EP4073619A1 - Procédé de génération de sensations tactiles localisées sur une surface et interface haptique mettant en oeuvre ce procédé - Google Patents
Procédé de génération de sensations tactiles localisées sur une surface et interface haptique mettant en oeuvre ce procédéInfo
- Publication number
- EP4073619A1 EP4073619A1 EP20820176.4A EP20820176A EP4073619A1 EP 4073619 A1 EP4073619 A1 EP 4073619A1 EP 20820176 A EP20820176 A EP 20820176A EP 4073619 A1 EP4073619 A1 EP 4073619A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- contact surface
- region
- actuators
- regions
- actuator
- 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
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Classifications
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- 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
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- G—PHYSICS
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- 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
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03547—Touch pads, in which fingers can move on a surface
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
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- 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
- G06F3/0416—Control or interface arrangements specially adapted for digitisers
Definitions
- TITLE Method for generating tactile sensations localized on a surface and haptic interface implementing this method
- the present invention relates to a method for generating tactile sensations intended to be felt by the user of a haptic interface comprising a surface.
- the invention also relates to such a haptic interface implementing this method.
- the invention finds applications in the fields of haptics to provide tactile sensations to users of haptic interfaces and, in particular, in fields where a haptic interface can be shared between several users or shared between several fingers of a alone or with several hands, such as for example the interfaces of motor vehicles, collaborative interfaces, portable wireless communication devices, or portable computers and derived devices such as touch tablets.
- a haptic interface also called a tactile interface - to simulate, in particular, the relaxation of a key, the manipulation of a wheel, the felt of a texture or of discrete elements when the user is in mechanical contact with the haptic interface, for example when he exerts pressure on the contact surface of the haptic interface or moves his finger on this surface.
- a tactile interface to simulate, in particular, the relaxation of a key, the manipulation of a wheel, the felt of a texture or of discrete elements when the user is in mechanical contact with the haptic interface, for example when he exerts pressure on the contact surface of the haptic interface or moves his finger on this surface.
- actuators fixed on a touch screen or on the glass, metal, polymer, or even wood surface, so as to move the touch screen by small rapid movements, generated in response to an action. driving force of the user.
- haptic interfaces are intended to be used with several fingers of a single person and of several people who share the use thereof, such as for example the interfaces of motor vehicles, document sharing screens, or even front panels of control panels for industrial devices, medical devices, household appliances, cash registers, public ticket machines, cash withdrawals, or taking orders in catering establishments, casino machines , devices for viewing, listening to sound documents or mixing sound tracks, personal computers, portable mobile phones, e-readers, computer tablets, or all other kinds of so-called connected devices.
- haptic interface manufacturers and researchers have proposed different methods which can be categorized into four classes.
- Patent application US 2018 081 438 describes an arrangement similar to the previous descriptions but which differs in the mode of transmission of the force from the actuators to the outer surface.
- the patent application US 20 180 081 44 also describes a similar arrangement where there is explicit mention of a flexible outer layer.
- Patents FR 3,076,017 and WO 2019 122762 describe a method for a haptic interface or a plurality of actuators distributed regularly over the entire surface and where the transfer function in the frequency domain is obtained between each actuator and each region of the interface. This transfer function is reversed according to a method known in the field of signal processing and the control of multiple input and multiple output processes. This problem has been studied for more than a century (for example: Poincaré, H. 1907.
- a third class of methods for generating tactile sensations localized to a region of a surface proposes to take into account the behavior of the waves in thin plates to cause differentiated oscillations in several regions of a surface.
- the patent application US 2015 013 8157 proposes to excite the primary modes of the plate in order to make it oscillate differently in large regions.
- the method employs two sets of actuators controlled separately. The first set is intended to excite certain modes of oscillation of the plate to make it vibrate in a certain area. The second set is intended to make the plate vibrate in another area, partly to attenuate unwanted vibrations but above all to transform the plate into an acoustic radiator.
- US Patent 9,449,476 describes a method which relies on the propagation of bending waves in a thin plate and where the actuators are remote from the zone to be excited. This method is also based on the detection of ultrasonic oscillations in order to measure the variations thereof due to the disturbances of a finger in contact in order to determine the region in question.
- a fourth class of methods employs various electrical and mechanical devices to cause tactile stimulation in one region without causing sensations in the others.
- Patent application US 2008 006 8334 describes a method according to which the surface intended to stimulate a finger consists of regions having different stiffnesses so that the stimulation is more intense where the surface is more flexible.
