EP4025983A2 - Method and device for producing a key-click effect on a haptic interface - Google Patents
Method and device for producing a key-click effect on a haptic interfaceInfo
- Publication number
- EP4025983A2 EP4025983A2 EP20851283.0A EP20851283A EP4025983A2 EP 4025983 A2 EP4025983 A2 EP 4025983A2 EP 20851283 A EP20851283 A EP 20851283A EP 4025983 A2 EP4025983 A2 EP 4025983A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- haptic
- haptic interface
- user
- interface
- finger
- 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
- 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
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
- G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
-
- 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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/041—Indexing scheme relating to G06F3/041 - G06F3/045
- G06F2203/04105—Pressure sensors for measuring the pressure or force exerted on the touch surface without providing the touch position
Definitions
- the invention relates to the production of a so-called "click-button” effect on a haptic interface by using standing mechanical waves in the ultrasonic field.
- click-button within the meaning of the present invention, also called “key-click” in English terminology, is meant a haptic feedback effect of a haptic interface when a user places one (or more) finger ( s) on said interface statically, that is to say without performing a side sweeping action of his finger (or fingers) on the surface: this is an action known as "static touching ".
- the click-button effect must be felt when the user presses on the surface of the haptic interface along an axis substantially normal to the surface, without performing any lateral movement, that is to say tangential with respect to the plane of the interface surface.
- haptic feedback can be obtained which allows the creation of artificial textures by using the principle of the air cushion (or so-called “squeeze film” effect in English terminology) as described in the following publication. : T. Watanabe, SA Fukui. "A Method for Controlling Tactile Sensation of Surface Roughness Using Ultrasonic Vibration", IEEE Conference on robotics and automation, pp. 1134-1139, 1995.
- the squeeze film effect consists in creating an excess pressure under the finger of a user interacting with a surface. This overpressure is the consequence of the nonlinear response of the air trapped in the interstices of the fingerprints to a mechanical wave of high amplitude propagating in the surface.
- the cited document proposes to excite the tactile surface at a resonant frequency.
- the document does not provide for identifying a set of several resonant frequencies to form an excitation signal using only the frequencies of this set. So the document does not teach the use of multiple standing waves. Ultimately it does not describe any click effect in response to a static touch, nor the chaining of several resonant frequencies.
- the actuators again receive a single excitation frequency, but out of phase, which creates a propagating wave in the support.
- the feeling of click obtained is very strong, but it requires a high density of actuators (in fact the contact surface is completely covered with actuators), which makes it very difficult to integrate it from an industrial point of view and into a reasonable cost.
- the method described in this publication uses a very special configuration of the actuators since it is a 1D ring entirely covered with actuators.
- the known methods using ultrasonic vibrations encourage the use of ultrasonic waves at a fixed frequency.
- the main disadvantage is the weakness of the felt haptic feedback and the great dependence on the way the finger is placed on the interface.
- a general aim of the present invention is in particular to propose a new method for generating a click-button effect on a haptic interface, which is free from the drawbacks and limitations of the known methods summarized above.
- Another specific aim of the invention is to provide a method using ultrasonic frequencies for the control of the actuators, while generating a greater haptic effect than with the known methods using the modulation of the ultrasonic lubrication, and this while requiring a greater haptic effect. lower power supply than in known systems.
- the click-button effect obtained must also be more robust, and in particular less sensitive to the way in which the user places his finger on the haptic medium.
- the invention aims to produce a "real" click-button, offering a natural sensation very close to the sensation of a conventional tangible button, and in particular a click effect obtained in response to a touch in a direction. substantially normal to the touch surface, without requiring a tangential sweeping movement of the finger relative to the surface.
- the method proposed by the invention must be easy to implement from a practical and industrial point of view, and in particular must not require a high density of actuators on the touch-sensitive surface.
- the invention consists of a method making it possible to obtain a click-button sensation on a haptic interface provided with one or more ultrasonic transducers arranged at various locations of the interface.
