EP3824460A1 - Controleur haptique ameliore - Google Patents
Controleur haptique amelioreInfo
- Publication number
- EP3824460A1 EP3824460A1 EP19753176.7A EP19753176A EP3824460A1 EP 3824460 A1 EP3824460 A1 EP 3824460A1 EP 19753176 A EP19753176 A EP 19753176A EP 3824460 A1 EP3824460 A1 EP 3824460A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- actuator
- base
- damping
- damping element
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
- G10H1/00—Details of electrophonic musical instruments
- G10H1/32—Constructional details
- G10H1/34—Switch arrangements, e.g. keyboards or mechanical switches specially adapted for electrophonic musical instruments
- G10H1/344—Structural association with individual keys
- G10H1/346—Keys with an arrangement for simulating the feeling of a piano key, e.g. using counterweights, springs, cams
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
- G10H2220/00—Input/output interfacing specifically adapted for electrophonic musical tools or instruments
- G10H2220/155—User input interfaces for electrophonic musical instruments
- G10H2220/265—Key design details; Special characteristics of individual keys of a keyboard; Key-like musical input devices, e.g. finger sensors, pedals, potentiometers, selectors
- G10H2220/275—Switching mechanism or sensor details of individual keys, e.g. details of key contacts, hall effect or piezoelectric sensors used for key position or movement sensing purposes; Mounting thereof
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
- G10H2220/00—Input/output interfacing specifically adapted for electrophonic musical tools or instruments
- G10H2220/155—User input interfaces for electrophonic musical instruments
- G10H2220/265—Key design details; Special characteristics of individual keys of a keyboard; Key-like musical input devices, e.g. finger sensors, pedals, potentiometers, selectors
- G10H2220/311—Key design details; Special characteristics of individual keys of a keyboard; Key-like musical input devices, e.g. finger sensors, pedals, potentiometers, selectors with controlled tactile or haptic feedback effect; output interfaces therefor
Definitions
- the present presentation relates to the field of controllers used in the musical field, and more specifically relates to a device of the keyboard type.
- Keyboard type equipment is commonly used in the musical field, in particular because of its ability to control and generate multiple and varied sounds and signals.
- the present disclosure relates to a haptic controller comprising
- each actuator having an elongated shape in a main direction, each actuator being pivotally mounted relative to the base along a pivot axis perpendicular to the main direction, a plurality of damping elements, each damping element being positioned so as to damp a rotational movement of an actuator around the pivot axis in a direction of compression,
- damping elements being elastically deformable between an initial configuration and a final configuration
- each damping element comprising a body of deformable material, said body having at least one recess
- each of said actuators having a protuberance adapted to come into contact with the associated damping element, each protrusion having a free end defining a contact, for example linear, with the associated damping element in its initial configuration.
- the body of each damping element has at least two recesses.
- Said recesses then typically have distinct shapes.
- the damping elements are removable.
- the base defines a stop limiting the rotational movement of each actuator in the direction of compression.
- the base and the controllers comprise means cooperating so as to define a stop limiting the rotational movement of each actuator in the direction opposite to the direction of compression, defining an initial position of each actuator on their associated damping elements in which the damping elements are prestressed by the actuators.
- each of said actuators comprises a touch portion and a base, the touch portion being movable in translation relative to the base in a direction defined by the pivot axis.
- each actuator then typically comprises a pivot portion defining the pivot connection with the base, the pivot portion being connected to the touch portion by two parallel strips each extending in a plane perpendicular to the axis of pivot.
- the base of each actuator comprises a pivot portion defining the pivot connection with the base, and allowing the actuator to rotate in rotation along an axis perpendicular to the pivot axis and perpendicular to the direction main.
- the base comprises a plurality of elements projecting from the base, each element being configured so as to bear against two walls of the base of an actuator in a direction parallel to the pivot axis , typically two internal walls or two opposite external walls of the base of an actuator in a direction parallel to the pivot axis.
- the base comprises a plurality of elements projecting from the base, each element being configured so as to bear against two internal walls of the base of an actuator in a direction parallel to the axis of pivot.
- Said elements are typically rods.
- said actuators are configured so as to allow a variable translation travel as a function of the rotation of the actuators around the pivot axis.
