EP3824460B1 - Verbessertes haptisches steuergerät - Google Patents

Verbessertes haptisches steuergerät

Info

Publication number
EP3824460B1
EP3824460B1 EP19753176.7A EP19753176A EP3824460B1 EP 3824460 B1 EP3824460 B1 EP 3824460B1 EP 19753176 A EP19753176 A EP 19753176A EP 3824460 B1 EP3824460 B1 EP 3824460B1
Authority
EP
European Patent Office
Prior art keywords
actuator
damping
base
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.)
Active
Application number
EP19753176.7A
Other languages
English (en)
French (fr)
Other versions
EP3824460A1 (de
Inventor
Benjamin NOEL
Stéphane FALANCHERE
Alexandre BELLOT
Victor GRIMALDI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Expressive
Original Assignee
Expressive
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Expressive filed Critical Expressive
Publication of EP3824460A1 publication Critical patent/EP3824460A1/de
Application granted granted Critical
Publication of EP3824460B1 publication Critical patent/EP3824460B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • 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

  • This presentation concerns the field of controllers used in the musical field, and more specifically a keyboard-type device.
  • Keyboard-type equipment is commonly used in the musical field, particularly because of its ability to control and generate multiple and varied sounds and signals.
  • the document US4668843 presents an example of a known device.
  • the documents US 6 002 078 A , JP H04 171620 A And JP S63 146098 A They also offer devices for controlling the damping of digital music keyboard keys.
  • the aim here is therefore to propose a controller that can generate more numerous and varied instructions than a conventional keyboard.
  • each damping element has at least two recesses.
  • These hollows typically exhibit distinct shapes.
  • the damping elements are removable.
  • the base defines a stop limiting the rotational movement of each actuator in the compression direction.
  • the base and controllers include means cooperating so as to define a stop limiting the rotational displacement of each actuator in the direction opposite to the compression direction, defining an initial position of each actuator on their associated damping elements in which the damping elements are pre-stressed 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 typically includes 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 pivot axis.
  • the base of each actuator includes a pivot portion defining the pivot link with the base, and allowing rotational movement of the actuator along an axis perpendicular to the pivot axis and perpendicular to the main direction.
  • the base comprises a plurality of elements protruding from the base, each element being configured 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 to bear against two internal walls of the base of an actuator in a direction parallel to the pivot axis.
  • These elements are typically rods.
  • said actuators are configured to allow variable translational travel depending on 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 one 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 along a direction defined by the contact, possibly linear, between the actuator and the damping element, or possibly by the pivot axis.
  • each damping element has a cylindrical shape, for example of revolution about an axis parallel to the pivot axis, said at least one recess of each damping element being through in a direction defined by the pivot axis.
  • each actuator comprises two distinct linking elements forming two disjoint pivot links with the base along the pivot axis.
  • THE figures 1 to 4 present an example of device 1 according to one aspect of the present invention.
  • the figures show a device 1 comprising a base 2 and a plurality of actuators 3, here configured to form a keyboard of the type of piano keyboard, the actuators 3 here forming piano keyboard keys.
  • the actuators 3 are each mounted to rotate freely relative to the base 2 via a pivot joint around the same pivot axis 4 of the base 2.
  • the pivot axis 4 can be formed by a plurality of aligned axis segments or by a continuous axis, provided that it ensures an axis
  • the common rotation axis for the actuators 3 relative to the base 2 is defined. More generally, the pivot axis 4 designates an axis of rotation for the actuators 3 relative to the base 2, but does not necessarily correspond to a physical element.
  • the actuators 3 each extend along a principal direction, perpendicular to the pivot axis 4.
  • the pivot joint can be implemented in various ways.
  • the illustrated embodiment represents a pivot joint achieved by means of an element forming an axis around which segments of the actuators 3, forming cylindrical sleeves, are positioned. It is understood, however, that this embodiment is not exhaustive; the pivot joint can be implemented in any other suitable manner, provided that the relative movement of the actuators 3 with respect 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 direction which is described as indentation.
