EP3516482A1 - Interface haptique a stimulations kinesthésique et vibrotactile - Google Patents
Interface haptique a stimulations kinesthésique et vibrotactileInfo
- Publication number
- EP3516482A1 EP3516482A1 EP17783933.9A EP17783933A EP3516482A1 EP 3516482 A1 EP3516482 A1 EP 3516482A1 EP 17783933 A EP17783933 A EP 17783933A EP 3516482 A1 EP3516482 A1 EP 3516482A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- user
- haptic interface
- interaction element
- interface according
- actuators
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04703—Mounting of controlling member
- G05G2009/04714—Mounting of controlling member with orthogonal axes
- G05G2009/04718—Mounting of controlling member with orthogonal axes with cardan or gimbal type joint
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/015—Force feedback applied to a joystick
Definitions
- the present invention relates to an improved haptic haptic feedback interface.
- a haptic interface can be used to control or control a system such as for example a construction machine or various devices in a motor vehicle, such as air conditioning and a geolocation system.
- a haptic interface is particularly interesting when the user must keep his attention, especially visual, on the environment for example when driving.
- the haptic interface can take the form of a joystick, also called a joystick, with two degrees of freedom.
- a resistant force opposes the movement of the joystick depending eg on its position.
- By modulating the resistive force according to the position of the joystick it is possible to define haptic patterns that will be felt by the user when moving the joystick.
- the interface may comprise one or more magnetorheological brakes, and the resistive force may be transmitted to the lever via a magnetorheological fluid whose apparent viscosity is modified by the application of a magnetic field to define the predefined haptic patterns.
- This resistant force applied by the brake or brakes is designated kinaesthetic effect.
- This kinesthetic effect only occurs when the user actually moves the joystick.
- the user feels a haptic feedback only when he exerts an action on the controller, but it may be interesting to be able to transmit information to the user even if the controller is not moving, for example to inform the user on the current state of the controlled system.
- a haptic interface comprising an interaction element with the user, at least one brake capable of generating at least one resisting force on the interaction element, at least one position sensor of the interaction element with the user and at least two vibrating actuators able to generate vibrations in different frequency ranges and / or different amplitude ranges.
- the user can be requested while he does not exert an action on the interaction element, for example to inform him about the current state of the controlled system by the interface and / or on a modification of the environment of use of the controlled system.
- the implementation of at least two different vibrating actuators involving different ranges of amplitude and / or vibrational frequencies offers a great spectral richness that makes it possible to apply to the interaction element vibratory haptic patterns significant for the user.
- control unit sends commands to the brakes and to the vibrating actuators taking into account also the history of stimulations already generated to further improve the perception of the message by the user and not to overload the user of information, so that the messages remain effective.
- the interface implements three vibrating actuators, the first generating low frequencies, the second generating medium frequencies and the third generating high frequencies.
- the vibrating actuators are of rotary type having a small footprint.
- the haptic interface may preferably be at least two degrees of freedom, and include two brakes each applying a resistant torque around an axis of rotation.
- the present invention therefore relates to a haptic interface for controlling a system comprising:
- At least one interaction element with a user
- at least one kinesthetic stimulation device mechanically connected to the interaction element
- a vibrotactile stimulation device comprising n vibrating actuators capable of generating a vibrotactile stimulation at the level of the interaction element with the user, where n is an integer greater than or equal to 2, the said n vibrating actuators being such that each vibrating actuator generates vibrations in a frequency range and / or an amplitude range at least partly distinct from those of the other vibrating actuators,
- control unit able to send commands to said kinesthetic stimulation device and to the vibrotactile stimulation device at least as a function of the signals transmitted by the means for measuring the position of the interaction element with a user and / or information about the state of the system and / or its environment.
- n actuators are arranged in the interaction element with the user.
- n is equal to 3, a first vibrating actuator generating vibrations at low frequencies, a second vibrating actuator generating vibrations at medium frequencies and a third vibrating actuator generating vibrations at high frequencies.
- the frequency ranges and / or amplitudes of the vibrating actuators overlap at least in part or at least two by two.