- the damping element is connected to the base by means of a connecting portion extending in a direction perpendicular to the pivot axis or in a direction parallel to the pivot axis.
- the damping element has a variable thickness, the thickness being measured in a direction defined by the contact, if necessary linear, between the actuator and the damping element, or the if necessary by the pivot axis.
- each damping element has a cylindrical shape, for example of revolution along an axis parallel to the pivot axis, said at least one recess of each damping element being traversed by a direction defined by the pivot axis.
- each actuator comprises two separate connecting elements forming two disjointed pivot connections with the base along the pivot axis.
- said damping elements are configured so as to dampen the rotational movement of the actuator by opposing a damping having two distinct profiles as a function of the rotation of the associated actuator, the passage from the first to the second profile defining a break in a curve of the damping as a function of the rotation of the actuator.
- FIG. 1 shows an example of a device according to one aspect of the invention
- Figure 8 shows a variant of the device shown in Figure 1.
- FIG. 9 is a graph illustrating the damping of the device as a function of the depression of the actuators.
- FIG. 10 to 14 show several views of another embodiment of a device according to one aspect of the invention.
- Figures 1 to 4 show an example of device 1 according to one aspect of the present invention.
- a device 1 comprising a base 2 and a plurality of actuators 3, here configured so as to form a keyboard of the piano keyboard type, the actuators 3 here forming piano keyboard keys.
- the actuators 3 are each mounted movable in rotation relative to the base 2 via a pivot connection around a same pivot axis 4 of the base 2.
- the pivot axis 4 can be formed by a plurality of segments of axis aligned or by a continuous axis, as long as it ensures an axis of common rotation for the actuators 3 relative to the base 2. More generally, the pivot axis 4 generally designates an axis of rotation of the actuators 3 relative to the base 2, but does not necessarily correspond to a physical element.
- the actuators 3 each extend in a main direction, perpendicular to the pivot axis 4.
- the pivot connection can be achieved in various ways.
- the illustrated embodiment represents a pivot connection made by means of an element forming an axis around which are positioned segments of the actuators 3 forming cylindrical sleeves. It is understood, however, that this embodiment is not limiting; the pivot link can be made in any other suitable way, provided that the relative movement of the actuators 3 relative to the base 2 is limited to a rotational movement.
- the actuators 3 can thus be manipulated by a user who will typically exert a pressure force on a part of a given actuator in order to cause a rotational movement of the actuator 3 around the pivot axis 4 in a sense that we call depression.
- the device 1 thus typically comprises as many damping elements 5 as actuators 3.
- each actuator 3 in the driving direction is typically limited by a stop 24 of the base 2, configured to define a maximum rotation of each actuator in the driving direction.
- the rotational movement of each actuator 3 in the driving direction is thus typically carried out between an initial position, in which no force is exerted by a user on the actuator 3, and a depressed position, in which the actuator 3 is in contact with the associated stop 24.
- the base is in two parts 2A and 2B, a first part 2A of the base forms the support for the pivot axis 4, while a second part 2B of the base forms a support for the damping elements 5.
- the two parts 2A and 2B of the base 2 are typically secured on the same base to ensure alignment of the various components.
- the rotational movement in the opposite direction to the driving direction is itself typically limited by a stop formed by the base 2, so as to prevent a lifting of the actuators 3 or a rebound effect of the actuators 3.
- the base 2 has a portion forming a cap 26 covering a portion of the actuators 3 close to the pivot axis 4.
- This portion forming a cap 26 typically has a plurality of housings 261 allowing for example inserting adjustable stops therein such as threaded rods, thus making it possible to limit the rotational movement of the actuators 3 in the direction opposite to the driving direction.
- the prestress depends in particular on the shape and the size of the damping elements 5. An increase in the size of the damping element leads to an increase in the prestress, and vice versa.
- the actuator 3 as presented comprises a tactile portion 31 forming a free end of the actuator, and a base 32 comprising a pivot portion 33 forming the pivot connection with the pivot axis 4 of the base 2.