- Patent application US 2008 010 0568 similarly, proposes to design the mechanical properties of a shell so as to cause artificial tactile sensations localized in certain regions.
- Patent application WO 2018 178 582 describes a method comprising a plurality of actuators capable of causing the presence of non-radiative ultrasonic waves in a thin plate intended to perform local acoustic lubrication of the surface in the vicinity of each actuator.
- US Patent 8,174,372 describes a haptic interface where the stimulating surface is an elastic membrane. When a finger presses on this membrane, the latter deforms to come into contact with a rigid counter surface indicating on the one hand the presence of a finger and on the other hand allowing the transmission of mechanical oscillations to this finger.
- Patent EP 2 742 410 describes a haptic surface intended to cause artificial tactile sensations using the principle of skin adhesion by an alternating electrostatic field (E. Mallinckrodt, AL Hughes, and W. Sleator. 1953. Perception by the skin of electrically induced vibrations, Science, vol. 118, no. 3062, pp. 277-278). In this process, discrete electrodes distributed over the entire surface and activated separately make it possible to cause localized sensations according to a principle similar to that described in the publication H. Tang and D. Beebe. 1998. A microfabricated electrostatic haptic display for persons with Visual impairments. IEEE Transactions on rehabilitation engineering, 6 (3): 241 - 248.
- the scientific literature also includes studies the aim of which is to optimize the local character of the oscillations caused in a thin plate from a plurality of exciters.
- These numerous actuators, excited at a single frequency of 300 Hz, can drive a large number of modes whose weighted superposition creates a specific oscillation zone just above the human detection threshold for oscillations.
- a haptic interface requiring a small number of actuators, controlled so as to generate movements at any point of the touch screen except at a neutral point, or a set of superimposed neutral points.
- the haptic interface implements a computer program making it possible to calculate the instantaneous forces which cause a rigid portion of the interface to rotate around the neutral point, or around a set of superimposed neutral points and which give a desired acceleration to another point or set of points of the rigid portion.
- the application of the principle of linear superposition applicable to small displacements of solid bodies makes it possible in particular to simultaneously produce one sensation in one finger and another sensation in another finger, whether transient or persistent.
- the present invention provides an alternative to the method disclosed in patent application FR1900554, in which small displacements evolving over time are generated in at least two regions separated from a contact surface.
- the method of the present invention is based on the principle of linear superposition applicable to all small displacements of solid bodies. It makes it possible to determine actuation signals applicable to a limited number of actuators capable of causing small displacements of solid bodies, including those corresponding to the bending modes of the plates as well as those corresponding to the modes resulting from the establishment of standing waves.
- the invention relates to a method of generating a tactile sensation intended to be felt by a user in contact with a contact surface of a haptic interface, comprising an operation of simultaneous transmission of a first control signal for controlling a first actuator and a second control signal for controlling a second actuator, simultaneously with the first actuator, the first and second actuators being integral with the contact surface and causing a displacement of said contact surface , characterized in that: the first control signal comprises a first time change ensuring a first time change in a first region of the contact surface, and providing a second time change in a second region of the contact surface, the second control signal includes a second change temporal ensuring the first region of the contact surface a second temporal evolution, and ensuring a second temporal evolution for the second region of the contact surface, and where the first control signal and the second control signal are such that the temporal evolution of the first region of the contact surface is described by a desired function of time distinct from another desired function of time describing the temporal evolution of the second region of the
- This method makes it possible to generate distinct tactile sensations, simultaneously, in several locations of the portion of a touch screen.
- the method comprises one or more additional actuators comprising an operation of simultaneous transmission of one or more additional control signals to control one or more additional actuators simultaneously to the first actuator and second actuator, the additional actuators being integral with the contact surface and causing a displacement of said contact surface, and the additional control signals each comprise additional temporal evolutions ensuring to a first region of the contact surface and to a second first region of the contact surface temporal evolutions additional.
- the method according to one aspect of the invention may have one or more additional characteristics among the following, considered individually or according to any technically possible combination: it comprises a or more additional contact regions receiving additional temporal evolutions originating from additional actuators and characterized in that the total number of actuators is equal to or greater than the total number of regions. it comprises a weighted combination of a first dynamic warping, generated by the first actuator under the effect of the first control signal, and of a second dynamic warping generated by the second actuator under the effect of the second control signal.