- At least one of the vibrating actuators is advantageously mounted on a part of the interaction element with the user so that the rest of the interaction element with the user is isolated from the vibrations generated by said vibrating actuator.
- the interaction element with the user is intended to be input by a hand of the user and in which the n actuators are distributed on the interaction element with the user according to the distribution of the user.
- At least a portion of the n vibratory actuators may be rotary flywheel actuators.
- the kinesthetic stimulation device comprises at least a first brake comprising a fluid whose apparent viscosity varies according to an external stimulus, for example a magnetorheological fluid, and a system for generating said customary stimulus in said fluid. and an interaction element with the fluid disposed in the fluid and mechanically connected to the interaction element with the user.
- the kinesthetic stimulation device may comprise at least a second brake comprising a fluid whose apparent viscosity varies as a function of an external stimulus, for example a magnetorheological fluid, and a system for generating said customary stimulus in said fluid and a fluid element. interaction with the fluid disposed in the fluid and mechanically connected to the interaction element with the user.
- the mechanical connection between the user interaction element and the kinesthetic stimulation device is a cardan joint.
- the means for measuring a position of the interaction element may comprise at least one position sensor at the first brake or the first and second brakes.
- the interaction element or the elements of interaction with the fluid is or are mobile (s) in rotation.
- the haptic interface comprises means for detecting the intention of the user.
- the means for detecting the action intention of the user are for example able to measure a torque in the first brake or in the first and second brakes.
- control unit is able to send commands to the kinesthetic and vibrotactile stimulation devices so that they generate kinesthetic and vibrotactile stimulations simultaneously or successively.
- control unit is such that for the same message to be transmitted to the user, it generates commands to the kinesthetic stimulation device or to the vibrotactile stimulation device taking into account the type of stimulation previously generated.
- control unit sends a first order to the vibrotactile stimulation device to generate vibrotactile stimulation and then sends a second order to the kinesthetic stimulator to generate kinesthetic stimulation.
- the control unit may repeat the sending of the second order until the user takes into account the alert message.
- the haptic interface is for example at least two degrees of freedom.
- FIG. 1A is a perspective view of an exemplary embodiment of a haptic interface according to the invention, some elements being represented in transparency,
- FIG. 1B is a detailed view of FIG. 1A at the cardan connection
- FIGS. 2A and 2B are detail views of FIG. 1A, the knob being shown in transparency in FIG. 2B;
- FIGS. 3A to 3D are schematic representations of examples of effectors that can be implemented in the haptic interface according to the invention.
- FIG. 4 is a representation of the variations in frequency and amplitude as a function of the control voltage of a vibrating actuator with a rotary feeder that can be implemented in the haptic interface
- FIG. 5 is a representation of the variations in frequency and amplitude as a function of the control voltage of three rotary-powered rotary actuators that can be implemented in the haptic interface, the ranges of amplitude and of frequency intersecting each other partially,
- FIG. 6 represents a flowchart of an example of a haptic interface according to the invention.
- FIG. 7 is a schematic representation of the examples of messages delivered to the user by the interface by kinesthetic stimulation and vibrotactile stimulation.
- FIGS. 1A and 1B an example of a haptic interface with two degrees of freedom according to the invention can be seen. It will be understood that this example is in no way limiting as will be described in the following description.
- the haptic interface comprises a frame 2, an interaction element 4 with a user articulated on the frame 2 and two magnetorheological brakes 6, 8, designated brakes in the following description.
- the interaction element 4 is in the form of a joystick and will be designated joystick or effector in the following description.
- the lever 4 extends, in the rest position, along a longitudinal axis Z perpendicular substantially to the plane of the frame 2 and has a first longitudinal end 4.1 intended to be grasped by the hand of the operator and equipped for example with a knob 5 and a second longitudinal end 4.2 mechanically connected to the brakes.
- the knob is mounted on a rod 7 having the second longitudinal end 4.2.
- the brake 6 is oriented along an axis X and the brake 8 is oriented along a Y axis orthogonal to the X axis and both are orthogonal to the Z axis.
- X and Y define a plane parallel to the plane of the frame.