- the touch portion 31 is the portion of the actuator 3 intended to be manipulated by the user. It therefore typically has a flat upper face and a lower face, the upper face possibly comprising a coating such as a wooden veneer or other element enveloping the tactile portion 31 in order to improve the feeling of the user. It is understood that the user can also manipulate the actuator 3 via the base 32.
- An intermediate portion 34 comprising two strips 341 and 342 parallel and extending in two distinct planes and each perpendicular to the pivot axis 4 typically achieves the connection between the touch portion 31 and the base 32 of each actuator 3.
- the lamellae 341 and 342 are typically made of elastic material, or more generally of material making it possible to produce elastic deformation when subjected to a moderate force on the part of a user, for example in plastic material (for example in acrylonitrile butadiene styrene, polycarbonate or polyoxymethylene), made of metallic material (for example steel or stainless steel).
- Such an intermediate portion 34 allows a translational movement of the tactile portion 31 relative to the base 32 in the direction defined by the pivot axis 4, and therefore offers an additional degree of freedom for the actuators 3.
- this translational movement can make it possible to transmit a “vibrato” type signal for musical processing.
- each actuator 3 and the pivot axis 4 is configured so as to allow a limited rotational movement along an axis perpendicular to the pivot axis 4 and perpendicular to the main direction of the actuator 3 considered.
- Such an embodiment thus makes it possible to obtain a moderate clearance of the free end of the actuator 3, to allow a vibrato effect to be produced.
- the touch portion 31 of the actuators 3 typically has a decreasing section from the upper face to the lower face, which makes it possible to offer greater displacement in translation when an actuator 3 has been subjected to a pressure force by the user and therefore performed a rotational movement around the pivot axis 4 relative to the adjacent actuators 3.
- Figures 6 and 7 thus illustrate the difference in translation travel between an actuator 3 in its neutral position (that is to say in the absence of force exerted by a user), and an actuator 3 in the depressed position (that is to say which has made a rotational movement around the pivot axis 4 under the effect of a force exerted by a user).
- dl and d2 we mark respectively by dl and d2 in FIG. 6 the possible deflections in these two positions towards an adjacent actuator.
- the amplitude of this movement is increased as a function of the reduction in section of the actuator adjacent to the actuator considered.
- the change of section can be adapted according to whether one wishes to have a range of travel which varies gradually, or which reaches its maximum value directly.
- the change of section can thus form a slope or a slot.
- each actuator 3 is a thin plate, followed by an isosceles trapezoidal transition portion 35 thus reducing the thickness of the actuator 3 from the upper surface to the lower surface of the actuator 3, then of a portion of rectangular section in the extension of the smallest base of the trapezoidal portion.
- the base 32 of the actuator 3 comprises two separate arms 321 and 322 each forming a connecting element with the pivot axis 4 and thus defining two separate and disjointed pivot connections with the base 2 .
- Such an embodiment makes it possible to increase the width of the pivot link between the base 2 and the actuator 3, which makes it possible to minimize the radial clearance resulting from this pivot link.
- the different arms of the actuators 3 are typically staggered (as seen in particular in Figure 3 which is a partially exploded view of an area of Figure 1), so that between two arms 321 and 322 of the same actuator are interposed, one or two arms of adjacent actuators, which thus makes it possible to increase the width of the pivot link as indicated above, while minimizing the volume necessary for the realization of the set of pivot connections between the actuators 3 and the base 2.
- actuators 3 may have different shapes.
- damping elements 5 are positioned between each actuator 3 and the base 2 so as to dampen the rotational movement of the actuators 3 in a direction qualified as the driving direction, which corresponds to the direction of rotation of the actuator 3 when a user exerts a pressure force on the upper face of the tactile portion 31 of the actuator 3 considered.
- the various damping elements 5 can be separated, or be grouped into sub-assemblies linked by a base or tab. One can for example make all or part of the damping elements 5 in one piece, the different damping elements 5 being connected by a tongue or bar extending along the axis of rotation.
- the damping elements 5 are positioned below the touch portion 31 of the actuators 3, the underside of each actuator here comprising a protuberance 315 having a free end 316 adapted to come into contact with the associated damping element 5.
- An initial configuration is defined for each damping element 5, corresponding to the shape of the damping element in the absence of deformation, typically when no force is applied to the associated actuator 3, and a final configuration, corresponding to the maximum deformation of the damping element 5 during movement of the associated actuator 3, said final configuration being typically determined in particular by the stop 24 associated with the actuator 3.