  • the device 1 thus typically comprises as many damping elements 5 as there are actuators 3.
  • each actuator 3 in the direction of insertion is typically limited by a stop 24 on the base 2, configured to define a maximum rotation of each actuator in the direction of insertion.
  • the rotational movement of each actuator 3 in the direction of insertion is thus typically achieved between an initial position, in which no force is exerted by a user on the actuator 3, and a inserted position, in which the actuator 3 is in contact with the associated stop 24.
  • the base is in two parts, 2A and 2B.
  • the first part, 2A, of the base supports the pivot axis 4, while the second part, 2B, supports the damping elements 5.
  • the two parts, 2A and 2B, of the base 2 are typically joined together on the same base to ensure the alignment of the different components.
  • the rotational movement in the opposite direction to the indentation direction is typically limited by a stop formed by the base 2, so as to prevent the actuators 3 from lifting or bouncing.
  • the base 2 has a portion forming a cap 26 covering part of the actuators 3 near the pivot axis 4.
  • This portion forming a cap 26 typically has a plurality of recesses 261 allowing, for example, the insertion of adjustable stops such as threaded rods, thus limiting the rotational movement of the actuators 3 in the opposite direction to the direction of insertion.
  • stops ensures, in particular, the alignment of the various actuators in their initial position (i.e., when a user is not applying force to the actuators 3), and also allows defining an initial position for the actuators 3 on their associated damping elements 5 in which the damping elements are pre-stressed by the actuators 3, so as to ensure both a return to the initial position and maintenance of contact between each actuator 3 and its damping element 5.
  • the prestress depends in particular on the shape and 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 includes a touch portion 31 forming a free end of the actuator, and a base 32 including a pivot portion 33 forming the pivot link with the pivot axis 4 of the base 2.
  • An intermediate portion 34 comprising two parallel slats 341 and 342 extending in two distinct planes and each perpendicular to the pivot axis 4 typically provides the connection between the touch portion 31 and the base 32 of each actuator 3.
  • the slats 341 and 342 are typically made of elastic material, or more generally of a material which allows elastic deformation when subjected to a moderate force from a user, for example of plastic material (e.g. acrylonitrile butadiene styrene, polycarbonate or polyoxymethylene), of metallic material (e.g. steel or stainless steel).
  • each actuator 3 and the pivot axis 4 is configured to allow limited rotational movement about an axis perpendicular to the pivot axis 4 and perpendicular to the principal direction of the actuator 3 in question.
  • This embodiment thus makes it possible to obtain a moderate deflection of the free end of the actuator 3, enabling a vibrato effect.
  • the tactile portion 31 of the actuators 3 typically has a decreasing cross-section from the upper face to the lower face, which allows for a greater translational range of motion when an actuator 3 has been subjected to pressure by the user and has therefore rotated around the pivot axis 4 relative to the adjacent actuators 3.
  • figures 6 and 7 This illustrates the difference in translational travel between an actuator 3 in its neutral position (i.e., in the absence of any force exerted by a user), and an actuator 3 in the depressed position (i.e., which has rotated around the pivot axis 4 under the effect of a force exerted by a user). These are denoted respectively by d1 and d2 on the figure 6 The possible strokes in these two positions towards an adjacent actuator are shown.
  • the change in cross-section can be adapted depending on whether a gradually varying stroke amplitude is desired, or one that reaches its maximum value directly.
  • the change in cross-section can thus create a slope or a notch.
  • each actuator 3 is a thin plate, followed by an isosceles trapezoidal transition portion 35, thus decreasing the thickness of the actuator 3 from the upper surface to the lower surface of the actuator 3, and then by a rectangular section portion extending from the smaller base of the trapezoidal portion.
  • the base 32 of the actuator 3 comprises two distinct arms 321 and 322, each forming a linking element with the pivot axis 4 and thus defining two distinct and disjoint pivot links with the base 2.
  • Such an embodiment makes it possible to increase the width of the pivot joint between the base 2 and the actuator 3, which makes it possible to minimize the radial play arising from this pivot joint.