- the first control signals and the second control signals are determined by means of the following operations: a) identification, for each of the actuators and each of the regions of the contact surface , a frequency spectrum representing the weighting as a function of the frequency of the effect of the actuator on any region of the contact surface; b) calculation of the inverse matrix H 1 22 of the matrix of spectra H22 associating the first region and the second region, with the first actuator and with the second actuator; c) multiplication of the inverse matrix H _1 22 by the matrix U21 obtained by stacking the frequency spectra Ui and II2 resulting from transformation from the time domain to the frequency domain of the desired displacements, (u1 and u2) of the contact surface in the regions ( Z1 and Z2); d) transformation in the time domain of the products obtained in step c); e) application to actuators.
- the first control signals, the second control signals and any additional signals are determined by means of the following operations: f) identification, for each of the actuators and each of the regions of the contact surface, of a frequency spectrum representing the frequency weighting of the effect of the actuator on any region of the contact surface; g) extraction of the lines corresponding to regions a and b from the matrix of spectra Hy associating each region (i) with each actuator (j) and stacking said lines corresponding to regions a and b in a single matrix H ( a p) j; h) calculation of the pseudo inverse matrix H + j ( a p) of H ( a p) j; i) multiplication of the pseudo inverse matrix H + j ( a p) by the matrix II (ab) ⁇ obtained by stacking the frequency spectra Ua and Up resulting from transformation from the time domain to the frequency domain of the desired displacements, u a and up, of the contact surface in regions a
- the first control signals, the second control signals are determined by means of the following operations: r) identification, for each of the actuators and each of the regions of the contact surface, a frequency spectrum representing the weighting as a function of the frequency of the effect of the actuator on any region of the contact surface; s) calculation of the inverse matrix H 1 ⁇ 22 of the matrix of spectra H22 associating the first region and the second region, with the first actuator and with the second actuator; t) transformation in the time domain of the products obtained in step s); u) matrix convolution of the product of step t) by the stacking of the desired displacements.
- the first control signals, the second control signals and any additional control signals are determined by means of the following operations: w) identification, for each of the actuators and each regions of the contact surface, of a frequency spectrum representing the weighting as a function of the frequency of the effect of the actuator on any region of the contact surface; x) extraction of the lines corresponding to regions a and b from the matrix of spectra Hy associating each region (i) with each actuator (j) and stacking said lines corresponding to regions a and b in a single matrix H ( a p) j; y) calculation of the pseudo inverse matrix H + kab) of H ( a p) j; z) transformation in the time domain of the products obtained in step y); aa) matrix convolution of the product of step z) by the stacking of the desired displacements; bb) application to actuators.
- the first control signals, the second control signals and any additional control signals are determined by means of the following operations: cc) identification, for each of the actuators and each of the regions of the contact surface, a frequency spectrum representing the weighting as a function of the frequency of the effect of the actuator on any region of the contact surface; dd) extraction of the lines corresponding to regions a and b and additional regions resulting from the matrix of spectra Hy associating each region (i) with each actuator (j) and stacking said lines corresponding to regions a and b and with additional regions in a single matrix H Cj ; ee) calculation of the pseudo inverse matrix H + j C of H Cj ; ff) transformation in the time domain of the products obtained in step ee); gg) matrix convolution of the product of step ff) by the stacking of the desired displacements; hh) application to actuators.
- a second aspect of the invention relates to a haptic interface implementing the above method, characterized in that it comprises: a contact surface (110) equipped with a device for detecting and locating at least one point of contact between at least one user (101) and said contact surface; at least two actuators (120) integral with the rigid portion, mounted at a distance from each other and adapted to be actuated simultaneously in order to generate at least one displacement (D) of said rigid portion; and a processing unit (130) suitable for controlling each actuator (120) with a different time evolution.
- the haptic interface comprises a frame in which the contact surface is mounted.
- the contact surface is connected to the frame via the viscoelastic suspension means.
- the contact surface is rigidly embedded over its entire periphery on a frame.
- the contact surface is partially embedded on a frame. According to some embodiments, the contact surface is in a condition of embedding free edges.
- a third aspect of the invention relates to an interactive electronic device, characterized in that it comprises a haptic interface as defined above.
- Figure 1 schematically shows a view of a haptic interface according to the invention with a user in contact by two fingers with said interface.
- Figure 2 shows a front view of the contact surface showing a possible arrangement of actuators around the perimeter as well as areas of interest and a processing unit.
- Figure 3 shows a schematic top view of a haptic interface according to one embodiment of the invention, in which four actuators act in the angles of the contact surface and bear on the frame, the normal direction being conventionally directed in the Z direction.