- the protrusions 315 and the damping elements 5 are configured so as to define a contact, typically linear, when the damping element 5 is in its initial configuration.
- the protrusions 315 thus extend each projecting from a surface of the associated actuator 3, and have a free end 316 coming into contact with a damping element 5.
- linear contact means at least one linear contact between the protrusions 315 and the damping elements 5. It is understood that the linear contact necessarily extends over a given surface due to the deformation of the components. The concept of linear should be assessed with regard to the respective dimensions of the components.
- the free end 316 of each protuberance typically has a section forming an arc of a circle, which thus makes it possible not to damage the damping element 5.
- the protrusions 315 typically have:
- a width measured in the direction defined by the pivot axis 4 greater than the width of the associated damping element 5 measured in the direction defined by the pivot axis 4 or between 1 and 4 times or between 1 and 3 times the width of the associated damping element 5 measured in the direction defined by the pivot axis 4,
- a thickness measured in a horizontal direction and perpendicular to the pivot axis 4 less than a third or a quarter of the maximum thickness of the cylinder measured in a horizontal direction and perpendicular to the pivot axis 4, corresponding in the example illustrated with a diameter of the cylindrical body 51 of the damping element 5.
- the damping element 5 as shown has a general shape of cylinder provided with a connecting portion 52 here forming a protrusion having a general shape of T to facilitate its attachment to the base 2.
- Figure 5 presents a side view of the damping element 5 illustrated in FIGS. 1 and 4.
- the damping element 3 There is also defined for the damping element 3 a contact portion 53 corresponding to a portion of the damping element 3 adapted to come into contact with the actuator 3.
- the contact portion 53 is the portion of the damping element 3 adapted to come into contact with the protuberance 315 of the actuator 3.
- the portion of contact 53 and the connecting portion 52 are typically positioned at two ends of the body 51 of the damping element 5; these two portions are here diametrically opposite.
- a direction of compression of the damping element 5 is defined, corresponding to the direction defined by the contact portion 53 and the connection portion 52.
- the direction of compression is vertical and forms a diameter of the cylindrical section of the body 51 of the damping element 5.
- the direction of compression is shown by an axis ZZ in FIG. 5.
- the protuberance 315 typically extends in a direction of compression defined by the axis ZZ.
- the damping element 5 comprises a body 51 of deformable material, for example silicone or elastomeric material having a general shape of cylinder.
- the cylinder-shaped body 51 is typically positioned so that an axis of revolution of the cylindrical body is collinear with the pivot axis 4.
- the body 51 has at least one recess.
- the body 51 has two recesses 55 and 57 which are disjoint and have distinct shapes, said recesses being typically through.
- the two recesses 55 and 57 are formed so as to be superimposed relative to each other in the direction of compression of the damping element 5.
- the two portions 5A and 5B are not necessarily equal; it may more generally be two portions of the body 51 which is divided along a plane perpendicular to the direction of compression.
- the axis X-X in FIG. 5 represents an example of such a plane and of division of the body 51 into two portions.
- the first portion 5A is defined as being the portion of the body 51 comprising the contact portion 53, while the second portion 5B is defined as being the portion of the body 51 comprising the connecting portion 52.
- the first portion 5A comprises a first recess 55, which has a section having the general shape of a half-cylinder, the corners formed between the curved portion and the diameter of the half-cylinder having been rounded.
- the first recess 55 therefore has a section having the shape of a semicircle whose edges have been rounded, and having a base perpendicular to the direction of compression.
- the second portion 5B comprises a second recess 57 which has an oval section centered and symmetrical with respect to the axis Z-Z defining the direction of compression.
- the first recess 55 occupies a large part of the first portion 5A, while the second recess 57 occupies a smaller part of the second portion 5B.
- the first portion 5A has a lower rigidity than the second portion 5B of the body 51 of the damping element 5.
- the latter will cause compression of the damping element 5 in the direction of compression.
- the first portion 5A having less rigidity will be deformed at first, thus defining a first damping profile.