  • the different arms of the actuators 3 are typically positioned in a staggered pattern (as seen in particular on the figure 3 which is a partially exploded view of an area of the figure 1 ), so that between two arms 321 and 322 of the same actuator are interposed one or two arms of adjacent actuators, which makes it possible to increase the width of the pivot joint as indicated previously, while minimizing the volume required for the realization of all the pivot joints between the actuators 3 and the base 2.
  • the latter may have actuators 3 with 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 referred to as the direction of penetration, which corresponds to the direction of rotation of the actuator 3 when a user exerts pressure on the upper face of the touch portion 31 of the actuator 3 in question.
  • the various damping elements 5 can be separate, or grouped into sub-assemblies linked by a base or tab.
  • all or part of the damping elements 5 can be made in a single piece, the different damping elements 5 being connected by a tab or bar extending along the axis of rotation.
  • the damping elements 5 are positioned below the touch portion 31 of the actuators 3, the lower face of each actuator here comprising a protrusion 315 having a free end 316 adapted to come into contact with the associated damping element 5.
  • each damping element 5 we define an initial configuration, 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 the 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 to define a contact, typically linear, when the damping element 5 is in its initial configuration.
  • the protrusions 315 thus each extend outward from a surface of the associated actuator 3, and have a free end 316 in contact with a damping element 5.
  • Linear contact refers to 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 area due to the deformation of the components. The concept of linearity must be assessed in relation to the respective dimensions of the components.
  • each protrusion typically has a cross-section forming an arc of a circle, which thus prevents damage to the damping element 5.
  • the damping element 5, as shown, has a general cylindrical shape with a connecting portion 52 forming a T-shaped protrusion to facilitate its attachment to the base 2.
  • figure 5 presents a side view of the damping element 5 illustrated on the Figures 1 And 4
  • a contact portion 53 is also defined for the damping element 3, 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 protrusion 315 of the actuator 3.
  • the contact portion 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 diametrically opposed here.
  • a compression direction of the damping element 5 is defined, corresponding to the direction defined by the contact portion 53 and the connecting portion 52.
  • the compression direction is vertical and forms a diameter of the cylindrical section of the body 51 of the damping element 5.
  • the compression direction on the figure 5 .
  • the protrusion 315 typically extends in a compression direction defined by the Z-Z axis.
  • the damping element 5 comprises a body 51 made of a deformable material, for example silicone or an elastomer, having a general cylindrical shape.
  • the cylindrical body 51 is typically positioned such that an axis of revolution of the cylindrical body is collinear with the pivot axis 4.
  • the body 51 has two disjointed recesses 55 and 57 having distinct shapes, said recesses being through-holes.
  • the two recesses 55 and 57 are formed so as to be superimposed on one another along the compression direction of the damping element 5.
  • the body 51 of the damping element 5 can thus be subdivided into two portions: a first portion 5A and a second portion 5B, these two portions 5A and 5B typically each corresponding to a half-cylinder with contact along a plane perpendicular to the compression direction.
  • the two portions 5A and 5B are not necessarily equal; they may more generally be two portions of the body 51 divided along a plane perpendicular to the compression direction.
  • the axis XX on the figure 5 an example of such a plan and division of body 51 into two portions.
  • the first portion 5A is defined as the portion of body 51 comprising the contact portion 53, while the second portion 5B is defined as the portion of body 51 comprising the connecting portion 52.
  • the first portion 5A includes a first recess 55, which has a cross-section with a general semi-cylindrical shape, the corners formed between the curved portion and the diameter of the semi-cylindrical having been rounded.
  • the first recess 55 therefore has a semi-circular cross-section with rounded edges and a base perpendicular to the direction of compression.
  • the second portion 5B includes a second recess 57, which has an oval cross-section centered and symmetrical with respect to the Z-Z axis defining the direction of compression.
  • the first opening, 55 occupies a significant portion of the first part. 5A, while the second recess 57 occupies a smaller part of the second portion 5B. It follows that the first portion 5A has a lower rigidity than the second portion 5B of the body 51 of the damping element 5.