- the brake 6 comprises a shaft 10 (FIG. 1B) extending along the axis X and the brake 8 comprises a shaft (not visible) extending along the axis Y.
- the two brakes 6 and 8 have similar structures, only the brake 6 will be described in detail. It will be understood that a haptic interface comprising brakes of different structures does not go beyond the scope of the present invention.
- the brake 6 comprises a shaft 10 movable in rotation about the X axis and mounted in a housing 12.
- the shaft 10 has an end mechanically connected to the second end 4.2 of the handle 4 and a second end (not visible) interacting with a magnetorheological fluid.
- the second end of the shaft is for example integral in rotation with a skirt disposed in a chamber filled with magnetorheological fluid.
- the brake also comprises means for generating a magnetic field in the chamber so as to cause a change in the viscosity of the magnetorheological fluid. When the viscosity increases, a resistant torque is applied on the skirt and on the shaft 10, and indeed on the lever via the mechanical connection between the shaft 10 and the lever 4.
- the interface comprises at least one position sensor of the joystick.
- angular position sensors 14 and 16 measure the angular position of the brake shafts 6, 8. These may be, for example, incremental optical encoders.
- the interface comprises at least one user action intention sensor measuring the effort or torque applied by the user to the joystick so as to identify his intention before a change of position of the the joystick is actually detected.
- the sensor or sensors determine the direction and magnitude of the effort or torque.
- each brake 6, 8 comprises an action intention sensor of the user 11, 13 respectively.
- An example of such a sensor is described in WO2016050717. It comprises for example a test body whose deformation caused by the torque applied by the user is detected by force sensors.
- the test body can be fixed at one end to the frame of the interface and at another end to the magnetorheological brake, for example the housing 8.
- the force sensors are in contact with the test body at its level. end secured to the brake housing.
- the test body may comprise a cylindrical body of circular section.
- the test body is for example plastic material, such as ABS.
- the material of the test body and its geometry can be determined according to the minimum torque and the maximum torque applied, the sensitivity of the force sensors and the desired detection threshold.
- the deformation of the test body is such that it is not perceptible by the user. For example, it can be considered that a deformation of the test body of a few microns is not perceptible by the user.
- the force sensor is for example made using piezoresistive elements assembled in the form of a Wheatstone bridge, they allow a sensitivity of the order of a few tens of mV per Newton with a sufficiently high stiffness to limit moving to a few tens of microns at full load.
- the force sensor or sensors could be replaced by one or deformation sensors formed, for example, by strain gauges directly applied to the test body to detect its deformation.
- the mechanical connection 18 between the handle 4 and the shafts is a cardan system well known to those skilled in the art of which a non-limiting example is shown in Figures 1A and 1B.
- the second end 4.2 of the handle 4 is mounted in a part 20 by means of a sliding pivot 22.
- the shaft 10 is connected to the part 20 by an L-shaped part 24, a branch 24.1 of the L being secured in rotation on the shaft 10 and the other leg 24.2 of the L being articulated on the part 20 by a sliding pivot 26.
- the brake shaft 8 is connected to the part 20 via two L-shaped parts 28, 30.
- the two L-shaped parts 28, 30 are hinged together by a sliding pivot connection 32, the L-shaped part 28 is integral in rotation on the brake shaft 8 and the L-shaped part 30 is articulated in rotation on the part 20.
- the interface has stops to limit the displacement in the X and Y plane of the handle, in the example shown the stops are formed by a frame 33 disposed around the handle above the cardan joint.
- the interface comprises restoring means in the rest position, ie the handle is coaxial with the axis Z.
- These means are for example magnetic type arranged between the frame 2 and the cardan joint. This is for example two permanent magnets vis-à-vis and aligned with the Z axis and exerting a magnetic return force.
- the lever can then be moved around the two axes X and Y and the brakes 6, 8 are able to apply resistant torques around its axes depending on the position of the joystick and / or the intention of action of the 'user.
