Classifications

• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
  • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
  • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
• • G—PHYSICS
  • 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
  • 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
  • G06F3/0414—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means using force sensing means to determine a position
• • 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
  • G06F3/044—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by capacitive means
  • G06F3/0447—Position sensing using the local deformation of sensor cells
• • 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
  • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
  • G06F2203/01—Indexing scheme relating to G06F3/01
  • G06F2203/014—Force feedback applied to GUI

Definitions

• the invention is a tactile device, with haptic feedback, capable of being touched by an external body, for example a finger of a user or a stylus manipulated by a user.
• buttons for example push buttons, adjustment knobs or cursors.
• This type of member makes it possible to select and/or adjust the operating parameters of the device controlled by the interface.
• touch screens in particular capacitive effect touch screens. These can work interactively, and very intuitively. They are now used both for common devices, for example mobile phones, or automobile dashboards, but also in more specialized industrial applications.
• a touch screen is a surface, usually flat, without texturing.
• a touch interface comprising a smooth plate, forming a contact surface intended to be touched by a finger.
• This plate is vibrated by several piezoelectric transducers, arranged in contact with the plate, below the latter.
• the transducers and the plate form a resonator conducive to the formation of a standing bending wave, of the Lamb wave type.
• the frequency of vibration resonance of the contact surface is in the ultrasonic range, for example between 10 kHz and 200 kHz, and the amplitude of the vibration is low, typically a few microns, the user may feel a texturing effect of the contact surface, when the finger slides along said surface. This effect is known and is usually designated by the term “squeeze film” (or overpressure film).
• the vibration of the plate generates an air cushion between the finger and the plate, reducing the friction of the finger on the plate. Also referred to as ultrasonic lubrication. By modulating the vibration, the friction of the finger on the plate is modified. The user can thus perceive an impression of texturing, taking the form of a feeling of roughness, or a certain resistance to slipping, while the contact surface remains smooth. This effect was applied to transparent or non-transparent contact surfaces, forming a haptic interface. This type of interface can be combined with a touch screen.
• Patent US8405618 describes a haptic interface comprising a multitude of abutting plates, each plate being connected to a piezoelectric transducer. In this patent, it is indicated that the use of a multitude of abutting plates is necessary to cover a surface such as the surface of a touch pad or a smartphone.
• haptic interfaces comprising a plate intended to be touched by a finger.
• the haptic interface When the finger slides along the plate, the haptic interface generates haptic feedback to modulate finger friction on the plate.
• the inventors have designed a haptic device, based on the use of ultrasonic vibration producing an ultrasonic lubrication effect (so-called “squeezefilm” effect in English terminology), presenting new functionalities. These include taking into account a predetermined, virtual texturing pattern, and improving the realism of the haptic feedback whereby the user perceives the texturing pattern by touching the device.
• a particular application of the device is a haptic interface.
• a first object of the invention is a method for implementing a touch device, the touch device comprising:
• a plate comprising at least one texturing zone, to which a virtual texturing pattern is assigned, the plate being intended to be touched by an external body;
• the method comprising: a) moving an outer body along the texturing area; b) determining a position of the outer body on the texturing area; c) measurement of a velocity of the external body along the plate; d) when the finger moves along the texturing zone, generating an activation signal, depending on the texturing pattern, so as to activate the transducer or each transducer, such that under the effect of the signal of activation, the plate is vibrated, according to a vibration, preferably ultrasonic, the vibration inducing a variation of a friction between the plate and the outer body, the outer body moving, feeling the texturing pattern under the effect of moving it along the texturing area.
• a vibration preferably ultrasonic
• the texturing pattern is oriented with respect to a reference axis
• step c) comprises a measurement of a component of the speed of the external body on the reference axis
• the activation signal depends on the texturing pattern and on the component of the velocity of the external body on the reference axis;
• virtual texturing pattern is meant a digitally defined texturing pattern, independently of a real texturing or of a surface state of the plate.
• the vibration induces an impression of texturing, felt by the external body touching the texturing area.
• the vibration constitutes a haptic feedback from the device, resulting in a modification of a tactile sensation.
• ultrasonic vibration is meant a vibration whose frequency is greater than or equal to 20 kHz.