- Figure 4 shows a schematic view of a haptic interface according to one embodiment of the invention where two actuators act in the direction normal to the contact surface and two actuators exert bending forces on the plate.
- Figure 5 shows an embodiment where four actuators exert bending forces on the plate in various directions.
- Figure 6 shows an embodiment where four actuators exert bending forces on the plate and are positioned near the edges of the surface, between two angles.
- FIG. 7 shows an embodiment in which four actuators exert a thrust in the normal direction causing a rigid displacement of the contact surface if the displacement is at low acceleration and causing, during a strong acceleration, a main mode of bending where the plate temporarily adopts a convex or hollow shape.
- Figure 8 shows an embodiment in which four actuators exert thrusts in the normal direction capable of causing a pivoting movement about an axis of the contact surface so that a finger in contact with this surface on a line will not receive any tactile signal while a touching finger away from that line will receive a signal.
- FIG. 9 shows an embodiment in which the four actuators exert thrusts in the normal direction capable of causing bending of the contact surface under the effect of forces.
- FIG. 10 represents an embodiment in which the four actuators exert static or dynamic bending forces in the contact surface causing static or dynamic warping of this surface.
- FIG. 11 represents, for exemplification purposes, the dynamic warping of a contact surface under the effect of a single actuator excited by a short pulse and located in one of its angles that the one can compare to the effect of another actuator excited by the same impulse but located in another angle.
- Figure 12 shows, also for illustrative purposes, the spectra of the influence of four actuators located at the four angles of a contact surface on the same point.
- Figure 13 shows the steps of a method of determining the excitation signals of four actuators to produce distinct movements desired simultaneously in two different regions when these regions are known in advance.
- Figure 14 shows the steps of a method of determining the excitation signals of four actuators to produce desired distinct displacements simultaneously in two different regions as these regions vary over time.
- FIG. 15 shows, at the end of the steps of FIGS. 13 or 14, how a weighted combination over time of the dynamic warps caused by the four actuators excited by specific waveforms can reconstruct at a desired point, a, a desired waveform, here a Ricker wavelet, while simultaneously, another desired point, b, remains stationary. Other points on the surface are free to move without affecting the tactile functioning of the haptic interface.
- FIGS 1 and 2 show examples of a haptic interface according to the invention.
- This haptic interface 100 comprises: a contact surface 110 via which the user 101 can interact with the haptic interface 100, actuators 120 which make it possible to generate small movements of the contact surface 110, and a processing unit 130 which allows, in particular, to control the actuators 120.
- the contact surface 110 is the face through which the user comes into contact with the haptic interface.
- This can be the face of a thin flexible plate, for example made of a transparent material, of rectangular shape, as shown in FIG. 2.
- the contact surface can take other shapes than rectangular. , such as for example circular, triangular or trapezoidal.
- the contact surface may also take other shapes than that of a thin flexible plate. It can be, for example, a shell in the form of a ruled surface. It can also be a part of arbitrary shape, such as having warped surfaces. These arbitrary shapes will also allow flexions and displacements of the shell under the effect of the action of actuators.
- the contact surface 110 further comprises a device for detecting and locating the contact - or proximity - of the user and determines the coordinates and can further estimate the size of the contact area.
- the contact surface may also include a device for measuring the force applied by the user. Such devices for detecting, locating the contact and measuring the force are well known in the field of tactile surfaces and will therefore not be described in more detail.
- the invention will be described for a number of four actuators and for two distinct zones or regions. It is understood that the method can be applied to a number of actuators other than four, for example two, three, five, six, seven or eight, while remaining a small number compared to the prior arts described above. Likewise, the method can be applied to a number of regions (or zones) other than two, for example three, four, etc.
- two fingers of the user 101 are in contact, simultaneously, with two separate zones Z1 and Z2 of the contact surface 110 of the haptic interface 100.
- Each zone Z1 and Z2 are portions of the contact surface with which the user 101 is in mechanical contact.
- the user 101 is directly in a tactile interaction with the haptic interface 100 by touching, pressing, or sliding with his fingers on the contact surface.
- the user 101 can be in tactile contact with the haptic interface 100 by means of a single finger, several fingers or another part of his body. It can also be in contact with the haptic interface 100 indirectly, by means of suitable equipment such as a stylus or a touch-sensitive glove.
- suitable equipment such as a stylus or a touch-sensitive glove.
