position de butée θmax est atteinte, dans le second (V 2(t), H2) l'unité de contrôle 13 alimente en courant le moteur 11 après que la position de butée θmax est atteinte pour freiner le retour à la position initiale θ0 de la masselotte 9.In figure 7 two velocity curves V 1 ( t ) and V 2 ( t ) are represented with the associated haptic feedback profiles H1, H2. The two speed curves correspond to two cases: in the first ( V 1 ( t ), H1) the control unit 13 interrupts the current supply of the motor 11 when the stop position θ max is reached, in the second ( V 2 ( t ), H2) the control unit 13 supplies current to the motor 11 after the stop position θ max is reached to slow down the return to the initial position θ 0 of the weight 9.

Dans les deux cas, la vitesse V 1(t), V 2(t) est initialement nulle, ce qui correspond à un système initialement au repos. Lorsque l'unité de contrôle 13 alimente le moteur 11, la vitesse V 1(t), V 2(t) augmente progressivement lors d'une première phase i. In both cases, the speed V 1 ( t ), V 2 ( t ) is initially zero, which corresponds to a system initially at rest. When the control unit 13 supplies the motor 11, the speed V 1 ( t ), V 2 ( t ) increases gradually during a first phase i.

Lorsque la position de déformation maximale θmax, ou position de butée, est atteinte à un instant t1 , la masselotte 9 percute la butée 21, et la vitesse s'annule brusquement.When the maximum deformation position θ max , or stop position, is reached at a time t 1 , the weight 9 hits the stop 21, and the speed vanishes abruptly.

Lors d'un instant ultérieur proche t2 , l'unité de contrôle 13 interrompt dans le premier cas l'alimentation du moteur 11. Les moyens de rappel élastiques 15 entraînent alors le retour à la position initiale de repos θ0 de la masselotte 9. La vitesse de rotation V 1(t) devient alors négative, et augmente progressivement en valeur absolue.At a subsequent instant near t 2 , the control unit 13 interrupts in the first case the supply of the motor 11. The elastic return means 15 then cause the return to the initial rest position θ 0 of the weight 9 The speed of rotation V 1 ( t ) then becomes negative, and gradually increases in absolute value.

Lorsque la masselotte 9 approche la position de repos θ0, le couple exercé par les moyens de rappel élastiques 15 diminue, la vitesse décroît alors en valeur absolue jusqu'à s'annuler.When the weight 9 approaches the rest position θ 0 , the torque exerted by the elastic return means 15 decreases, the speed then decreases in absolute value until canceling.

Dans le deuxième cas, l'unité de contrôle 13 déclenche à l'instant t2 une alimentation limitée du moteur 11, qui limite la valeur absolue de la vitesse V 2(t) de retour à la position de repos θ0. En particulier, la vitesse V 2(t) est alors maintenue suffisamment basse pour ne pas déclencher de vibrations perceptibles de l'élément d'interface 5.In the second case, the control unit 13 triggers at time t 2 a limited supply of the motor 11, which limits the absolute value of the return speed V 2 ( t ) to the rest position θ 0 . In particular, the speed V 2 ( t ) is then kept low enough not to trigger perceptible vibrations of the interface element 5.

Les profils haptiques H1, H2 obtenus en conséquence sont représentés en figure 7 et permettent de distinguer trois phases i, ii, iii lors de la génération du retour haptique.The haptic profiles H1, H2 obtained accordingly are represented in figure 7 and make it possible to distinguish three phases i, ii, iii during the generation of haptic feedback.

La première phase i, allant du temps 0 d'origine à un temps t1, est la phase lors de laquelle la masselotte 9 est entraînée en rotation par le moteur électrique 11. Lors de cette phase le retour haptique H1 est généré par la rotation de la masselotte 9 dont le centre de gravité G est décalé par rapport à l'axe de rotation A.The first phase i , ranging from the original time 0 to a time t 1 , is the phase during which the weight 9 is rotated by the electric motor 11. During this phase, the haptic feedback H1 is generated by the rotation of the weight 9 whose center of gravity G is offset with respect to the axis of rotation A.