- the second portion 5B will be deformed, thus defining a second damping profile insofar as the rigidity of the second portion 5B is greater than the rigidity of the first portion 5A.
- the protuberance 315 is configured so as to maintain a reduced contact surface with the damping element 5, in particular in order to avoid the formation of a planar contact during the deformation of the damping element 5 , which would then limit the possibilities of deformation of the damping element 5.
- FIG. 8 shows an alternative configuration of the device shown in Figure 1.
- This figure shows a device 1 comprising a single actuator 3, it being understood that this variant can also be applied to a device 1 comprising a plurality of actuators 3 as already presented with reference to FIG. 1.
- the damping elements 5 are positioned in an area that is called "rear" of the actuators, that is to say opposite to the touch portion 31.
- the element d damping is here also secured to the base 2 (here the part 2A of the base 2 forming the support of the pivot axis 4), but the compression direction is here horizontal, and substantially perpendicular to the direction of application of the effort on the actuator 3 by the user.
- the protuberance 315 extends in the extension of the direction of compression defined by the axis ZZ. This embodiment makes it possible to decorrelate the rotational movement of the actuators 3 from the translational movement of the tactile portion 31 of the actuators 3.
- the damping element 5 is positioned in contact with the protuberance 315 extending from the touch portion 31 of the actuators
- the damping elements 5 will oppose a resistance force to the translational movement along the pivot axis 4 of the actuators 3, this force being variable as a function of the deformation of the damping element 5.
- the resistance force opposed by the damping element 5 will thus depend on the properties of the damping element 5 and on the position of the actuator 3.
- damping can vary depending on the connection between the damping element 5 and the base 2. If we consider the connecting portion 52 of the damping element 5 as presented previously, this can typically define a connection extending along the pivot axis 4 or perpendicular to the pivot axis
- the protrusion 315 coming into contact with the damping element 5 does not extend from the touch portion 31, or more generally does not extend from the part of the actuator 3 movable in translation along the pivot axis 4. Consequently, the movement of translation of the tactile portion 31 of the actuator 3 is not impacted by the damping element 5, insofar as the part of the actuator 3 in contact with the damping element 5 does not perform of translational movement.
- FIG. 9 is a graph schematically illustrating the behavior of the damping element 5 when subjected to a compressive force as exerted by the actuator 3.
- This deformation shows the deformation of the damping element 5 on the horizontal axis and the force applied by the actuator 3 on the damping element 5 on the vertical axis.
- the graph is therefore a graph that we qualify as force / depression.
- several examples of deformation of the damping element 5 are also shown at different points on the graph.
- the first section SI has a general profile similar to a square root type curve. It is thus seen that the damping element 5 opposes a relatively high rigidity when the deformation of the damping element 5 is initiated, then that the rigidity is less, the deformation can then be modulated relatively significantly with a very little variation in force applied by the user.
- This first section SI corresponds to the deformation of the first portion 5A of the damping element 5. It is in fact understood that the initiation of the deformation corresponds to a deflection of the material in the direction of compression.
- the damping element 5 will be able to deform over the entire height of the first recess 55 (the height here being measured according to the direction of compression), until the deformation of the first recess causes continuity so as on the first portion 5A in the direction of compression.
- the second section S2 corresponds to the deformation of the second portion 5B of the damping element 5, that is to say to the crushing of the second recess 57.
- the tracing ceases when the protuberance 315 comes into contact with the stop 24 associated with the base 2.
- the stop 24 being rigid, there is then no longer any possible displacement of the actuator 3.
- the drawing stops when the damping element 5 is fully compressed, which can in particular result in the fact of having a continuity of material on the second portion 5B in the direction compression, that is to say a crushing of the second recess 57 as shown diagrammatically in FIG. 9.
- the section of the second recess 57 is reduced compared to the section of the first recess 55.
- the damping element 5 therefore has here a greater rigidity, which results in the significant slope of the layout on the second section S2. Furthermore, in this example the second recess 57 is dimensioned so that the second section S2 is linear.
- This layout having two distinct sections S1 and S2 is characteristic of the system according to the invention. It makes it possible to obtain two distinct sensations for a user actuating a controller 3, and thus to define two distinct levels of commands.