- the remainder of the description will be given for the example of a first and a second finger of a user, it being understood that it may be another part of the user's body or a suitable equipment.
- the examples given with reference to the first and second fingers of a user can be extended to several fingers or points of contact of the same user or on a finger or point of contact of a first user and a finger or point of contact of a second user.
- the zone of the contact surface can be a single point or be a set of contiguous or discrete zones such as in the example of figure 1.
- the actuators 120 act on the contact surface 110 and are configured to apply small displacements to said contact surface either in a tangential direction, or in a normal direction, or by a torque as explained later.
- the actuators 120 are mounted so as to be integral with the thin plate, one face of which is the contact surface 110.
- the actuators 120 at least two in number, are positioned at a distance from each other. They can, for example, be positioned diagonally with respect to each other when the contact surface 110 is rectangular in shape or diametrically opposed if the contact surface is circular.
- the actuators 120 are in a number greater than two, for example three, four, or more, said actuators are distributed over the periphery of the contact surface 110. In the example of FIG. 2, the actuators are numbered. four and are each positioned in an angle of the contact surface 110.
- Those skilled in the art will understand that several positions of the actuators can be envisaged, provided that said actuators are sufficiently distant from each other to effect different displacements and deformations. of the thin plate
- the haptic interface comprises viscoelastic suspension means configured to allow small displacements, either in the normal direction or in the tangential direction.
- the suspension means are adapted to allow small displacements of the thin plate.
- These viscoelastic suspension means can be linked, for example, to a fixed frame 180 shown in FIG. 3.
- the viscoelastic suspension means can be, for example, gaskets made of rubber and / or elastomer, honeycombed or not, fixed. for example by means of a viscoelastic adhesive layer so as to connect the thin plate to the frame of the haptic interface.
- the contact surface is a face of a thin plate bonded by adhesion to a frame, open or not, acting as a frame. The contact surface is then able to provide haptic sensations thanks to small movements around an average position.
- the contact surface 110 is rigidly embedded in a frame.
- the flexible plate is partially embedded in the frame.
- the flexible plate is in an edge-free embedding condition.
- the processing unit 130 ensures the processing of the data received from the detection and location device and controls the actuators 120.
- the processing unit implements a method for coordinating the actuators, configured to cause transient movements or oscillating of the contact surface around a neutral state and controlling a mechanical excitation signal - also called a control signal - variable over time, at each actuator 120.
- the processing unit 130 also implements , a method of managing interactions so that two different sensations are perceived differently by two users or two fingers of the same hand depending on the use that is to be allowed.
- Well-known examples of such uses, among many, are to change the magnification factor of an image or to cause a virtual dial to rotate in the plane of the contact surface.
- the haptic interface described above implements a method for generating tactile sensations.
- This method allows the user to feel tactile sensations at each point of contact of the user with the contact surface.
- the method of the invention allows the user 101 to feel haptic sensations in each of the two fingers in contact with the contact surface, the tactile sensations possibly being different in one finger and in the other.
- several users can be in contact simultaneously with the haptic interface, the haptic interface then being able to provide tactile sensations to each of the different users even when the latter are simultaneously in contact. with said haptic interface.
- the tactile sensations are generated by the actuators 120 controlled and controlled by the processing unit 130.
- This processing unit 130 implements computer programs for controlling and controlling the actuators 120 in order to cause displacements of the thin plate, one face of which is the contact surface.
- An important case of this piloting is when it is desired to cause tactile sensations in a finger without stimulating another finger which is also in contact with the same surface. This other finger will therefore be in interaction with a neutral zone.
- the method of the invention is intended to generate a displacement of the touch surface providing the user with a first tactile sensation in a first finger at the instant when his first finger comes into contact with the haptic interface and , at the same time, a second tactile sensation in his second finger at the moment when his second finger comes into contact with the tactile interface, one of the two being able to be neutral or the two feelings being able to be different.
- the tactile surface is the surface of a thin plate which can be moved in a bidirectional XY frame or in a tri-directional XYZ frame. A deformation of the thin plate, as shown in Figures 9 to 11, is called tri-directional displacement.
- the method according to the invention proposes, in response to a first contact with the contact surface, to generate a first control signal ensuring a displacement or a deformation of the touch surface as a whole and, in response to a second contact with the contact surface, to generate a second control signal ensuring the cancellation or modification of the displacement or deformation of the touch surface at one of the two contact points (i.e. one of the contacts between one finger and the touch surface).