- any other articulation between the handle and the brakes making it possible to provide an interface with at least two degrees of freedom is within the scope of the present invention, such as that described for example in the document Bin Liu. Development of 2d haptic devices working with magnetorheological fluids. Master's thesis, University of Wollongong, Australia, 2006 or A. Milecki, P. Bachman, and M. Chciuk. Control of a small robot by haptic joystick with magnetorheological fluid. Mechatron. Syst. Mater.-MSM, 7, 2011.
- the brake structure could be different.
- a skirt for example a disk could interact with the magnetorheological fluid.
- the brakes could be electrorheological type, implementing an electrorheological fluid, or electromagnetic.
- the brake axes may not be perpendicular.
- the interface could have more than two brakes.
- an active brake comprising an electric motor acting on the joystick.
- the user's action intention sensor could be arranged closer to the user and for example directly on the handle, for example in the knob.
- the interface also comprises at least two and advantageously three vibrating actuators A1, A2, A3 which are mounted on the handle, for example in the knob as can be seen in FIGS. 1A and 2B.
- Each actuator is such that it is able to generate vibrations in a frequency range and / or an amplitude range at least partly different from those of the other two actuators.
- the actuators cover together a broad spectrum of frequency and / or amplitude which offers great possibilities in terms of vibrotactile sensation.
- the interface may comprise several actuators generating vibrations in the same frequency range and / or the same amplitude range.
- actuators are distinct from the brakes, particularly in the case of an active brake.
- FIGS. 1A, 2A and 2B there can be seen an example of a handle provided with a knob comprising three vibrating actuators A1, A2, A3.
- the first actuator A1 generates low frequency vibrations
- the second actuator A2 generates mid-frequency vibrations
- the third actuator A3 generates high frequency vibrations.
- the relative arrangement of the vibrating actuators is given by way of example only and is in no way limiting.
- the actuators are fixed on the effector so as to isolate them mechanically from each other, which makes it possible to isolate the stimulation that they generate and to excite zones of the hand separately.
- the interaction element may comprise several rigid elements carrying each or several actuators, the rigid elements being mechanically connected to each other by a material or means absorbing vibrations, such as for example a foam, rubber, a flexible polymer material, a fluid, elastic means ....
- a material or means absorbing vibrations such as for example a foam, rubber, a flexible polymer material, a fluid, elastic means ....
- the interaction element comprises a single body on which the rigid elements are mounted, the vibration absorbing material or means being interposed between the body and each rigid element.
- FIGS. 2A and 2B show an example of an interaction element providing this isolation between the actuators.
- the knob is in two parts and comprises a body 40 surrounding the rod of the handle and a cup or cap 42, forming the top of the knob 5 and mechanically connected to the body 40 by flexible strips 44.
- the actuator A3 is attached to the body inside thereof, the actuator A1 is on the rod and the actuator A2 is fixed on the cup 42 inside thereof.
- the flexible sipes allow the mechanical isolation of the vibrations, so that if the actuator A2 is actuated, the cup vibrates but the vibrations do not propagate in the rest of the body of the knob 40, because these vibrations are absorbed / damped by the soft slats. Conversely, if the actuator A1 or A3 is actuated, the vibrations are transmitted to the body of the pommel but not in the cup 42 because they are absorbed / damped by the flexible lamellae.
- the knob may comprise three rigid elements each supporting an actuator, and more generally a rigid element actuator, and isolated from each other so as not to transmit the vibrations generated by an actuator to the other rigid elements, in order to solicit the area of the hand only in contact with the rigid element or elements whose actuator (s) are activated.
- the actuators may be arranged in any way with respect to the surface of the handle. Preferably, they can be arranged so that the vibrations generated are in a normal plane or in a plane tangential to the surface of the skin.
- the actuators are disposed on the handle at given locations so that they can locally solicit the hand in given areas thereof, and match the frequency and / or amplitude ranges to the hand areas. more particularly sensitive to these ranges.
- a hand has different types of mechanoreceptors whose density varies according to their location on the hand.
- mechanoreceptors are sensitive to vibrations of different frequency and / or amplitude depending on their type.
- Pacini corpuscles are sensitive to a frequency range between 10Hz and 1000Hz, with a maximum sensitivity around 200Hz and they allow the detection of fine texture.
- the corpuscles known as Meissner and Ruffini sensitive frequencies at least partly different.