- the point P symbolizes a break in the curve of the trace, which can be felt by the user.
- the device 1 proposed thus allows for example to define a first type of command when one is located on the first section SI of the graph, and a second type of command when one is located on the second section S2 of the graph. More generally, the device 1 makes it possible to obtain two distinct profiles for damping the movement of the actuator 3 in addition to a feeling of abutment when the curve breaks and thus conferring force feedback on the user. , and therefore to confer two distinct sensations of control for a user.
- the dimensioning of the elements forming stops limiting the rotational movement of the actuators 3 will border the curve, and can thus define portions of the curve which cannot be produced due to the presence of stops which prevent the actuator 3 from reaching the positions required to achieve the corresponding level of compression of the damping elements 5.
- the dimensioning of the elements forming stops limiting the rotational movement of the actuators 3 as well as the dimensioning of the damping elements 5 thus make it possible to modify the feeling felt by a user.
- Figures 10, 11, 12, 13 and 14 show another example of a device 1 according to one aspect of the invention.
- the pivot connection between the actuators 3 and the base 2 is produced by means of surfaces defining a protruding form of one of these elements, and a counter-form produced in the other of these elements.
- the actuators thus have a rib 361 having a triangular section.
- the base 2 has grooves 261 also having a triangular section, but of larger section.
- a tension spring 6 is positioned so as to exert a tensile force, the direction of which is centered on the pivot axis defined by said surfaces in contact between each actuator 3 and the base 2.
- the tension spring 6 thus ensures the holding of the system, without impacting the pivot movement insofar as the direction of the force exerted by the tension spring 6 passes through the axis pivot 4.
- the base 2 as shown has a plurality of vertical rods 8 configured so as to define lateral stops for the base 32 of each actuator 3. More specifically, the vertical rods 8 have a free end which is received in a recess produced in each actuator 3, the rods 8 being dimensioned so as to be in contact with internal walls of the base 32 of each actuator 3 in the direction defined by the axis of rotation 4. There are thus typically provided two rods 8 inserted in the base 32 of each actuator 3. The rods 8 thus ensure that the bases 32 of the actuators 3 are held in position relative to the base 2, allowing only a rotational movement along the pivot axis 4. The rods 8 maintain in particular the base 32 of the actuators 3 when the user applies a translational movement of the touch portion 31 of the actuators 3 as already described above.
- Such an embodiment makes it possible in particular to concentrate the stresses at the level of the rods 8 and the lamellae 341 and 342 of the intermediate portion 34, and not at the level of the pivot connection. It is understood that this embodiment is not to be interpreted in a limiting manner, the function performed by the rods 8 can be performed by any other suitable means.
- the actuators 3 each have a housing 37 extending from the underside of the touch portion 31.
- This housing 37 comes opposite a lug 27 formed on the base, and adapted for come to be inserted in the housing 37.
- the housing 37 has an increasing section from its lower end towards its upper end. In the example illustrated, the section of the housing 37 at its lower end corresponds to the section of the lug 27.
- the housing 37 and the lug 27 are configured so that in the absence of effort exterior applied to the system 1, the lug 27 is positioned in abutment against the lower part of the housing 37.
- the lug 27 performs a stop function preventing movement of the actuator 3 according to a rotational movement in the direction opposite to the direction of penetration.
- the combination of the pin 27 and the housing 37 ensures alignment of each of the actuators 3 in their initial position (that is to say when a user does not apply any force to the actuators 3), and also makes it possible to define an initial prestressed position for the actuators 3 on their associated damping elements 5, so as to ensure both a return to the initial position and a maintenance in contact of each actuator 3 on its depreciation element 5.
- the housing 37 moves with the actuator 3; the lug will thus no longer be in abutment against the lower end of the housing 37.
- the section of the housing 37 then increases, which allows a deflection of the lug 27 in the housing 37, and therefore allows a translational movement of the actuator in a direction defined by the pivot axis 4 all the more important as the section of the housing 37 increases. It is thus possible to produce a housing 37 whose cross section gradually increases, so that the possible amplitude of translation increases with the depressing of the actuator 3.
- the pins 27 typically have a cylindrical section of revolution, along an axis parallel to the main direction of the associated actuator 3.