- the processing unit 130 implements a method of coordinating the actuators 120 configured to take advantage of the principle of linear superposition of the signals which applies in the case of small movements of solid bodies. This makes it possible in particular to simultaneously produce one sensation in one finger and another sensation in another finger, whether transient or persistent, as described above.
- actuators 120 Two examples of touch screens are shown in Figures 3 and 4 with different configurations of actuators 120.
- the actuators 120 apply forces on the thin plate in the Z direction normal to the contact surface 110.
- the actuators 120 apply torsional moments on the thin plate about a direction tangent to the contact surface 110.
- Each actuator 120 is mounted integral with the thin plate, in a contact surface angle.
- Such actuators can include a magnetic circuit which interacts with one or more coils and can adopt a very large number of configurations: planar, radial, axial, etc. These motors can apply a force to the thin plate by resting on a base or by acting on a weight by applying the principle of conservation of angular momentum.
- piezoelectric actuators are rigid, they are suitable for causing bending displacements in a thin plate in monomorphic or bimorphic configurations.
- the actuators are configured in opposite pairs and are oriented to facilitate small displacements and small deformations of the thin plate over a wide frequency range.
- the intensity of each of the forces is determined by the processing unit 130 so that the combined action of said forces of the various actuators 120 makes it possible to cause the desired movements which evolve over time in designated zones of the contact surface.
- Figures 5 and 6 show that actuators can be configured to cause flexions in different directions and from different locations. In particular, FIG.
- FIG. 5 shows an embodiment where four actuators 120 are positioned in the corners of the contact surface 110 and exert bending forces on the plate in various directions.
- FIG. 6 shows an embodiment where four actuators 120 are positioned near the edges of the contact surface, between two angles of said surface - for example halfway between two consecutive angles - and exert bending forces on the plate .
- FIG. 7 shows a simple example of such a movement where the four actuators 120, under the effect of four identical controls, move the thin plate in the Z direction normal to the contact surface 110.
- Associated rapid movements at high accelerations can give rise to inertial forces sufficient to cause deformation of the thin plate and therefore of the contact surface 110 in the form of a convex or concave bulge depending on their sign.
- Those skilled in the art will recognize in this deformation the excitation of a main mode superimposed on a movement of a rigid body such as it is described in the treatises of structural mechanics.
- the geometry of the modes strongly depends on the embedding conditions of the thin plate which can be simple or complex, giving rise to a very wide variety of deformation geometries.
- FIG. 8 represents an embodiment similar to that of FIG. 3, but in which four actuators 120 exert thrusts, in the normal direction Z, capable of causing a pivoting movement about an axis of the contact surface so such as a finger in contact with this surface, on a line 140, will not receive any tactile signal while a finger in contact away from this line 140 will receive a signal.
- Figure 8 shows how a combination of commands to the four actuators 120 can cause the thin plate to pivot about an axis contained in the contact surface, thereby causing the displacement along a line 140 to be canceled. A finger in contact with the location 150 will therefore not be touchingly stimulated while a finger in contact with the location 160 will be.
- FIGS. 9 and 10 show intuitively how certain combinations of actuator controls acting in the direction normal to the thin plate, or which apply torsional forces to it, can cause quasi-static deformations of this thin plate which are caused by add simple or higher order dynamic deformation modes.
- FIG. 9 shows an embodiment in which the four actuators 120 exert thrusts in the normal direction capable of causing bending of the contact surface 110 under the effect of forces.
- FIG. 10 shows an embodiment in which the four actuators 120 exert static or dynamic bending forces in the contact surface 110 causing a static or dynamic warping of this surface.
- FIG. 11 shows a real example of the instantaneous deformation of a thin plate capable of being used in a haptic interface, in this case free around its periphery, when a first actuator A1 applies an impulsive force to it and when a second actuator A2 applies the same impulse force to it insofar as the two actuators A1 and A2 are distant from each other. If both impulse forces were applied simultaneously, the instantaneous deformation of the thin plate would be the sum of the two instantaneous deformations.
- FIG. 12 shows the real case of a haptic interface where such spectra are represented by curves 210 whose vertical deviation measures the influence of each of four actuators on a point a of the contact surface as a function of the frequency d excitation varying from 0 to 1000 Hz.
- H tj Ui / S j
- the Ui are the spectra of the displacements of the i regions of the thin plate and the Sj are the control signals of the j actuators.
- spectra can be obtained routinely if one measures the region shifts of the thin plate, for example, by optical vibrometry, by placing accelerometers in the regions of interest, or by other methods.