- this method instead of subjecting the haptic medium to a standing wave of fixed frequency corresponding to a resonant frequency of the medium as taught by the state of the art, the invention provides for applying to the medium a haptic sequence consisting of at least two successive ultrasonic standing waves of different frequencies.
- the invention shows that the use of two different frequencies shaped in a particular way in a sequence makes it possible to feel during the change of frequency a more realistic click-button effect and more perceptible under a finger of the user, in response to a static touch of the haptic interface by the user.
- the subject of the invention is therefore a method for producing a haptic feedback effect by a so-called air cushion or “squeeze film” effect on a haptic interface provided with electromechanical actuators configured to apply vibrations to said haptic interface.
- ultrasound capable of creating standing waves, characterized in that it comprises the steps of: a. In a preliminary phase of characterizing the haptic interface, determining a subset (W) of resonance frequencies f i of the haptic interface in the ultrasound domain; b.
- a haptic sequence consisting of an electrical excitation signal s (t) formed by a succession of at least two periodic signals having frequencies f i , f j distinct from one another belonging to said subset (W) of resonant frequencies of the haptic interface; vs.
- detecting a static touching action of a user on an area of a surface of the haptic interface d.
- excite the electromechanical actuators with the aid of said electrical excitation signal s (t), so as to effect a transition from a first standing wave to a second standing wave, producing forces on the haptic surface sides felt as a click-button sensation by the user.
- the periodic signals are sinusoidal, square or triangular signals having an identical amplitude or differentiated amplitudes, for example by convolution with a Gaussian or other signal.
- the electrical excitation signal s (t) is of finite duration b and consists of a first periodic wave train of duration t 1 and of frequency fi corresponding to a first resonant frequency of the support , followed by a second periodic wave train of duration t 2 - t 1 and of frequency f j corresponding to a second resonant frequency of the support, different from the first resonant frequency f 1 .
- the durations t 1 and t 2 - t 1 are between 0.1 ms and 10 ms.
- two successive wave trains of the signal s (t) are separated by a dead time without excitation, with a duration of between 0.1 ms and 15 ms.
- the amplitude of the periodic signals is chosen so that the amplitude of the mechanical vibration corresponding to the click-button effect generated is about 1 micrometer or preferably less than 3 micrometers.
- the haptic sequence comprises several frequency transitions, which makes it possible to further customize the perception of the click-button by the user.
- the haptic interface has a tactile surface and the step of detecting an action by the user consists in detecting the contact of the finger on the tactile surface and in triggering the emission of the haptic sequence when the user's finger comes into contact with said surface.
- the haptic interface comprises contact force sensors and the step of detecting an action by the user consists in measuring the pressing force of the user's finger and in triggering the. emission of the haptic sequence when the normal force exerted by the finger on the surface of the haptic interface exceeds a certain predetermined threshold value.
- the click-button effect generated using the method according to the invention is such that its felt by the user is substantially identical to the effect felt by the user in response to pressing a tangible physical button , that is to say a pressure of the finger in a direction normal to the surface of the haptic support, without requiring lateral movement of the finger on the part of the operator.
- the subject of the invention is also a haptic interface comprising a support having a surface capable of producing haptic feedback towards a user acting on this surface by means of at least one finger, said support being subjected to ultrasonic vibrations generated by actuators.
- electromechanical devices attached to said support in response to electrical control signals sent to actuators by control electronics, characterized in that the control electronics is configured to generate an electrical excitation signal s (t) according to the method described above .
- the electromechanical actuators are piezoelectric ceramics emitting periodic vibrations at frequencies between 20 kHz and 200 kHz.
- the haptic interface may include a parameterization interface allowing the user to choose system parameters such as that the waveform of periodic signals, pairs of frequencies (f i , f j ) or triplets or more generally bytes of resonance frequencies, the duration of the time windows of the haptic sequence, the duration of a time possible death between two wave trains, and to test the influence of the various parameters on the quality of the click-button effect obtained.
- system parameters such as that the waveform of periodic signals, pairs of frequencies (f i , f j ) or triplets or more generally bytes of resonance frequencies, the duration of the time windows of the haptic sequence, the duration of a time possible death between two wave trains, and to test the influence of the various parameters on the quality of the click-button effect obtained.