La deuxième phase ii allant du premier temps t1 à un deuxième temps t2 correspond à l'arrivée en butée élastique de la masselotte 9, ce qui se traduit par une vibration courte et franche, de forte amplitude.The second phase ii ranging from the first time t 1 to a second time t 2 corresponds to the arrival in elastic stop of the weight 9, which results in a short and frank vibration, high amplitude.

La troisième phase iii s'étend au-delà du deuxième temps t2, et correspond au retour de la masselotte 9 par l'action des moyens de rappel élastiques 15 qui ramènent la masselotte 9 à sa position de repos. Lors de cette phase le retour haptique est à nouveau généré par la rotation de la masselotte 9 dont le centre de gravité G est décalé par rapport à l'axe de rotation A.The third phase iii extends beyond the second time t 2 , and corresponds to the return of the weight 9 by the action of the elastic return means 15 which bring the weight 9 to its rest position. During this phase the haptic feedback is again generated by the rotation of the weight 9 whose center of gravity G is offset with respect to the axis of rotation A.

Dans le cas du premier profil de retour haptique H1, le moteur 11 n'est pas ou peu alimenté lors de la troisième phase iii. Le couple de rappel T exercé par les moyens de rappel élastiques 15 est alors la seule action que subit la masselotte 9, de sorte que celle-ci retourne à sa position de repos θ0 rapidement. L'utilisateur U ressent donc lors de cette troisième phase iii un retour haptique similaire à celui ressenti lors de la première étape. En particulier un dimensionnement adapté du moteur 11 et des moyen élastiques permet d'obtenir une symétrie importante entre la première et la troisième phase i, iii. In the case of the first haptic feedback profile H1, the motor 11 is not or little powered during the third phase iii. The return torque T exerted by the elastic return means 15 is then the only action that the feeder 9 undergoes, so that it returns to its rest position θ 0 quickly. The user U therefore feels during this third phase iii a haptic feedback similar to that felt during the first step. In particular a suitable dimensioning of the motor 11 and the means elastics makes it possible to obtain an important symmetry between the first and the third phase i, iii.

Dans le cas du deuxième profil haptique H2, le moteur électrique 11 est alimenté en courant lors de la troisième phase iii de sorte à fournir un couple moteur qui ralentit le retour à la position de repos θ0 de la masselotte 9. L'utilisateur U ne ressent donc pas de retour haptique lors de la troisième phase iii. In the case of the second haptic profile H2, the electric motor 11 is supplied with current during the third phase iii so as to provide a motor torque which slows the return to the rest position θ 0 of the weight 9. The user U does not feel haptic feedback in the third phase iii.

Le premier profil de retour haptique H1 est donc symétrique dans le temps : des vibrations diffuses du fait de la rotation de la masselotte 9 excentrée de la position d'équilibre θ0 à la position de butée θmax, suivies d'une vibration franche correspondant à l'arrivée en butée θmax de la masselotte 9, et à nouveau des vibrations diffuses lors du retour de la masselotte 9 de la position de butée θmax à la position d'équilibre θ0. Le deuxième profil haptique H2 ne présente pas de ressenti haptique pendant le retour de la masselotte 9 de la position de butée θmax à la position d'équilibre θ0.The first haptic feedback profile H1 is therefore symmetrical in time: diffuse vibrations due to the rotation of the flyweight 9 eccentric from the equilibrium position θ 0 to the stop position θ max , followed by a corresponding frank vibration on arrival at abutment θ max of the flyweight 9, and again diffuse vibrations when returning the flyweight 9 from the stop position θ max to the equilibrium position θ 0 . The second haptic profile H2 has no haptic feel during the return of the flyweight 9 of the stop position θ max at the equilibrium position θ 0 .