  • the protrusion 315 is configured so as to maintain a reduced contact area with the damping element 5, in particular to avoid the formation of a planar contact when the damping element 5 is deformed, which would then limit the possibilities of deformation of the damping element 5.
  • FIG 8 represents an alternative configuration of the device shown on the figure 1
  • This figure represents 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 the figure 1 .
  • the damping elements 5 are positioned in a region referred to as the "rear" of the actuators, i.e., opposite the tactile portion 31.
  • the damping element is also attached to the base 2 (here, part 2A of the base 2, which supports the pivot axis 4), but the compression direction is horizontal and substantially perpendicular to the direction of force application on the actuator 3 by the user.
  • the protrusion 315 extends along the compression direction defined by the axis ZZ. This embodiment allows the rotational movement of the actuators 3 to be decoupled from the translational movement of the tactile portion 31 of the actuators 3.
  • damping element 5 is positioned in contact with the protrusion 315 extending from the tactile portion 31 of the actuators 3. Consequently, 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 depending on 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 the position of the actuator 3.
  • the damping can vary depending on the connection between the damping element 5 and the base 2. If we consider the connection portion 52 of the damping element 5 as presented previously, this can typically define a connection extending along the pivot axis 4 or perpendicularly to the pivot axis 4. In the case of a connection portion 52 extending perpendicularly to the pivot axis 4, this can allow a slight rotational deflection of the damping element 5 around a point of junction with the base 2; the damping element 5 can thus accompany the translational movement of the actuator 3 in a vibrato-type movement.
  • the protrusion 315 coming into contact with the damping element 5 does not extend from the tactile portion 31, or more generally does not extend from the part of the actuator 3 that moves 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 a translational movement.
  • FIG. 9 is a graph schematically illustrating the behavior of the damping element 5 when subjected to a compressive force such as that exerted by the actuator 3.
  • This graph represents the deformation of the damping element 5 along the horizontal axis and the force applied by the actuator 3 to the damping element 5 along the vertical axis.
  • the graph is therefore a force/sinking graph.
  • several examples of the deformation of the damping element 5 at different points on the graph are also shown.
  • the first section S1 has a general profile similar to a square root curve. It can be seen that the damping element 5 exhibits relatively high rigidity when its deformation is initiated, then that the rigidity decreases, allowing the deformation to be modulated relatively significantly with a very small variation in the force applied by the user.
  • This first section S1 corresponds to the deformation of the first portion 5A of the damping element 5. It is understood that the initiation of the deformation corresponds to a bending of the material along the compression direction. Once an initial deformation has occurred, the damping element 5 can deform along the entire height of the first recess 55 (the height being measured here along the compression direction), until the deformation of the first recess results in a continuous deformation along the first portion 5A in the compression direction.
  • the second section S2 corresponds to the deformation of the second portion 5B of the damping element 5, that is to say The crushing of the second recess 57.
  • the trace ceases when the protrusion 315 comes into contact with the associated stop 24 of the base 2. Since the stop 24 is rigid, there is then no further possible movement of the actuator 3. In the absence of a stop 24 on the base 2, the trace ceases when the damping element 5 is fully compressed, which can notably be seen as a continuity of material on the second portion 5B along the direction of compression, i.e., a crushing of the second recess 57 as schematically represented on the figure 9 .
  • the section of the second recess 57 is reduced compared to the section of the first recess 55.
  • the damping element 5 therefore exhibits greater rigidity here, which is reflected in the steep slope of the design on the second section S2. Furthermore, in this example the second recess 57 is dimensioned so that the second section S2 is linear.
  • This graph is characteristic of the system according to the invention. It allows for two distinct sensations for a user operating a controller 3, thus defining two distinct levels of control. Point P symbolizes a break in the curve of the graph, which can be felt by the user.
  • the proposed device 1 thus allows, for example, the definition of a first type of control when the user is located on the first section S1 of the graph, and a second type of control when the user is located on the second section S2 of the graph. More generally, device 1 allows for two distinct profiles for the damping of the actuator 3's movement, in addition to a sensation of resistance at the curve break, thus providing force feedback to the user, and therefore offering two distinct control sensations 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 that cannot be realized due to the presence of stops that 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 actuators 3 as well as the dimensioning of damping elements 5 thus make it possible to modify the feeling by a user.