- the handle is shaped by a precision, only the ends of the fingers being in contact with the handle.
- the handle is shaped by a full-handed power take-off, the palm of the hand being in contact with the free end of the handle, the fingers are in contact with the body of the controller.
- the handle is shaped by a full-hand power take-off, the palm of the hand and the ends of the fingers being in contact with the handle.
- the palm is located on one side of the controller and the ends of the fingers are located on the other side of the controller
- this is another example of a handle shaped for a PTO, the palm of the hand being in contact with the free end of the joystick.
- the controller has the shape of a T.
- the vibrotactile actuators may comprise a mass moved linearly or preferably move a rotating mass.
- the rotary actuators have a bulk and a low cost.
- they are controlled solely by an electrical voltage whose value determines both the amplitude of the vibration and the frequency of the vibration. The implementation of small actuators allows to place them in the controller and to excite locally different regions of the hand.
- FIG. 4 a graphical representation of the variation of the amplitude Amp of the vibration in g and the frequency Fq in Hertz as a function of the voltage U in volt for a rotary mass actuator can be seen.
- the curve I represents the variation of amplitude and the curve I represents the variation of frequency as a function of the control voltage applied to the actuator. For example, if a vibration frequency of 200 Hz is desired, a voltage of the order of 1.4 V must be applied and then the intensity of vibration obtained will be of the order of 0.8 g. As can be seen, there is a direct dependence between the frequency of the vibration and the amplitude of the vibration in the case of actuators with rotary weights.
- the ranges of frequency and amplitude of the actuators partially overlap so as to have common operating areas and so as to offer continuous operating frequency and amplitude ranges.
- the vibrating actuators do not require movement of the interface to be actuated and generate vibrotactile stimulation. They can be activated to send a message of the contextual alert type to the user, this alert being able to depend on the elapsed time, for example a too long time has elapsed without manipulation of the joystick, or can be event to alert the user the occurrence of an event.
- the implementation of several vibrating actuators generating vibrations at different frequencies and / or at different amplitudes makes it possible to offer a great wealth of vibrotactile stimulations.
- the low frequency actuator makes it possible to qualify the effects produced with the medium and high frequency actuators more commonly used in the vibrotactile interfaces. Indeed, the perceived intensity is less strong but this actuator produces more pleasant sensations, ideal for non-intrusive information messages.
- the medium and high frequency actuators have a higher perceived intensity, allowing to create alerts or more intense error messages.
- the vibrating actuators can be activated simultaneously, alternately according to given sequences.
- the implementation of several vibrating actuators makes it possible to generate complex stimulations that are explicit for the user, ie understandable by the user who can associate them with signals that he knows otherwise, generally sound signals such as a siren or a purr. We then speak of vibratory haptic metaphors.
- the position sensor (s) measures the position of the joystick around the X and Y axes and / or the intention sensor (s) measure the torque exerted by the user on the X and Y axes.
- the information is processed by a unit. controller that sends commands to the brakes to generate a given resistance around the X and Y axes according to predetermined kinesthetic patterns.
- the vector displacement velocity (direction and amplitude) of the joystick and / or the vector acceleration (direction and amplitude) can also be taken into account, these can be obtained by deriving the measurements made by the position sensor.
- Electromagnetic fields are generated in the brakes causing an increase in the viscosity of the magnetorheological fluid.
- Magnetorheological and electrorheological brakes have a very short response time, of the order of a few milliseconds, and a large dynamic resistive effort. They can then produce a wide variety of haptic patterns.
- the brakes can simulate stops, indicating for example to the user that he has reached a limit configuration that he is not allowed to overtake, reprogrammable notches with different spatial frequencies and different shapes, for example rectangular, sinusoidal , triangular, a variable resistance ... the haptic patterns may be such that they provide guidance of the joystick in a given direction.
- the brake control is carried out on the basis of the operating state of the joystick, ie its position and / or the direction and amplitude of the speed vector, and / or the direction and amplitude of the vector acceleration of displacement of the joystick, the vector of the force applied by the user on the joystick.