- FIG. 1 is a diagram representing the average amplitude of displacement of the surface of a haptic interface at various applied vibrational frequencies
- FIG. 2 schematically represents the response of a haptic interface excited according to the method according to the invention, during a static touch of a finger of a user;
- FIG. 3 represents a diagram of the amplitude as a function of time and of the frequency according to a first variant of the electrical excitation signal transmitted by the ultrasonic actuators to the haptic support;
- FIGS. 4 and 5 represent diagrams of the amplitude as a function of time and of the frequency according to other variants of the electrical excitation signal transmitted by the ultrasonic actuators to the haptic support;
- FIG. 6 represents the response of a haptic support excited using the method according to the invention, as a function of the support of a finger reaching two levels of different forces;
- FIG. 7 represents a flowchart of the steps of the method according to the invention.
- FIG. 8 represents a block diagram of a system configured to implement the method according to the invention.
- FIG. 1 illustrates the first step of the method according to the invention. It consists in characterizing the vibratory properties of the haptic interface, by determining the resonant frequencies (in Hertz, noted Hz) thereof. For this, the vibratory amplitude of the interface is measured (in meters, denoted m) obtained at different vibratory frequencies applied using electromechanical transducers. A curve like that shown in FIG. 1 is therefore obtained, exhibiting a series of amplitude peaks corresponding to resonance frequencies f1, f2, etc. A subset of these resonant frequencies is denoted W. For simplicity, only the first 4 resonant frequencies have been shown.
- the resonant frequencies in Hertz, noted Hz
- the characterization step 10 can be carried out once and for all at the start of operation or when the device is switched on, or carried out repetitively and dynamically at each interaction with the user, for example for take into account in real time modifications of the resonant frequencies as a function of external parameters, such as the ambient temperature.
- this characterization step can be carried out using a laser vibrometer measuring the amplitude of the vibration of the haptic interface, or possibly using an impedance meter, however less precise.
- Each resonant frequency is associated with an amplitude. The greater the amplitude associated with a vibration mode, the easier it will be to obtain a significant displacement of the haptic interface.
- click-button effect within the meaning of the present invention, as felt by the user, is meant a haptic feedback effect at the user's fingertips, having the following properties:
- the click-button sensation must be felt in response to a specific gesture of the user, namely a gesture equivalent to that of an operator pressing a tangible physical button, i.e. pressing static finger (or fingers) in a direction substantially normal to the surface of the haptic support, without requiring lateral movement of the finger on the part of the operator.
- Brevity The typical duration of the targeted haptic feedback is of the order of 5 ms, although it can be a little shorter or a little longer. Perception: the perception of the haptic feedback must be marked and provide a sensation similar to pressing a tangible 3D button.
- the invention provides for providing the haptic interface with a series of electromechanical actuators, for example piezoelectric ceramics, and applying to these actuators a sequence specific haptics in response to the static touch of the user's finger on the haptic surface.
- a series of electromechanical actuators for example piezoelectric ceramics
- haptic sequence within the meaning of the present invention, is meant the profile (amplitude and frequency during a time window) of the electrical signal s (t) used to excite the actuator (s) in response to an action by the operator, typically the touch of the interface.
- a tactile interface 20 (sectional view) is set into vibration by piezoelectric actuators 22 excited by an electrical excitation signal denoted s (t).
- s (t) an electrical excitation signal
- a user places a finger (or several fingers, or a stylus or the like) statically on the surface 21 of the touch interface 20, by exerting a contact force normal to the surface of the touch interface, denoted FN.
- the haptic sequence caused by the electrical excitation signal s (t) the surface 21 of the tactile interface is set into vibration at resonant frequencies belonging to the sub-assembly W.
- the standing waves excited at two frequencies of successive resonance are shown schematically, one in a thin line, the other in a thick line. They result in lateral forces tangential to the surface 21 and exerted on the pad of the user's finger, who will consequently perceive a click-button effect under his finger.