  • FIGS. 10 , 11 , 12 , 13 and 14 represent another example of a device 1 according to one aspect of the invention.
  • the pivot joint between the actuators 3 and the base 2 is achieved by means of surfaces defining a shape projecting from one of these elements, and a counter-shape formed in the other.
  • the actuators thus have a rib 361 with a triangular cross-section.
  • the base 2 has grooves 261 also having a triangular cross-section, but with a larger cross-section.
  • a tension spring 6 is positioned to exert a tensile force whose direction is centered on the pivot axis defined by the contact surfaces between each actuator 3 and the base 2. The tension spring 6 thus ensures the stability of the system, without impacting the pivot movement, since the direction of the force exerted by the tension spring 6 passes through the pivot axis 4.
  • the base 2 has a plurality of vertical rods 8 configured to define lateral stops for the base 32 of each actuator 3. More precisely, the vertical rods 8 have a free end that fits into a recess in each actuator 3. The rods 8 are dimensioned to be in contact with the internal walls of the base 32 of each actuator 3 in the direction defined by the axis of rotation 4. Typically, two rods 8 are inserted into 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 rotational movement about the pivot axis 4. In particular, the rods 8 ensure that the base 32 of the actuators 3 is held in position when The user applies a translational movement to the tactile portion 31 of the actuators 3, as previously described.
  • This embodiment allows, in particular, the stresses to be concentrated at the rods 8 and the slats 341 and 342 of the intermediate portion 34, and not at the pivot joint. It is understood that this embodiment is not to be interpreted restrictively; the function performed by the rods 8 can be achieved by any other suitable means.
  • each actuator 3 has a housing 37 extending from the underside of the tactile portion 31.
  • This housing 37 is aligned with a lug 27 formed on the base and adapted to fit into the housing 37.
  • the housing 37 has a cross-section that increases from its lower end to its upper end. In the illustrated example, the cross-section of the housing 37 at its lower end corresponds to the cross-section of the lug 27.
  • the housing 37 and the lug 27 are configured so that, in the absence of external force applied to the system 1, the lug 27 is positioned against the lower part of the housing 37. Thus, the lug 27 acts as a stop, preventing the actuator 3 from rotating in the opposite direction to the direction of insertion.
  • association of the lug 27 and the housing 37 ensures alignment of each of the actuators 3 in their initial position (i.e. when a user does not apply force to the actuators 3), and also allows a pre-stressed initial position to be defined for the actuators 3 on their associated damping elements 5, so as to ensure both a return to the initial position and a maintenance of contact of each actuator 3 on its damping element 5.
  • the housing 37 moves with the actuator 3; the lug is thus no longer abutted against the lower end of the housing 37.
  • the cross-section of the housing 37 then increases, allowing the lug 27 to move within the housing 37, and therefore permitting a translational movement of the actuator along a direction defined by the pivot axis 4. This is all the more important as the cross-section of housing 37 increases. It is therefore possible to create a housing 37 whose cross-section increases progressively, so that the possible range of translation increases with the deflection of the actuator 3.
  • the lugs 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 that limits the movement of the actuator 3 in the direction of insertion.
  • the lug 27 then moves between an upper stop and a lower stop, which delimits the angular range of possible rotation of the actuator 3.
  • the Figures 15 and 16 They present views of examples of the damping elements 5 visible in this embodiment.
  • the device 1 can typically have several damping elements 5 with distinct shapes, particularly depending on the configuration of the actuators 3.
  • the connecting portion 52 forms an outgrowth on the lower portion of the body 51.
  • This connecting portion 52 can typically have through holes for inserting retaining elements, or be mounted tightly between clamping elements of the base 2.
  • the contact portion 53 is here a substantially flat portion ( figure 15 ) or curved ( figure 16 ). It is surrounded by two bosses 56 adapted to improve the centering of the damping element 5 relative to the protrusion 315 of the associated actuator.