Ces deux profils haptiques H1, H2 différents peuvent notamment être utilisés pour signifier à l'utilisateur U deux choses différentes. Par exemple, l'un peut être utilisé pour signifier la prise en compte de la commande, et l'autre pour signaler une impossibilité d'accéder à la requête de l'utilisateur U. En alternative ou additionnellement, les profils H1, H2 peuvent être alternés ou enchaînés en séquences pour fournir des retours haptiques plus longs et plus complexes.These two different haptic profiles H1, H2 can in particular be used to signify to the user U two different things. For example, one can be used to indicate the consideration of the command, and the other to signal an impossibility to access the request of the user U. Alternatively or additionally, profiles H1, H2 may be alternated or sequenced to provide longer and more complex haptic feedbacks.

Lors de la diminution ou l'arrêt de l'alimentation en courant du moteur 11, ledit moteur 11 peut être mis en court circuit pour freiner le retour à la position de repos de la masselotte 9 par dissipation de courant.When reducing or stopping the power supply of the motor 11, said motor 11 can be short circuited to slow the return to the home position of the feeder 9 by current dissipation.

En alternative on peut procéder à une étape d'injection contrôlée de courant pour que le moteur 11 freine activement le retour à la position de repos de la masselotte 9.Alternatively, a controlled current injection step can be performed so that the motor 11 actively brakes the return to the rest position of the weight 9.

Ce mode de réalisation est illustré en figure 8. La figure 8 représente un module de retour haptique 3, dans lequel l'unité de contrôle 13 délivre un courant variable i(t), mesuré par un ampèremètre 23 qui relaie la valeur mesurée à l'unité de contrôle 13.This embodiment is illustrated in figure 8 . The figure 8 represents a haptic feedback module 3, in which the control unit 13 delivers a variable current i ( t ), measured by an ammeter 23 which relays the measured value to the control unit 13.

En mesurant la valeur du courant i(t) au cours du temps et la valeur de la vitesse de rotation V(t), l'unité de contrôle 13 peut réguler ladite vitesse.By measuring the value of the current i ( t ) over time and the value of the rotation speed V ( t ), the control unit 13 can regulate said speed.

Avec une butée élastique ou mécanique 21, la rotation de la masselotte 9 est maîtrisée de sa position de départ (de moindre déformation ou de repos) θ0, à sa position de butée θmax (butée physique ou élastique). Le nombre de tours parcourus, potentiellement plus important, est connu et maîtrisé, le système adoptant des positions extrémales prédéterminées.With an elastic or mechanical stop 21, the rotation of the weight 9 is controlled from its starting position (of lesser deformation or rest) θ 0 , to its stop position θ max (physical or elastic abutment). The number of towers traveled, potentially more important, is known and controlled, the system adopting predetermined extremal positions.

La détection d'une position de butée θmax par mesure du courant d'alimentation i(t) peut en particulier se faire par détection d'une valeur de courant consommé par le moteur 11 supérieure à une valeur de courant seuil i 0. Le retour en butée (élastique ou physique) à la position de moindre déformation θ0 peut être détecté de façon analogue par détection d'un dépassement de valeur seuil i 0.The detection of a stop position θ max by measuring the supply current i ( t ) can in particular be done by detecting a current value consumed by the motor 11 greater than a threshold current value i 0 . The return to abutment (elastic or physical) at the position of least deformation θ 0 can be detected analogously by detecting a threshold value exceeding i 0 .

La génération du retour haptique comporte alors les étapes suivantes :

  • alimentation du moteur 11 en courant électrique pour écarter la masselotte 9 de la position de repos θ0,
  • détection d'une position de butée de la masselotte 9 par mesure du courant d'alimentation du moteur,
  • diminution ou arrêt de l'alimentation en courant du moteur 11, de sorte que la masselotte 9 retourne à la position de repos θ0 sous l'effet des moyens de rappel élastiques 15.
The generation of the haptic feedback then comprises the following steps:
  • supplying the motor 11 with electric current to move the weight 9 out of the rest position θ 0 ,
  • detecting a stop position of the weight 9 by measuring the motor supply current,
  • reducing or stopping the power supply of the motor 11, so that the weight 9 returns to the rest position θ 0 under the effect of the elastic return means 15.