- the housing 37 may have a rib forming a stop limiting the movement of the actuator 3 in the direction of depression.
- the lug 27 then moves between a high stop and a low stop, which delimits the angular amplitude of the possible rotation of the actuator 3.
- Figures 15 and 16 show views of exemplary embodiments of the damping elements 5 visible in this embodiment.
- the device 1 can typically have several damping elements 5 having distinct shapes, in particular depending on the configuration of the actuators 3.
- the connecting portion 52 forms a protuberance on the lower portion of the body 51.
- This connecting portion 52 can typically have through holes for inserting holding elements therein, or be mounted clamped between base clamping elements 2.
- the contact portion 53 is here a substantially planar (Figure 15) or curved ( Figure 16) portion. It is surrounded by two bosses 56 adapted to improve the centering of the damping element 5 relative to the protuberance 315 of the associated actuator.
- the second recess 57 has an oval section.
- the first recess has a general semicircle section whose corners are rounded.
- the first recess 55 as presented has a trapezoidal section, the largest base of which is curved, typically of so as to conform to the external contour of the second recess, and the connecting portions between the large base and the sides are rounded.
- FIGs 17, 18 and 19 show three variants of the damping element already shown in Figure 15.
- FIG 17 is a perspective view of the damping element shown in Figure 15.
- This damping element 5 typically has a substantially constant thickness over its entire height, the height being the dimension along the axis ZZ (or direction of compression), and the thickness being measured along an axis YY perpendicular to the axis ZZ and to the axis XX, corresponding if necessary to the direction defined by the linear contact between the damping element 5 and the actuator 3.
- Figure 18 is a variant of the damping element shown above in Figure 17 wherein the thickness of the damping element is decreasing on its first portion 5A. More specifically, the thickness of the damping element 5 decreases from the limit between the second portion 5B and the first portion 5A to the upper end of the damping element 5.
- Such an embodiment allows for example to vary the resistance exerted by the damping element 5 to a translational movement along the pivot axis 4. The more the damping element 5 is compressed, the more it will exert a resistance opposing a translational movement due to the increase in its section.
- FIG. 19 represents another variant of the damping element shown previously in FIG. 17.
- the second portion 5B has a thickness greater than that of the first portion 5A.
- a shoulder 58 is thus formed between the first portion 5A and the second portion 5B.
- This shoulder 58 thus causes an abrupt variation in thickness, and therefore an abrupt variation in the resistance force exerted by the damping element 5 to a translational force when the compression of the damping element 5 (and therefore its deformation) reaches a given level.
- the proposed device 1 makes it possible to offer a haptic controller suitable for use in particular in the musical environment, allowing improved and flexible control due to the different degrees of freedom and behaviors of the actuators 3.
- the example illustrated in the figures makes it possible in particular to reproduce the force feedback of a conventional piano for a user, which is not possible from the various known electronic controllers and keyboards.
- damping elements 5 are removable. It is therefore thus possible for the same device 1 to replace the damping elements 5 if the latter are worn or if it is desired to modify the behavior of the device 1.
- damping elements 5 may vary. In the example illustrated, these are elements having a general cylinder shape, typically of revolution, having two recesses. More generally, each damping element has at least one recess. As a variant, it is also possible to produce a damping element using two or more materials having distinct mechanical properties, which also makes it possible to modify the stiffness opposite to the compressive force applied by the actuator 3 on the damping element 5 as a function of the deformation of the damping element 5.
- the device 1 typically includes a plurality of sensors adapted to measure the rotation and translation movement of the actuators 3 and deliver a signal as a function of this movement.
- the sensors can for example be magnetic sensors coupled to a magnetic element such as a magnet positioned on each actuator 3.
- the sensors can also be sensors measuring the force applied to the associated actuator 3.
- the sensors can be positioned to measure the rotation of the actuators 3 around the pivot axis 4; such sensors can for example be positioned at the pivot axis 4, or be coupled to a dedicated surface of each actuator which can for example have graduations or markings thus making it possible to define the position of each actuator 3 using an optical sensor.
- each actuator 3 comprises a measurement portion 37 extending from the lower surface of the touch portion 31 of the actuator 3.