  • the second recess 57 has an oval cross-section.
  • the first recess has a general semicircular cross-section with rounded corners.
  • the first recess 55 as presented, has a trapezoidal cross-section whose longer base is curved, typically of in a way to conform to the external contour of the second recess, and whose connecting portions between the large base and the sides are rounded.
  • FIG 17 is a perspective view of the damping element shown on the 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 compression direction), and the thickness being measured along an axis YY perpendicular to the axis ZZ and to the axis XX, corresponding where appropriate to the direction defined by the linear contact between the damping element 5 and the actuator 3.
  • FIG 18 is a variant of the damping element previously shown on the figure 17 in which the thickness of the damping element decreases over its first portion 5A. More precisely, the thickness of the damping element 5 decreases from the boundary 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, the resistance exerted by the damping element 5 to a translational movement around the pivot axis 4 to be varied.
  • FIG 19 represents another variant of the damping element previously shown on the figure 17
  • the second portion 5B has a greater thickness than the first portion 5A.
  • a shoulder 58 is thus formed between the first portion 5A and the second portion 5B. This shoulder 58 causes a sudden change in thickness, and therefore a sudden change 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 provides a haptic controller suitable for use in particular in the musical field, allowing improved and modular control due to the different degrees of freedom and behaviors of the actuators 3.
  • the example illustrated in the figures makes it possible to reproduce the force feedback of a conventional piano for a user, which is not possible with the various known electronic controllers and keyboards.
  • damping elements 5 are removable. Therefore, for the same device 1, the damping elements 5 can be replaced if they are worn or if it is desired to modify the behavior of the device 1.
  • damping elements 5 can vary. In the illustrated example, these are elements with a general cylindrical shape, typically of revolution, featuring two recesses. More generally, each damping element has at least one recess. Alternatively, a damping element can also be made using two or more materials with distinct mechanical properties, which also allows the stiffness opposing the compressive force applied by the actuator 3 to the damping element 5 to be modified according to the deformation of the damping element 5.
  • Device 1 typically includes a plurality of sensors adapted to measure the rotational and translational displacement of actuators 3 and deliver a signal as a function of this displacement.
  • 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 are positioned so as 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 allowing the position of each actuator 3 to be defined using an optical sensor.
  • Each actuator 3 comprises a measuring portion 37 extending from the lower surface of the tactile portion 31 of the actuator 3.
  • the measuring portion 37 includes a flat surface which may, for example, be provided with visual markers such as graduations or indentations.
  • the base 2 includes an optical sensor 23 positioned opposite each measuring portion 37, in order to measure the displacement of the measuring portion 37 and thus the rotational displacement of the actuator 3 about the pivot axis 4.
  • the actuators 3 may also have a reflective surface, which allows, with the aid of an optical sensor, the translational displacement along the pivot axis 4 of the tactile portion 3 of the actuator 3 to be measured.
  • the device includes a set of sensors adapted to provide information relating to the rotational displacement of the actuator 3 around the pivot axis 4 and the translational movement of the touch portion 31 of the actuator 3 along the pivot axis 4, this information may include in particular the position of each actuator at a given instant, as well as the speed of movement of each actuator, and its acceleration.
  • Device 1 may also include a computer, or more generally a signal processing unit, adapted to correlate the movement of actuators 3 with predetermined gestures such as musical gestures. Device 1 can then modulate the output signal based, in particular, on the speed and acceleration of each actuator 3 during its movement, in addition to its position.
  • a computer or more generally a signal processing unit, adapted to correlate the movement of actuators 3 with predetermined gestures such as musical gestures. Device 1 can then modulate the output signal based, in particular, on the speed and acceleration of each actuator 3 during its movement, in addition to its position.
  • the proposed device thus forms a haptic controller offering a large and adjustable range of control, and in particular allows for an association between two distinct damping profiles, differentiated by a sensation of stopping resulting from the break in the damping curve, coupled with the possibility of producing a vibrato effect.