La figure 9 montre un mode de réalisation alternatif de moyens de rappel élastiques 15 pour module de retour haptique 3. Dans ce mode de réalisation, les moyens de rappel élastiques 15 comportent une bande élastique ou un ressort souple, relié d'une part à l'élément d'interface 5 et d'autre part à la masselotte 9. Lorsque la masselotte 9 tourne, les moyens de rappel élastiques 15 sont étirés en extension et les moyens de rappel élastiques 15 peuvent, lorsque un tour complet ou plus est possible, s'enrouler autour de l'arbre 17 ou de la masselotte 9. Les moyens de rappel élastiques 15 sont alors déformés en extension et opposent ainsi un couple de rappel au couple du moteur 11.The figure 9 shows an alternative embodiment of elastic return means 15 for haptic feedback module 3. In this embodiment, the elastic return means 15 comprise an elastic band or a flexible spring, connected on the one hand to the element d 5 and on the other hand to the flyweight 9. When the flyweight 9 rotates, the elastic return means 15 are stretched in extension and the elastic return means 15 can, when a complete revolution or more is possible, wind up around the shaft 17 or the weight 9. The elastic return means 15 are then deformed in extension and thus oppose a torque to the torque of the motor 11.

De tels moyens de rappel élastiques 15 permettent d'obtenir un module de retour haptique 3 compact en longueur axiale le long de l'axe A.Such elastic return means 15 make it possible to obtain a compact haptic feedback module 3 in axial length along the axis A.

En figure 10, les moyens de rappel élastiques 15 comportent de façon alternative une lame ressort, reliée d'une part à l'extrémité distale de la masselotte 9, et d'autre part à l'élément d'interface 5. La lame ressort formant les moyens de rappel élastiques 15 est disposée axialement en longueur le long de l'axe A. Lorsque la masselotte 9 est entraînée en rotation, la lame ressort 15 est déformée en torsion et oppose ainsi un couple de rappel au couple du moteur 11. Lorsque le moteur 11 n'est plus alimenté, la lame ressort 15 ramène la masselotte 9 en position de repos.In figure 10 , the elastic return means 15 alternately comprise a spring blade, connected firstly to the distal end of the weight 9, and secondly to the interface element 5. The spring blade forming the elastic return means 15 is arranged axially in length along the axis A. When the weight 9 is rotated, the spring blade 15 is deformed in torsion and thus opposes a torque to the torque of the motor 11. When the motor 11 is no longer supplied, the leaf spring 15 brings the weight 9 in position rest.

De tels moyens de rappel élastiques 15 permettent d'obtenir un module de retour haptique 3 compact en dimension radiale perpendiculairement à l'axe A.Such elastic return means 15 make it possible to obtain a compact haptic feedback module 3 in radial dimension perpendicular to the axis A.

L'invention permet d'obtenir des modules de retour haptique 3 compacts, fournissant un retour haptique accru et repliable dans le temps.The invention makes it possible to obtain compact haptic feedback modules 3, providing an increased haptic feedback that can be folded over time.

Claims (14)