- the measurement portion 37 comprises a flat surface which can be example be provided with visual cues such as graduations or indentations.
- the base 2 includes an optical sensor 23 positioned opposite each measurement portion 37, in order to measure the displacement of the measurement portion 37 and therefore the displacement of the actuator 3 in rotation about the pivot axis 4.
- the actuators 3 can also have a reflecting surface, which thus makes it possible, using an optical sensor, to measure the displacement in translation along the pivot axis 4 of the tactile portion 3 of the actuator 3.
- the device comprises a set of sensors adapted to provide information relating to the rotational movement of the actuator 3 around the pivot axis 4 and the movement in translation of the touch portion 31 of the actuator 3 along the pivot axis 4, this information possibly including the position of each actuator at a given time, as well as the speed of movement of each actuator, and its acceleration.
- the device 1 can also include a computer or more generally a signal processing unit, adapted to correlate the movement of the actuators 3 to predetermined gestures such as musical gestures. The device 1 can then modulate the signal delivered depending in particular on the speed and the acceleration during the movement of each actuator 3 in addition to its position.
- the proposed device therefore forms a haptic controller offering a large and flexible amplitude of control, and in particular allows to propose an association between two distinct damping profiles, differentiated by a feeling of abutment resulting from the rupture of the curve. damping, coupled with the possibility of achieving a vibrato effect. These different levels of movement will thus typically be able to be translated through different actuation and sound control messages.
- the two damping profiles then offer two levels of continuous control of sound parameters, such as, for example, volume information or the cutoff frequency of a filter. According to one example, a speed or an acceleration is calculated shortly before the stop sensation to launch discrete velocity information, commonly used in conventional keyboards for actuating a note.
- the translation typically allows the pitch of a note to be varied continuously (controls commonly known under the names in English “vibrato” and “bending”).
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Acoustics & Sound (AREA)
- Multimedia (AREA)
- Mechanical Control Devices (AREA)
- User Interface Of Digital Computer (AREA)
- Electrophonic Musical Instruments (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1856663A FR3084200B1 (fr) | 2018-07-18 | 2018-07-18 | Controleur haptique ameliore |
PCT/FR2019/051811 WO2020016536A1 (fr) | 2018-07-18 | 2019-07-18 | Controleur haptique ameliore |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3824460A1 true EP3824460A1 (fr) | 2021-05-26 |
Family
ID=65031460
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19753176.7A Pending EP3824460A1 (fr) | 2018-07-18 | 2019-07-18 | Controleur haptique ameliore |
Country Status (6)
Country | Link |
---|---|
US (1) | US11398211B2 (fr) |
EP (1) | EP3824460A1 (fr) |
JP (1) | JP7426981B2 (fr) |
CN (1) | CN112740320A (fr) |
FR (1) | FR3084200B1 (fr) |
WO (1) | WO2020016536A1 (fr) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3084200B1 (fr) * | 2018-07-18 | 2021-06-18 | Expressive | Controleur haptique ameliore |
FR3125162A1 (fr) | 2021-07-07 | 2023-01-13 | Ecole Polytechnique | Dispositif de simulation haptique d’un instrument de musique |
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-
2018
- 2018-07-18 FR FR1856663A patent/FR3084200B1/fr active Active
-
2019
- 2019-07-18 EP EP19753176.7A patent/EP3824460A1/fr active Pending
- 2019-07-18 US US17/260,629 patent/US11398211B2/en active Active
- 2019-07-18 JP JP2021502582A patent/JP7426981B2/ja active Active
- 2019-07-18 WO PCT/FR2019/051811 patent/WO2020016536A1/fr active Application Filing
- 2019-07-18 CN CN201980061027.2A patent/CN112740320A/zh active Pending
Also Published As
Publication number | Publication date |
---|---|
JP7426981B2 (ja) | 2024-02-02 |
FR3084200A1 (fr) | 2020-01-24 |
CN112740320A (zh) | 2021-04-30 |
JP2021531501A (ja) | 2021-11-18 |
WO2020016536A1 (fr) | 2020-01-23 |
US11398211B2 (en) | 2022-07-26 |
US20210280159A1 (en) | 2021-09-09 |
FR3084200B1 (fr) | 2021-06-18 |
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