  • the two damping profiles offer two levels of continuous control over sound parameters, such as volume information or the cutoff frequency of a filter. For example, a speed or acceleration is calculated shortly before the point of maximum deflection to trigger a discrete velocity signal, commonly used in traditional keyboards to activate a note.
  • the translation typically allows for continuous variation of a note's pitch (controls commonly referred to as “vibrato” and "bending").

Landscapes

  • 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)

Claims (14)

  1. Haptische Steuerung (1), umfassend
    - einen Sockel (2)
    - eine Vielzahl von Aktuatoren (3), die jeweils eine längliche Form in einer Hauptrichtung aufweisen, wobei jeder Aktuator (3) schwenkbar in Bezug auf den Sockel (2) um eine Schwenkachse (4) senkrecht zu der Hauptrichtung montiert ist,
    - eine Vielzahl von Dämpfungselementen (5), wobei jedes Dämpfungselement (5) positioniert ist, um eine Drehbewegung eines Aktuators (3) um die Schwenkachse (4) in einer Kompressionsrichtung dämpft, wobei die Dämpfungselemente (5) zwischen einer Anfangskonfiguration und einer Endkonfiguration elastisch verformbar sind,
    jedes Dämpfungselement (5) umfassend einen Körper (51) aus verformbarem Material,
    wobei der Körper (51) mindestens zwei getrennte durchgehende Aussparungen (55, 57) in einer durch die Schwenkachse definierten Richtung und übereinanderliegend in der Kompressionsrichtung des Dämpfungselements (5), wobei die Dämpfungselemente (5) konfiguriert sind, um die Drehbewegung der Aktuatoren (3) zu dämpfen, indem sie eine Dämpfung entgegensetzen, die abhängig von der Drehung des assoziierten Aktuators (3) zwei unterschiedliche Dämpfungsprofile aufweist, der Übergang von dem ersten zu dem zweiten Profil einen Bruch in einer Kurve der Dämpfung abhängig von der Drehung des Aktuators (3) definiert, die zwei Dämpfungsprofile zwei kontinuierliche Steuerungsgrade von Klangparametern bieten,
    die Steuerung eine Anordnung von Sensoren, die angepasst sind, um Informationen in Bezug auf die Drehbewegung der Aktuatoren (3) um die Schwenkachse (4) bereitzustellen und abhängig von dieser Bewegung ein Signal auszugeben, und eine Signalverarbeitungseinheit, die angepasst ist, um das Signal abhängig von der Position von jedem Aktuator (3) zu modulieren, umfasst,
    wobei jeder der Aktuatoren (3) einen Vorsprung (315) aufweist, der angepasst ist, um mit dem assoziierten Dämpfungselement (5) in Kontakt zu kommen, jeder Vorsprung (315) ein freies Ende (316) aufweist, das in seiner Ausgangskonfiguration einen Kontakt mit dem assoziierten Dämpfungselement (5) definiert.
  2. Haptische Steuerung (1) nach Anspruch 1, wobei die Aussparungen (55, 57) unterschiedliche Formen aufweisen.
  3. Haptische Steuerung (1) nach einem der Ansprüche 1 bis 2, wobei die Dämpfungselemente (5) abnehmbar sind.
  4. Haptische Steuerung (1) nach einem der Ansprüche 1 bis 3, wobei der Sockel (2) einen Anschlag definiert, der die Drehbewegung von jedem Aktuator (3) in der Kompressionsrichtung begrenzt.
  5. Haptische Steuerung (1) nach einem der Ansprüche 1 bis 4, der Sockel (2) und die Aktuatoren (3) umfassend Einrichtungen, die zusammenwirken, um einen Anschlag zu definieren, der die Drehbewegung von jedem Aktuator (3) in der der Kompressionsrichtung entgegengesetzten Richtung begrenzt, und eine Ausgangsposition von jedem Aktuator (3) auf ihren assoziierten Dämpfungselementen (5) definieren, in der die Dämpfungselemente (5) durch die Aktuatoren (3) vorgespannt sind.