- the brakes can be controlled taking into account the state of the system controlled by the joystick.
- the lever may have actuation directions presenting sensations of stiffness or stop, or in the case of a system handling a heavy load: the stiffness and dynamics of Actuation of the joystick can be controlled to simulate manipulation inertia.
- the haptic sensations provided by the brakes are improved, in particular they reduce the feeling of sticking.
- the vibrating actuators may also be activated by the control unit to generate vibrotactile stimulation concurrently with kinesthetic stimulation, sequentially, complementarily or in place of kinesthetic stimulation.
- a haptic redundancy effect is generated, which reinforces the message to be supplied.
- the vibrating actuator (s) By operating the vibrating actuator (s) sequentially with the brake (s), information may be reinforced or specified, for example it may be possible to explain the meaning of a stop generated by the brakes. If the stop corresponds to an obstacle or a limit switch, the vibrotactile message may be such that it indicates to the user to stop movement on the joystick.
- the vibrating actuator (s) can be used complementary to the brakes. For example one can generate a vibrotactile stimulation when an intrusive return of type alert or urgent message is required and one can generate a stimulation via the brakes when a discrete and continuous return is desired.
- Kinesthetic stimulation and vibrotactile stimulation are particularly complementary. Indeed, tactile stimulation in perceptive terms is persistent, so it is best not to stimulate the skin continuously in a vibrotactile way. Vibrotactile stimulation is particularly effective for relatively short stimulations in contrast to kinesthetic stimuli that do not produce these same persistence effects. It is therefore possible to apply kinesthetic stimuli continuously.
- the invention allows the control unit to combine the two types of stimulation to make communication with the user as effective as possible.
- the control unit adapts the type of stimulation to be applied according to the history of stimulation already applied for example to strengthen it.
- the information for example the presence of an obstacle in the vicinity, it is possible to choose to transmit the information in a vibrotactile manner, and then, at the following occurrences, one chooses to use only the Kinesthetic stimulation, on the one hand not to overload the user with vibrations and thus avoid the phenomenon of tactile persistence, and secondly not to hinder the user with the repetition of information with a potentially intrusive return. It can be envisaged that the intensity of kinesthetic stimulation increases until the user reacts.
- the same message is transmitted by combining the vibrotactile and kinesthetic stimulations and the generation of one or the other of the stimulations is adapted according to the stimulations already generated and applied to the user.
- the control unit receives as information the signals from the sensors, designated SIGN, and also information relating to the environment and / or time information, such as the elapsed time ..., designated INFO in FIG. 6.
- examples of combinations of vibrotactile and kinesthetic stimulations can be seen schematically to transmit different messages to the user.
- the horizontal axis is an axis of time.
- Squares represent the type of stimulation, the designated square K represents kinesthetic stimulation and a designated square V represents a vibrotactile stimulation.
- the message M2 to signify a limit stop, an obstacle ... can be translated by the application of a kinesthetic stimulation, then a vibrotactile stimulation.
- the message M3 to mean normal / active operation, continuous information of speed / distance, a physical metaphor such as a force of inertia, etc. can be translated by the application of kinesthetic stimulation.
- the message M4 to signify an alert can be translated by a stimulation vibrotactile.
- the messages M3 and M4 are complementary and translate different states of the same device.
- the message M5 informing of the occurrence of an event decomposes in time into a first applied vibrotactile stimulation that informs of the first occurrence of an event and a kinesthetic stimulation that informs of a subsequent occurrence of the same event.
- a first applied vibrotactile stimulation that informs of the first occurrence of an event
- a kinesthetic stimulation that informs of a subsequent occurrence of the same event.
- the present invention also applies to a haptic interface with a degree of freedom and more than two degrees of freedom, it could for example be provided that the joystick can move along its axis or that it can turn around its axis.
- the haptic interface in particular the joystick, can be adapted to be in contact with another part of the body than the hand.
- the haptic interface according to the invention, it is possible to produce new haptic patterns combining kinesthetic stimulation and vibrotactile stimulation.
- vibrating actuators having different properties makes it possible to cover a wide range of amplitudes and frequencies of vibrations, which offers a great spectral richness.