- the excitation standing waves can preferably have a half wavelength (i.e. the distance between a node and a belly of neighboring vibration) less than the contact surface of the finger on the haptic interface.
- the electrical excitation signal s (t) (corresponding to the haptic sequence) of duration t 2 consists of a first periodic wave train, in particular sinusoidal, of duration t 1 and of frequency f i corresponding to a first resonant frequency of the support, followed by a second wave train, periodic, in particular sinusoidal, of duration t 2 - t 1 and of frequency f j corresponding to a second resonant frequency of the support, different from the first resonant frequency.
- the amplitude of the electrical excitation signal, measured in Volt (V), is constant.
- the durations t 1 and t 2 - t 1 are typically between 1 millisecond (ms) and 10 milliseconds and of frequency f i Î W (a previously determined resonance frequency).
- the frequencies f i , f j (with i different from j) belong to the subset, denoted W, of resonance frequencies of the support.
- the envelope of the electrical excitation signal s (t) can be modulated by convolution with another signal, for example a Gaussian signal, which has the effect of modifying the amplitude of the excitation signal during the time window (0, t 2 ).
- another signal for example a Gaussian signal, which has the effect of modifying the amplitude of the excitation signal during the time window (0, t 2 ).
- this dead time without excitation then has a duration of between 0.1 ms and 15 ms.
- an electrical excitation signal s (t) comprising more than two successive wave trains at different resonant frequencies. This results in a click-button effect at each frequency transition. For example, as represented in FIG. 5, a first transition from the frequency fi to the frequency f j causes a first click-button effect, and a second transition of frequency f j to the initial frequency fi (or to a third frequency f k different from the second frequency f j ) causes another click-button sensation. In this way, it is possible to obtain different click-button renderings: for example a more or less sliced, marked, brief, soft click-button, etc.
- An embodiment of the system for implementing the method according to the invention can then include a parameterization interface allowing the user to modulate the feeling of click-button at his convenience, by choosing from among several pairs or multiplets of frequencies of resonance pre-associated with varied click sensations.
- the electrical amplitude of the signal s (t) sent must be chosen so as to obtain a displacement of at least 1 ⁇ m at the point where the finger touches the haptic interface. This amplitude depends in particular on the number of actuators used, their positions, their efficiencies, as well as the mechanical coupling between the latter and the haptic interface.
- a first possibility consists in detecting the contact of the finger on the haptic surface and in triggering the emission of the haptic sequence when the user's finger comes into contact with the surface, for example using a capacitive touch screen. , in a predefined area of it. It can be for example a zone of the haptic interface displaying a virtual button or a key of a virtual keyboard or even an icon associated with an action or a function.
- a second possibility shown diagrammatically in FIG. 6, consists in providing the haptic interface 20 with a force sensor and in triggering the emission of the haptic sequence when the normal force FN exerted by the finger on the surface of the interface exceeds a certain threshold value.
- a force sensor also makes it possible to refine the haptic effect obtained by sending an electrical excitation signal s (t) having a first haptic sequence generating a first click-button effect when the normal force pressing the finger on the support crosses a first threshold value denoted P1, then a second haptic sequence generating a second click-button effect identical to the first click-button effect from the moment when the pressing force exceeds a second threshold value noted P2 (lower or higher than P1).
- the second haptic sequence can also be configured to generate a second click-button effect different from the first. In other words, we will obtain a “click-clack button” effect.
- a physical characterization of the support of the haptic interface in order in particular to determine a subset W of its resonant frequencies.
- a haptic sequence is defined, namely the control or excitation signal s (t) of the actuators which must vibrate the haptic support to obtain the desired click-button effect.
- s (t) the control or excitation signal of the actuators which must vibrate the haptic support to obtain the desired click-button effect.
- it is a periodic signal, for example sinusoidal, having a transition between at least two distinct ultrasonic frequencies corresponding to resonant frequencies determined during the characterization step 10 and inducing standing waves in the support.