• the vibration frequency is preferably less than 200 kHz.
• the activation signal can be established from:
• the activation signal depends on the texturing pattern and on the speed of the external body on the texturing zone.
• the time shape of the modulation function depends on the speed of the outer body over the texturing area.
• the activation signal can be generated at different times, so that:
• the amplitude of the modulation function depends on the position of the external body
• the temporal form of the modulation function is adjusted according to a variation of the speed component of the external body on the reference axis.
• the outer body moves along the texturing zone in a direction forming an angle with the reference axis
• the temporal shape of the modulation component depends on the angle between the direction and the reference axis.
• the texturing pattern can be a periodic pattern, extending according to a spatial period parallel to the reference axis.
• the temporal form of the modulation function is then periodic, according to a time period, the duration of the time period depending on the component of the velocity of the external body on the reference axis and of the spatial period of the texturing pattern.
• the texturing pattern is oriented with respect to a first reference axis and to a second reference axis;
• step c) comprises a measurement of a first speed component, along the first reference axis, and of a second speed component along the second reference axis;
• step d) comprises, during the movement of the outer body:
• the texturing pattern is a periodic pattern, extending along a first spatial period parallel to the first reference axis;
• the first modulation function is periodic, according to a first time period, the duration of the first time period depending on the first component of the speed and on the first spatial period of the periodic pattern;
• the texturing pattern extends along a second spatial period parallel to the second reference axis
• the second modulation function is periodic, according to a second time period, the duration of the second time period depending on the second component of the speed and on the second spatial period of the periodic pattern.
• the texturing pattern comprises at least one notch, the notch corresponding to a relief or to a hollow in the texturing pattern; - the modulation function of the activation signal is determined such that a notch effect is felt by the user when the outer body passes over the notch.
• the modulation function successively comprises:
• the feeling of the notch by the user then depends on the modulation function during the anterior, notch and posterior phases;
• the modulation function is preferably such that during the notch phase, the modulation function varies according to a wider range of variation than during the anterior phase and during the posterior phase.
• the modulation function may be such that an absolute value of its time derivative reaches a higher maximum value than during the earlier phase and during the later phase.
• the notch is oriented with respect to the reference axis
• the duration of the anterior phase, the notch phase and the posterior phase depends on the component of the velocity of the external body with respect to the reference axis.
• the texturing pattern can have several notches.
• the modulation function may be such that each notch is associated with an anterior phase, a notch phase and a posterior phase.
• the anterior phase, the notch phase and the posterior phase form an activation sequence associated with each notch.
• the time interval between two phases of notches, respectively associated with two successive notches depends on a distance between the two notches and on a speed of the external body with respect to the reference axis.
• the reference axis may be linear or curved or piecewise linear.
• the device is a touch interface, intended to control a device connected to the interface;
• the interface is intended to adjust a value of at least one operating parameter of the device, as a function of the position of the external body on the texturing zone, the texturing zone allowing an adjustment of the value of the parameter;
• the method comprises generation of a control signal for the device as a function of the position of the finger on the texturing zone.
• the device comprises a pressure sensor, configured to measure a pressure exerted by the external body on the plate, the method comprising:
• step b) is implemented using a capacitive sensor.
• the outer body is a finger.
• a second object of the invention is a tactile device, comprising a plate, intended to be touched by an external body, the device comprising:
• a position sensor configured to generate a position signal, the position signal being representative of a position of the external body on the plate;
• the tactile device being characterized in that it comprises:
• control unit connected to the position sensor and to the calculation unit, and configured to implement step d) of a method according to the first object of the invention, as a function of the position signal from position sensor and the speed signal from the calculation unit.
• the calculation unit can be connected to a memory, in which is recorded the texturing pattern, assigned to the texturing zone, in digital form.
• the memory can include different texturing patterns, which can be successively assigned to the texturing zone.
• the position sensor can be a capacitive sensor, and comprise a network of conductive tracks configured to detect the external body by capacitive coupling, through all or part of the plate.
• the device may include a screen.