  6. Haptische Steuerung (1) nach einem der Ansprüche 1 bis 5, wobei jeder der Aktuatoren (3) einen Berührungsabschnitt (31) und eine Basis (32) umfasst, wobei der Berührungsabschnitt (31) in Bezug auf die Basis (32) in einer durch die Schwenkachse (4) definierten Richtung translatorisch bewegbar ist.
  7. Haptische Steuerung (1) nach Anspruch 6, wobei die Basis (32) von jedem Aktuator (3) einen Schwenkabschnitt (33) umfasst, der die Schwenkverbindung mit dem Sockel (2) definiert, wobei der Schwenkabschnitt (33) durch zwei parallele Lamellen (341, 342), die sich jeweils in einer Ebene senkrecht zu der Schwenkachse (4) erstrecken, mit dem Berührungsabschnitt (31) verbunden ist.
  8. Haptische Steuerung (1) nach Anspruch 1 bis 5, wobei jeder Aktuator (3) einen Schwenkabschnitt (33) umfasst, der die Schwenkverbindung mit dem Sockel (2) definiert und eine Drehauslenkung des Aktuators (3) entlang einer Achse senkrecht zu der Schwenkachse (4) und senkrecht zu der Hauptrichtung ermöglicht.
  9. Haptische Steuerung (1) nach einem der Ansprüche 6 bis 8, wobei der Sockel (2) eine Vielzahl von Elementen (8) umfasst, die von dem Sockel (2) hervorstehen, wobei jedes Element (8) konfiguriert ist, um in einer Richtung parallel zu der Schwenkachse (4) an zwei Wänden der Basis (32) eines Aktuators (3) anzuliegen.
  10. Haptische Steuerung (1) nach einem der Ansprüche 1 bis 9, wobei die Aktuatoren (3) konfiguriert sind, um eine variable Translationsauslenkung abhängig von der Drehung der Aktuatoren (3) um die Schwenkachse (4) zu ermöglichen.
  11. Haptische Steuerung (1) nach einem der Ansprüche 1 bis 10, wobei das Dämpfungselement (5) mittels eines Verbindungsabschnitts (52), der sich in einer Richtung senkrecht zu der Schwenkachse (4) oder in einer Richtung parallel zu der Schwenkachse (4) erstreckt, mit dem Sockel verbunden ist.
  12. Haptische Steuerung (1) nach einem der Ansprüche 1 bis 11, wobei das Dämpfungselement (5) eine variable Stärke aufweist, wobei die Stärke die minimale Abmessung des Dämpfungselements (5) entlang einer Achse senkrecht zu der Kompressionsrichtung ist.
  13. Haptische Steuerung (1) nach einem der Ansprüche 1 bis 12, wobei der Körper (51) von jedem Dämpfungselement (5) eine zylindrische Form, beispielsweise eine Rotationsform, entlang einer Achse parallel zu der Schwenkachse (4) aufweist, wobei die mindestens eine Aussparung (55, 57) von jedem Dämpfungselement (5) in einer durch die Schwenkachse (4) definierten Richtung durchgehend ist.
  14. Haptische Steuerung (1) nach einem der Ansprüche 1 bis 13, wobei jeder Aktuator (3) zwei getrennte Verbindungselemente (321, 322) umfasst, die zwei getrennte Schwenkverbindungen mit dem Sockel (2) entlang der Schwenkachse (4) bilden.
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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

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FR3125162B1 (fr) 2021-07-07 2024-11-08 Ecole Polytech Dispositif de simulation haptique d’un instrument de musique
FR3165333A1 (fr) * 2024-08-02 2026-02-06 Expressive Contrôleur haptique amélioré.

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US20210280159A1 (en) 2021-09-09
EP3824460A1 (de) 2021-05-26
US11398211B2 (en) 2022-07-26
WO2020016536A1 (fr) 2020-01-23
JP7426981B2 (ja) 2024-02-02
JP2021531501A (ja) 2021-11-18
FR3084200B1 (fr) 2021-06-18
CN112740320A (zh) 2021-04-30
FR3084200A1 (fr) 2020-01-24

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