- the method enters a test loop 12 consisting in continuously checking whether a user interacts with the haptic interface, for example by placing a finger on it. To this end, either a contact is detected (for example by means of capacitive sensors placed on the surface), or the fact that a contact force reaches a predefined threshold (by means of force sensors arranged on the haptic interface).
- the method launches in step 13 the haptic sequence previously defined in step 11, which will generate a good quality dick-button effect, clearly perceptible by the user. , much like pressing a key or button on a tangible physical keyboard.
- FIG. 8 is shown a block diagram of a haptic device 20 arranged to implement the method according to the invention. It comprises a haptic interface surface 21, provided with a certain number of electromechanical actuators 22, for example piezoelectric actuators 22 compatible with actuation frequencies between 20 kHz and 200 kHz. These are preferably arranged linearly so as to create plane waves, which makes it possible to use at a given moment the same actuation frequencies (fi) for all the actuators and to obtain the same feeling of clicking. -button at any point of the haptic surface.
- the signal s (t) for excitation of the actuators 22 is generated by control electronics 23 arranged for example under the haptic surface. It comprises an electric power supply (not shown) and a microcontroller 24. The latter incorporates a processor 25 comprising a firmware (or “firmware” in English terminology) provided with a function 27 for changing the vibratory frequency called by a module 28 for generating a haptic sequence using at least two resonant frequencies.
- the sequence s (t) is transmitted by the microcontroller 24 to an amplifier 29 which shapes and amplifies the control signal s (t) transmitted to the actuators 22, in order to set the surface in vibration and create a click-type haptic feedback -button.
- Different haptic sequences and the subset W of resonant frequencies are stored in a memory 26 bidirectionally connected to the processor 25.
- the haptic interface 20 may usefully include a parameterization interface (not shown) allowing the user to choose system parameters such as the waveform of periodic signals, and pairs of resonant frequencies (f i , f j ), or even triplets or multiplets of resonance frequencies, the duration of the time windows of the haptic sequence, the duration of any dead time between two wave trains, and to test the influence of the different parameters on the quality of the click-button effect obtained.
- system parameters such as the waveform of periodic signals, and pairs of resonant frequencies (f i , f j ), or even triplets or multiplets of resonance frequencies, the duration of the time windows of the haptic sequence, the duration of any dead time between two wave trains, and to test the influence of the different parameters on the quality of the click-button effect obtained.
- the invention meets the stated goals.
- it has the advantage of being able to be implemented in any pre-existing ultrasonic haptic device without significant modification of the equipment, as long as the actuation chain is capable of generating micrometric vibrations at the frequencies of interest.
- the necessary modification only concerns the firmware which must be configured to implement the method described, and in particular to generate the haptic sequences using several resonant frequencies of the medium.
- the method according to the invention does not require a high density of actuators, for example a line of actuators. distributed along an edge of a rectangular area may suffice.
- the actuators do not need to generate large vibration amplitudes of the order of 25 microns, an amplitude of the order of one micron is sufficient, which minimizes the electrical power required.