• the device can be such as: - the plate is transparent;
• the device can be such as:
• the device is a touch interface, intended to control a device connected to the interface;
• the device comprises a texturing zone, intended for adjustment of a value of an operating parameter of the device, the texturing zone comprising at least two notches, spaced apart from each other;
• control unit is configured to adjust a value of the parameter according to a position of the finger on the texturing zone.
• a third object of the invention is a device, configured to be controlled by a parameter, and comprising a touch interface configured to select the parameter or adjust a value of the parameter, the touch interface being a device according to the second object of the invention.
• the device comprises a texturing zone, intended for adjustment of a value of an operating parameter of the device, the texturing zone comprising at least two notches, spaced apart from each other, the unit of control being configured to adjust a value of the parameter according to a position of the finger on the texturing zone.
• Figures IA to IC show an example of a touch device allowing an implementation of the invention.
• FIG. 1D diagrams a propagation of an ultrasonic vibration through a plate of the touch device described in connection with FIGS. IA to IC.
• Figure 2A shows a first example of a virtual texturing pattern assigned to a texturing area.
• FIGS. 2B to 2C illustrate a transducer activation signal, generating a vibration of the plate so as to induce the texture according to the texturing pattern of FIG. 2A.
• the activation signal comprises a carrier signal (FIG. 2B) and a modulation function (FIG. 2C).
• FIG. 3A represents the texturing pattern of FIG. 2A, as well as three directions of movement of the finger on the pattern.
• FIG. 3B shows two temporal forms of the modulation function respectively for a direction parallel to a reference axis and a direction inclined with respect to the reference axis.
• Figure 4A shows a second example of a virtual texturing pattern assigned to a texturing area.
• FIG. 4B shows a modulation function allowing a feeling of the texturing pattern represented in FIG. 4A.
• FIG. 5A shows a third example of texturing pattern: in this example, the texturing pattern is defined according to a first reference axis and a second reference axis.
• FIG. 5B shows an example according to which the texturing pattern extends along a non-rectilinear reference axis.
• Figures 6A and 6B illustrate a configuration in which the touch device is an interface of an appliance.
• Figure 7A shows a fourth example texturing pattern.
• the texturing pattern forms notches spaced apart from each other.
• FIGS. 7B, 7C and 7D respectively illustrate a modulation function, a carrier and a plate activation signal resulting from an amplitude modulation of the carrier by the modulation function.
• the activation signal allows a feeling of the notches represented in FIG. 7A.
• FIG. 7E shows another activation signal allowing a feeling of the notches represented in FIG. 7A.
• FIG. 7F shows a texturing pattern, similar to the pattern represented in FIG. 7A, as well as two directions in which the finger moves along the texturing zone: one direction is parallel to a reference axis, along which extends the texturing pattern, and another direction forms an acute angle to the reference axis.
• FIGS. 7G and 7H illustrate a modulation function corresponding respectively to a displacement of the finger along the direction forming an acute angle with respect to the reference axis, and along the direction parallel to the reference axis.
• FIG. 8A represents a modulation function allowing a feeling of a notch.
• Figure 8B is a time derivative of the modulation function shown in Figure 8A.
• FIGS. 9A to 9H show different possibilities of modulation functions allowing a feeling of a notch.
• FIGS. 10 and 11 show modulation functions corresponding to successive notches, distant from each other.
• FIG. 12A represents an example of a texturing pattern mimicking a translation of a slider in a switch.
• Figure 12B is an example of a modulation function suitable for the pattern shown in Figure 12A.
• Figure 13 shows the main steps of a method according to the invention.
• FIGS. 14A and 14B represent two different patterns which can be successively assigned to the same texturing zone.
• FIGS IA to 1D show an example of a touch device 1 according to the invention.
• the tactile device comprises a plate 10 intended to be touched by an external body 9.
• the external body 9 is a finger, which corresponds to most of the applications envisaged.
• the outer body 9 can be a stylus, or any other means allowing to act on the plate 10.
• Device 1 is intended to produce haptic feedback to an external body moving along the plate. More precisely, the device is configured such that under the effect of a displacement along the plate, the external body can feel a texturing impression.
• the plate 10 comprises a texturing zone 10', at the level of which a texturing pattern M is assigned.
• the texturing pattern M is virtual: it does not correspond to a physical or material structuring of the plate.