- the vibrating actuators are advantageously distributed in the effector closer to the user, for example his hand, which stimulates different tactile areas of the hand and reduce the energy required to generate the vibration.
- the invention offers a complementary combination of haptic information offering messages that are particularly effective and understandable for the user.
- the vibrating actuators allow on the one hand to deliver a message while the effector is not moving. In addition, it can generate more disruptive or violent sensations, for example in cases of alerts, more difficult to achieve with the brakes.
- the kinesthetic information provided by the brakes can be used for continuous effects during movement and the vibrotactile information can be used to deliver programmable one-off alerts or information messages depending on movement, position the interface or events in the application context.
- the same message can be transmitted by kinesthetic stimulation (s) and vibrotactile stimulation (s), taking into account previous stimulations to make the message as comprehensible as possible without saturating the user's attention.
- the haptic interface also has a high compactness, a moderate power consumption, in particular by using vibrating actuators separate from the kinesthetic stimulation device.
- the present invention is particularly suitable for implementation in human-machine interfaces in the field of automobiles, aeronautics, construction machinery, military vehicles.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- User Interface Of Digital Computer (AREA)
- Mechanical Control Devices (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1658878A FR3056316B1 (fr) | 2016-09-21 | 2016-09-21 | Interface haptique a stimulations kinesthesique et vibrotactile |
PCT/FR2017/052537 WO2018055294A1 (fr) | 2016-09-21 | 2017-09-21 | Interface haptique a stimulations kinesthésique et vibrotactile |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3516482A1 true EP3516482A1 (fr) | 2019-07-31 |
Family
ID=57485693
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17783933.9A Withdrawn EP3516482A1 (fr) | 2016-09-21 | 2017-09-21 | Interface haptique a stimulations kinesthésique et vibrotactile |
Country Status (4)
Country | Link |
---|---|
US (1) | US20210286431A1 (fr) |
EP (1) | EP3516482A1 (fr) |
FR (1) | FR3056316B1 (fr) |
WO (1) | WO2018055294A1 (fr) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111512114B (zh) | 2017-10-27 | 2022-04-05 | 流体技术股份有限公司 | 用于对空指令提供触觉反馈的控制器的多轴常平架安装座 |
CN213545217U (zh) * | 2019-08-30 | 2021-06-25 | 台湾东电化股份有限公司 | 回馈系统 |
US20210340724A1 (en) | 2020-05-01 | 2021-11-04 | Deere & Company | Work vehicle magnetorheological fluid joystick systems providing machine state feedback |
US11681320B2 (en) | 2020-05-01 | 2023-06-20 | Deere & Company | Work vehicle magnetorheological fluid joystick systems operable in modified centering modes |
US11634885B2 (en) | 2020-05-01 | 2023-04-25 | Deere & Company | Work vehicle magnetorheological fluid joystick systems reducing unintended joystick motions |
US11499292B2 (en) | 2020-05-01 | 2022-11-15 | Deere & Company | Magnetorheological fluid joystick systems reducing work vehicle mispositioning |
EP4227779A4 (fr) * | 2020-11-18 | 2024-06-12 | Nintendo Co., Ltd. | Système de traitement d'informations, dispositif de commande, procédé de traitement d'informations, et programme de traitement d'informations |
EP4227770A4 (fr) * | 2020-11-18 | 2024-06-12 | Nintendo Co., Ltd. | Système de traitement d'informations, dispositif de commande, procédé de traitement d'informations et programme de traitement d'informations |
US11696633B1 (en) | 2022-04-26 | 2023-07-11 | Fluidity Technologies Inc. | System and methods for controlling motion of a target object and providing discrete, directional tactile feedback |
US11662835B1 (en) * | 2022-04-26 | 2023-05-30 | Fluidity Technologies Inc. | System and methods for controlling motion of a target object and providing discrete, directional tactile feedback |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060049010A1 (en) | 2004-09-03 | 2006-03-09 | Olien Neil T | Device and method for providing resistive and vibrotactile effects |