- the click-button effect obtained by virtue of the invention is more robust, that is to say not very sensitive to the way in which the finger is placed on the support, and it is a click - more natural button, which does not require tangential movement of the user's finger on the surface of the haptic interface.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1909660A FR3100353B1 (en) | 2019-09-03 | 2019-09-03 | Method and device for producing a click-button effect on a haptic interface |
PCT/FR2020/000232 WO2021044085A2 (en) | 2019-09-03 | 2020-09-03 | Method and device for producing a key-click effect on a haptic interface |
Publications (1)
Publication Number | Publication Date |
---|---|
EP4025983A2 true EP4025983A2 (en) | 2022-07-13 |
Family
ID=68343128
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20851283.0A Pending EP4025983A2 (en) | 2019-09-03 | 2020-09-03 | Method and device for producing a key-click effect on a haptic interface |
Country Status (5)
Country | Link |
---|---|
US (1) | US11822724B2 (en) |
EP (1) | EP4025983A2 (en) |
JP (1) | JP2022546133A (en) |
FR (1) | FR3100353B1 (en) |
WO (1) | WO2021044085A2 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11820215B2 (en) * | 2019-11-04 | 2023-11-21 | Hyundai Mobis Co., Ltd. | System and method for controlling display of vehicle |
CN113778229A (en) * | 2021-09-14 | 2021-12-10 | 北京京东方技术开发有限公司 | Signal control system, display device, control method, control device, and storage medium |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7159008B1 (en) * | 2000-06-30 | 2007-01-02 | Immersion Corporation | Chat interface with haptic feedback functionality |
US20120256848A1 (en) * | 2011-04-08 | 2012-10-11 | Research In Motion Limited | Tactile feedback method and apparatus |
US10564839B2 (en) * | 2016-03-31 | 2020-02-18 | Sensel Inc. | Method for detecting and characterizing inputs on a touch sensor surface |
FR3077131B1 (en) * | 2018-01-19 | 2021-06-04 | Psa Automobiles Sa | DEVICE FOR MEASURING THE MECHANICAL IMPEDANCE OF A FINGER CONTACTING A TOUCH WALL, FOR A DEVICE |
US20210232308A1 (en) * | 2020-01-28 | 2021-07-29 | Immersion Corporation | Systems, devices, and methods for providing localized haptic effects |
-
2019
- 2019-09-03 FR FR1909660A patent/FR3100353B1/en active Active
-
2020
- 2020-09-03 WO PCT/FR2020/000232 patent/WO2021044085A2/en unknown
- 2020-09-03 JP JP2022514146A patent/JP2022546133A/en active Pending
- 2020-09-03 EP EP20851283.0A patent/EP4025983A2/en active Pending
- 2020-09-03 US US17/635,204 patent/US11822724B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
FR3100353A1 (en) | 2021-03-05 |
WO2021044085A2 (en) | 2021-03-11 |
US20220291748A1 (en) | 2022-09-15 |
US11822724B2 (en) | 2023-11-21 |
WO2021044085A8 (en) | 2021-07-29 |
WO2021044085A9 (en) | 2021-08-26 |
FR3100353B1 (en) | 2022-01-07 |
WO2021044085A3 (en) | 2021-06-17 |
JP2022546133A (en) | 2022-11-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2859428B1 (en) | Time-reversal tactile stimulation interface | |
EP4025983A2 (en) | Method and device for producing a key-click effect on a haptic interface | |
EP1956466A1 (en) | Vibrating tactile interface | |
FR3066030B1 (en) | METHOD AND DEVICE FOR GENERATING TOUCH PATTERNS | |
EP3485349B1 (en) | Haptic device using vibration-based lubrication | |
EP3596582B1 (en) | Time reversal interface generating an acoustic lubrication | |
EP3566115A1 (en) | Touch interface including a force sensor | |
EP3586215B1 (en) | Interface providing localised friction modulation by acoustic lubrication | |
EP3729241A1 (en) | Areal device offering improved localized deformation | |
EP4232884A1 (en) | Three-dimensional touch interface providing haptic feedback | |
WO2019122762A1 (en) | Areal device offering improved localized deformation | |
WO2022090090A1 (en) | Haptic-feedback touch device with spatialized textures | |
FR3066841A1 (en) | METHOD FOR CONTROLLING A NOMAD DEVICE | |
EP3942392B1 (en) | Touch interface offering improved localised vibrotactile feedback | |
FR3106912A1 (en) | Device for creating haptic sensations on a surface using ultrasonic elliptical vibrations | |
WO2018197793A1 (en) | Tactile stimulation interface using time reversal and providing enhanced sensations | |
EP4006698B1 (en) | Haptic interface | |
WO2022189142A1 (en) | Touch-sensitive interface for measuring an intensity of a pressing force | |
FR3097661A1 (en) | DEVICE IMPLEMENTING LUBRICATION BY VIBRATION WITH INCREASED ROBUSTNESS |
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: 20220210 |
|
AK | Designated contracting states |
Kind code of ref document: A2 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 |
|
DAV | Request for validation of the european patent (deleted) | ||
DAX | Request for extension of the european patent (deleted) | ||
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
17Q | First examination report despatched |
Effective date: 20230425 |