• the texturing pattern is defined independently of a surface state of the plate, in the texturing zone.
• the plate can for example be smooth, while the texturing pattern defines a roughness.
• An example of texturing pattern M is represented in FIG. 2A.
• Plate 10 is rigid. It extends between an outer face 10e and an inner face 10i.
• the outer face 10 e is accessible to the finger 9.
• the inner face 10i and the outer face 10 e preferably extend parallel to each other.
• the distance between the external face 10e and the internal face 10j defines a thickness e of the plate.
• the thickness e of the plate is sized to allow vibration of the plate 10 according to an ultrasonic vibration, as described below.
• the thickness e of the plate 10 is preferably less than 10 mm, or even less than 5 mm.
• the thickness e is adjusted according to the nature of the material and its properties mechanical (rigidity, solidity). It is for example between 1 and 5 mm for glass or a material such as Plexiglas.
• the inner face 10i and the outer face 10e are flat, which corresponds to the simplest configuration to manufacture.
• the plate extends, parallel to a lateral axis X, along a width l and, parallel to a longitudinal axis Y, along a length L.
• the length L and the width l can be between 5 cm and a few tens of cm, for example 30 cm, or even more.
• the lateral axis X and the longitudinal axis Y define a main plane PXY-
• the internal face 10i and/or the external face 10e can be curved.
• the surface of the plate 10 is preferably greater than 10 cm 2 , or even 50 cm 2 .
• the plate 10 is formed from a rigid material, such as glass, or a polymer, or wood, or a metal, or a semiconductor, for example silicon.
• the plate 10 can be transparent or opaque.
• the plate 10 can comprise opaque parts and transparent parts.
• the plate 10 is delimited, along the lateral axis X, by a first lateral edge 10i and a second lateral edge IO2 in the vicinity of which transducers 12 are arranged. at 2 cm, on or under the plate 10.
• Each transducer 12 is able to be activated by an electrical activation signal, and, under the effect of the activation signal, to exert pressure on the plate 10 so as to produce a local deformation of the plate, in a direction perpendicular to the plate.
• the activation signal is periodic, in an ultrasonic frequency range
• the deformation of the plate 10 is periodic, which leads to the formation of an ultrasonic vibration 19.
• the vibration can in particular be generated by a bending wave forming through the plate.
• the bending wave can be stationary or progressive.
• the activation signal of each transducer can be modulated in amplitude and/or in frequency.
• the plate is connected to a plurality of transducers 12.
• the transducers are generally arranged in the vicinity of at least one edge of the plate 10, and preferably in the vicinity of two opposite edges with respect to the lateral axis X and /or to the lateral axis Y.
• the arrangement of the transducers 12 at the edge of the plate 10 does not constitute a necessary condition: the transducers can be arranged according to other configurations, for example in the form of a line, in the middle of the plate, or of a matrix.
• Each transducer 12 can be a transducer of the piezoelectric type, comprising a piezoelectric material, for example AIN, ZnO or PZT, arranged between two electrodes.
• each transducer 12 can be the reference PZT 406.
• each transducer can be an electromechanical resonator, for example of the MEMS type (Micro ElectroMechanical System - electromechanical microresonator), or of the electrostrictive or magnetostrictive type.
• Transducers 12 may be such that the piezoelectric material is deposited, in the form of one or more thin layers, between bias electrodes.
• Each transducer 12 can be assembled against the internal face 10j of the plate 10 by gluing.
• the transducers are mechanically connected to the internal face 10i: They can be directly assembled to the internal face, or be assembled to an intermediate component, preferably rigid, the latter being assembled to the internal face 10i, so as to allow transmission, to the plate, from the vibration induced by the or each transducer.
• the intermediate component can be metallic. It may for example be a part forming an amplifier, arranged between the plate and a transducer 12 (or each transducer 12), and arranged to amplify the vibration produced by the transducer 12 (or each transducer 12) and transmitted to the plate 10.
• the intermediate component can form a rigid layer, so as to increase the rigidity of the plate.
• the intermediate component can be a screen 11, assembled to the plate 10, as described below.
• the plate 10 can form a screen protection slab 11.