- FIG. 13 represents the steps of a method for determining the control signals of four actuators making it possible to produce the desired distinct movements simultaneously in two different regions when these regions are known in advance.
- the method implemented by the haptic interface 100 allows the management of multiple stimulations. If, for example, the haptic interface detects the presence of a first finger at a location a, of the contact surface 110 which is to be stimulated and a second finger is detected at another location b, which should also be then stimulated, the processing unit 130 is able to apply the calculations indicated in FIG. 13. In FIG.
- step 302. the evolution of the displacements u a and u desired at the locations of the regions a and b are extracted from the memory of the calculation unit 130 or are calculated as a function of data external to step 301 and their spectra Ua and U calculated in step 302.
- This calculation can be carried out by the fast Fourier transform method also known under the name of discrete Fourier transform (DFT).
- DFT discrete Fourier transform
- step 302 is optional if these signals are known in advance, in which case their discrete spectra can be precomputed and stored by the processing unit 130.
- the lines Haj H j are then extracted at step 303 of the matrix of spectra F1 and combined into a submatrix H ( a p) j.
- This matrix of spectra has, for example, four columns and two rows if the haptic interface has four actuators and two region locations are selected. Each spectrum contained in the matrix has a length equal to the number of points resulting from the DFT.
- Step 304 proceeds to the calculation of the matrix H + j ( a ) pseudo inverse of the matrix H ( a p) j for each frequency at which the spectra are known.
- This pseudo inverse can be calculated in the sense of Moore-Penrose as is well known to those skilled in the art, which in this case minimizes the Euclidean norm of the values resulting from their product by a vector. It is also known to those skilled in the art that other pseudo-inverse matrices can be calculated in order to optimize other criteria by minimizing other standards.
- step 305 the pseudo inverse matrix is multiplied by the matrix with two rows and a column U ( Q p) i composed of the spectra Ua and Up.
- step 306 the inverse Fourier transform is applied to the matrix product of H + j ( a p) by U ( a p) i in order to synthesize the evolution over time of the four signals for each of the four actuators. These changes are applied to the actuators in step 307 by the processing unit 130.
- steps 303, 304, 305 and 306 are optional if the data is known in advance; in this case, the results of each step can be precomputed and stored by the processing unit 130.
- FIG. 14 represents the steps of a method for determining the control signals of four actuators making it possible to produce the desired distinct movements simultaneously in two different regions when the location of these regions varies over time.
- FIG. 14 shows a chain of calculations or pre-calculations similar to that of FIG. 13 with steps 401, 402, 403 and 404 identical to steps 301, 302, 303 and 304 of the FIG. 13.
- steps 405 and 406 are performed in the time domain rather than in the Fourier domain.
- This chain of calculations and pre-calculations is appropriate in the case where the locations a and b are not known in advance and where the temporal evolution of the signals must be updated in real time.
- the vectors resulting from step 405 are called convolution kernels, h + aj and lr3 ⁇ 4, forming a kernel H + j ( a ), which can be calculated in real time or precomputed.
- FIG. 15 shows the result of the application of the processing chains of FIGS. 13 and 14. It shows how, over time, dynamic warping caused by the four actuators excited by specific waveforms can reconstruct desired displacements D so that, at a desired point a, a desired waveform (here a Ricker wavelet), while, simultaneously, another desired point b remains motionless. Other points on the surface are free to move without affecting the tactile functioning of the haptic interface.
- the movements of a thin plate deformed by the action of four actuators are shown at times 501, 502, 503, 504, 505 and 506 and where the locations a and b are indicated.
- the method of generating tactile sensations of the invention and the haptic interface implementing this method include various variants, modifications and improvements which will be evident to those skilled in the art, it being understood that these variants, modifications and improvements form part of the scope of the invention.