ATE516864T1 (de) * | 2005-06-27 | 2011-08-15 | Coactive Drive Corp | Synchronisierte vibrationsvorrichtung für haptisches feedback |
FR2930655B1 (fr) * | 2008-04-29 | 2013-02-08 | Commissariat Energie Atomique | Interface a retour d'effort a sensation amelioree |
FR2976370A1 (fr) * | 2011-06-07 | 2012-12-14 | St Microelectronics Grenoble 2 | Procede de controle d'un objet destine a etre tenu a la main a l'aide d'un retour haptique |
FR3026553B1 (fr) | 2014-09-29 | 2021-03-19 | Commissariat Energie Atomique | Interface haptique prenant en compte l'intention d'action de l'utilisateur |
-
2016
- 2016-09-21 FR FR1658878A patent/FR3056316B1/fr active Active
-
2017
- 2017-09-21 EP EP17783933.9A patent/EP3516482A1/fr not_active Withdrawn
- 2017-09-21 WO PCT/FR2017/052537 patent/WO2018055294A1/fr unknown
- 2017-09-21 US US16/334,581 patent/US20210286431A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
US20210286431A1 (en) | 2021-09-16 |
FR3056316A1 (fr) | 2018-03-23 |
FR3056316B1 (fr) | 2018-09-28 |
WO2018055294A1 (fr) | 2018-03-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2018055294A1 (fr) | Interface haptique a stimulations kinesthésique et vibrotactile | |
WO2018055296A1 (fr) | Interface haptique a au moins deux degres de liberte presentant un ressenti haptique ameliore | |
JP6463603B2 (ja) | 振動する環境及びデバイスにおける触覚のシステム、方法及びコンピュータ可読媒体 | |
EP2027576B1 (fr) | Dispositif de simulation tactile ou haptique et clavier musical comportant au moins un tel dispositif de simulation | |
FR3026866B1 (fr) | Dispositif et procede de commande pour vehicule automobile | |
EP2274660B1 (fr) | Interface a retour d'effort a sensation ameliorée | |
EP1450247B1 (fr) | Dispositif d'interface homme machine à retour d'information tactile pour dalle tactile | |
Gallo et al. | Augmented white cane with multimodal haptic feedback | |
WO2012004214A2 (fr) | Systeme de simulation d'un contact avec une surface par stimulation tactile | |
EP2478513A2 (fr) | Procede de simulation de mouvements propres par retour haptique et dispositif mettant en oeuvre le procede | |
FR3030070A1 (fr) | Dispositif et procede de commande pour vehicule automobile | |
FR3026867A1 (fr) | Dispositif et procede de commande pour vehicule automobile | |
FR2743431A1 (fr) | Dispositif d'element de commande de l'angle de braquage d'un vehicule automobile | |
EP2244168B1 (fr) | Dispositif de commande à retour haptique et actionneur correspondant | |
FR3030071A1 (fr) | Dispositif et procede de commande pour vehicule automobile | |
FR3015382A1 (fr) | Dispositif de controle pour vehicule automobile et procede de commande | |
WO2019092063A1 (fr) | Dispositif de retour haptique | |
EP2180396B1 (fr) | Dispositif de commande à retour haptique | |
FR3026501A1 (fr) | Procede et interface de commande a retour haptique pour vehicule automobile | |
Martínez et al. | The sense of touch as the last frontier in virtual reality technology | |
CH712826A2 (fr) | Système haptique de commande d'appareil à distance. | |
WO2016016521A1 (fr) | Procédé et interface de commande à retour haptique pour véhicule automobile | |
EP3379371A1 (fr) | Module d'interface à retour haptique | |
WO2023189425A1 (fr) | Dispositif de commande, procédé de commande, système de rétroaction haptique et produit de programme | |
EP3215911A1 (fr) | Procédé et interface de commande à retour haptique pour véhicule automobile |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: UNKNOWN |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20190322 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
DAV | Request for validation of the european patent (deleted) | ||
DAX | Request for extension of the european patent (deleted) | ||
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: GRANT OF PATENT IS INTENDED |
|
INTG | Intention to grant announced |
Effective date: 20200514 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
|
18D | Application deemed to be withdrawn |
Effective date: 20200925 |