  1. Interface module with haptic feedback, particularly for a vehicle interior, comprising:
    - an interface element (5), intended to be in contact with a user of the interface module,
    - an electric motor (11),
    - an eccentric flyweight (9), intended to be driven in rotation about an axis of rotation (A) by the motor (11) in order to transmit kinetic energy to the interface element (7) as it rotates in order to set the said interface element (7) in motion in order to provide haptic feedback,
    characterized in that further comprises:
    - elastic return means (15) connected, in terms of the transmission of force, to the flyweight (9) and configured to return the flyweight to a position of rest when the motor (11) is no longer being powered.
  2. Interface module according to Claim 1, characterized in that the elastic return means (15), define, in a state of maximum deformation (θmax), an elastic end stop for the movement of the eccentric flyweight (9).
  3. Interface module according to Claim 1, characterized in that it comprises a mechanical end stop (21) that comes into contact with the eccentric flyweight (9), limiting the travel of the flyweight (9) in a state of maximum deformation (θmax) of the elastic return means (15).
  4. Interface module according to one of the preceding claims, characterized in that the position of rest of the flyweight (9) corresponds to a state of lesser deformation of the elastic return means (15).
  5. Interface module according to one of Claims 2 to 4, characterized in that the eccentric flyweight (9) is configured to cover, as it rotates, at least one, and preferably at least two, full revolutions between the state of rest and the state of maximum deformation (θmax).
  6. Interface module according to one of the preceding claims, characterized in that the elastic return means (15) comprise at least one element of the following elements: a helical spring, a leaf spring, a torsion spring, strips of polyurethane, strips of crosslinked rubber.
  7. Interface module according to one of the preceding claims, characterized in that the eccentric flyweight (9) is driven in rotation via a shaft (17) of the electric motor (11), and in that the elastic return means (15) comprise a helical spring, surrounding the shaft (17), and one end (151) of which is connected in terms of rotation to the eccentric flyweight (9), the other end being connected to an element that is fixed in terms of rotation.
  8. Interface module according to one of Claims 1 to 6, characterized in that the eccentric flyweight (9) is driven in a helical motion by an endless screw (19) and in that the elastic return means (15) comprise a helical spring that can be deformed in compression and of which at least one end (153) is free in terms of rotation, arranged around a shaft of the motor (11) and compressed as the eccentric flyweight (9) rotates.
  9. Interface module according to one of Claims 1 to 6, characterized in that the elastic return means (15) comprise an elastic strip or an extension spring, connected to the eccentric flyweight (9) so as to wind around the said flyweight (9) or around a shaft of the motor (11) when it is set in rotation.
  10. Interface module according to one of Claims 1 to 6, characterized in that the elastic return means (15) comprise a leave spring positioned axially along the axis of rotation (A), connected to an end portion of the eccentric flyweight (9).
  11. Method for generating haptic feedback with an interface module (1) according to one of the preceding claims, characterized in that it comprises the following steps:
    • powering the motor (11) with electric current in order to move the flyweight (9) away from the position of rest,
    • detecting an end-stop position of the flyweight (9) by measuring the current supplied to the motor (11),
    • reducing or stopping the supply of current to the motor (11) so that the flyweight (9) returns to a position of rest under the effect of the elastic return means (15).
  12. Method according to the preceding claim, characterized in that the step of reducing or stopping the supply of current to the motor (11) comprises a step of short-circuiting the motor (11) in order to slow the return of the flyweight (9) to the position of rest.
  13. Method according to Claim 11, characterized in that the step of reducing or stopping the supply of current to the motor (11) comprises a step of controlled injection of current so that the motor (11) actively slows the return of the flyweight (9) to the position of rest.
  14. Method according to one of Claims 11 to 13, characterized in that the step of detecting an end-stop position by measuring the supply current is performed by detecting that a value for the amount of current drawn by the motor (11) is above a threshold current value.
EP18163780.2A 2017-03-23 2018-03-23 Interface module with haptic feedback Active EP3379371B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1752428A FR3064378B1 (en) 2017-03-23 2017-03-23 HAPTIC FEEDBACK INTERFACE MODULE

Publications (2)

Publication Number Publication Date
EP3379371A1 EP3379371A1 (en) 2018-09-26
EP3379371B1 true EP3379371B1 (en) 2019-12-04

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ID=58739218

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18163780.2A Active EP3379371B1 (en) 2017-03-23 2018-03-23 Interface module with haptic feedback

Country Status (2)

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EP (1) EP3379371B1 (en)
FR (1) FR3064378B1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3102257B1 (en) * 2019-10-22 2022-12-16 Dav Interface and method for controlling at least one function of a motor vehicle component

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE20021536U1 (en) * 2000-12-20 2001-04-26 Immersion Corp Haptic interface device and actuator arrangement that provides linear haptic sensations
DE102008041625B4 (en) * 2008-08-27 2013-07-18 Faurecia Innenraum Systeme Gmbh Control element for a display device in a means of transport and center console of a motor vehicle and method for operating a control element for a display device and computer program product

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Title
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Publication number Publication date
FR3064378A1 (en) 2018-09-28
EP3379371A1 (en) 2018-09-26
FR3064378B1 (en) 2022-08-19

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