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FR1914269A FR3104762B1 (fr) | 2019-12-12 | 2019-12-12 | Procédé de génération de sensations tactiles localisées sur une surface et interface haptique mettant en œuvre ce procédé |
PCT/EP2020/085433 WO2021116249A1 (fr) | 2019-12-12 | 2020-12-10 | Procédé de génération de sensations tactiles localisées sur une surface et interface haptique mettant en oeuvre ce procédé |
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EP (1) | EP4073619A1 (fr) |
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CN (1) | CN116097197A (fr) |
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US7148789B2 (en) | 2004-09-09 | 2006-12-12 | Motorola, Inc. | Handheld device having multiple localized force feedback |
US20080068334A1 (en) | 2006-09-14 | 2008-03-20 | Immersion Corporation | Localized Haptic Feedback |
US20080100568A1 (en) | 2006-10-30 | 2008-05-01 | Koch Paul B | Electronic device providing tactile feedback |
US7973769B2 (en) | 2006-12-29 | 2011-07-05 | Immersion Corporation | Localized haptic feedback |
US9857872B2 (en) | 2007-12-31 | 2018-01-02 | Apple Inc. | Multi-touch display screen with localized tactile feedback |
US8174372B2 (en) | 2008-06-26 | 2012-05-08 | Immersion Corporation | Providing haptic feedback on a touch surface |
US10289199B2 (en) | 2008-09-29 | 2019-05-14 | Apple Inc. | Haptic feedback system |
US8593409B1 (en) | 2008-10-10 | 2013-11-26 | Immersion Corporation | Method and apparatus for providing haptic feedback utilizing multi-actuated waveform phasing |
US8339250B2 (en) | 2008-10-10 | 2012-12-25 | Motorola Mobility Llc | Electronic device with localized haptic response |
US8686952B2 (en) | 2008-12-23 | 2014-04-01 | Apple Inc. | Multi touch with multi haptics |
US8378797B2 (en) | 2009-07-17 | 2013-02-19 | Apple Inc. | Method and apparatus for localization of haptic feedback |
US8390594B2 (en) | 2009-08-18 | 2013-03-05 | Immersion Corporation | Haptic feedback using composite piezoelectric actuator |
EP2666076A1 (fr) | 2011-03-04 | 2013-11-27 | Apple Inc. | Vibreur linéaire produisant une rétroaction haptique localisée et généralisée |
US9122325B2 (en) | 2011-05-10 | 2015-09-01 | Northwestern University | Touch interface device and method for applying controllable shear forces to a human appendage |
KR102070612B1 (ko) | 2011-11-18 | 2020-01-30 | 센톤스 아이엔씨. | 국소형 햅틱 피드백 |
JP6032657B2 (ja) * | 2012-04-27 | 2016-11-30 | パナソニックIpマネジメント株式会社 | 触感呈示装置、触感呈示方法、駆動信号生成装置および駆動信号生成方法 |
GB201208852D0 (en) | 2012-05-18 | 2012-07-04 | Hiwave Technologies Uk Ltd | Vibratory panel devices and methods for controlling vibratory panel devices |
FR2991791B1 (fr) | 2012-06-06 | 2014-08-08 | Commissariat Energie Atomique | Interface de stimulation tactile par retournement temporel |
US9164586B2 (en) | 2012-11-21 | 2015-10-20 | Novasentis, Inc. | Haptic system with localized response |
US9448628B2 (en) | 2013-05-15 | 2016-09-20 | Microsoft Technology Licensing, Llc | Localized key-click feedback |
US10188286B2 (en) | 2015-02-27 | 2019-01-29 | Kowa Company, Ltd. | Tomographic image capturing device |
US10591993B2 (en) | 2016-09-21 | 2020-03-17 | Apple Inc. | Haptic structure for providing localized haptic output |
FR3064504B1 (fr) | 2017-03-31 | 2022-02-04 | Commissariat Energie Atomique | Interface offrant une modulation de friction localisee par lubrification acoustique |
WO2019122762A1 (fr) | 2017-12-21 | 2019-06-27 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | Dispositif surfacique offrant une deformation localisee amelioree |
FR3076017B1 (fr) | 2017-12-21 | 2020-10-30 | Commissariat Energie Atomique | Dispositif surfacique offrant une deformation localisee amelioree |
US10504342B1 (en) * | 2018-06-12 | 2019-12-10 | Immersion Corporation | Devices and methods for providing localized haptic effects to a display screen |
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- 2020-12-10 WO PCT/EP2020/085433 patent/WO2021116249A1/fr active Search and Examination
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- 2020-12-10 US US17/784,397 patent/US20220413615A1/en active Pending
- 2020-12-10 EP EP20820176.4A patent/EP4073619A1/fr active Pending
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FR3104762A1 (fr) | 2021-06-18 |
US20220413615A1 (en) | 2022-12-29 |
JP2023519062A (ja) | 2023-05-10 |
FR3104762B1 (fr) | 2022-09-16 |
CN116097197A (zh) | 2023-05-09 |
WO2021116249A1 (fr) | 2021-06-17 |
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