• the screen 11 can be an LCD type screen (Liquid Crystal Display - liquid crystal screen) or OLED (Organic Light-Emitting Diode - organic light-emitting diode). ).
• the intermediate component can be a multilayer component. It may for example comprise a screen, under which is placed a part forming an amplifier, the transducers being assembled to the amplifier.
• each transducer 12 is configured to generate an ultrasonic vibration 19, the latter propagating in the plate 10.
• the frequency of the ultrasonic vibration 19 is preferably between 10 kHz and 200 KHz. It is preferably greater than 20 KHz, so as to address the ultrasonic spectral band and preferably less than 150 kHz.
• the amplitude of the ultrasonic vibration 19 is generally between 0.1 ⁇ m and 50 ⁇ m.
• FIG. 1D there is schematized, in FIG. 1D, an ultrasonic vibration 19 propagating in the plate 10.
• the ultrasonic vibration of the plate leads to the formation of a thin film of air between the plate 10 and the finger 9, (known as the "squeeze film effect", or ultrasonic lubrication, in Anglo-Saxon terminology) which results in an impression of texturing of the plate when the user's finger moves along the external face 10th .
• the thickness of the air film varies, which increases or decreases a lubricating effect between the finger and the plate. This changes the friction (or friction) between the plate and the finger, as described in the prior art. This results in a modification of the tactile sensation perceived by the finger.
• the ultrasonic vibration 19 can be stationary, but this need not be.
• the device 1 comprises a position sensor 14, making it possible to form a signal S(t), called the position signal, depending on a position of the finger 9 on the plate 10.
• It can for example be a capacitive sensor .
• plate 10 is made of a dielectric material
• position sensor 14 is connected to conductive tracks 13, arranged in a two-dimensional network.
• the conductive tracks 13 are adjacent to the internal face 10i.
• the conductive tracks can extend parallel to the plate 10, below the outer face 10 e .
• the conductive tracks are formed on a capacitive screen 11, and arranged adjacent to the internal face 10i.
• the position sensor makes it possible to determine a position of the finger according to a sampling frequency which can reach or exceed 50 Hz or 100 Hz.
• the conductive tracks 13 can be made from a usual conductive material, for example a metal.
• the conductive tracks 13 are preferably made of a transparent conductive material, for example a conductive oxide, a usual material being ITO (Indium Tin Oxide - Indium-tin oxide).
• the network formed by the conductive tracks 13 can be matrix, the tracks being rectilinear, and extending along rows and columns.
• the conductive tracks can be biased according to a bias voltage.
• the conductive tracks 13 can be formed directly on the plate 10 or in the plate 10.
• the finger 9 being electrically conductive, under the effect of a proximity between one or more conductive tracks 13, a charge transfer can be carried out, by capacitive effect, between one or more conductive tracks 13 and the finger 9, It is note that a detection of a position by capacitive coupling assumes that the plate 10 is touched by an electrically conductive body 9 (finger or conductive stylus, for example metallic).
• the conductive tracks 13 are represented by dashes because they are located behind the plate 10.
• the conductive tracks 13 are connected to the position sensor 14. Due to the two-dimensional arrangement of the conductive tracks 13, the position sensor 14 makes it possible to obtain two-dimensional coordinates (%, y) of the point of contact of the finger, parallel to the plate 10.
• the position sensor 14 is connected to a calculation unit 14', making it possible to establish a speed signal V(t) of the finger, from positions of the finger respectively obtained at a measurement instant t and at a different time, before or after the measurement time t.
• the speed signal V(t) is representative of the speed of the finger at the instant of measurement.
• Touchscreen device 1 may include a pressure sensor 17, configured to estimate a pressure exerted by finger 9 on plate 10.
• Pressure sensor 17 may be:
• a rangefinder arranged facing the plate, and configured to measure a distance separating it from the plate, the rangefinder being configured to determine a deformation of the plate under the effect of a pressure exerted on the plate, which corresponds to the example shown in Figure IC.
• It may for example be an infrared optical rangefinder, the operating range of which is between 1 and 5 mm, and placed 2.5 mm from the plate.
• Such a rangefinder is usually designated “reflective object sensor”, meaning “object sensor by reflection”.
• the Q.RE 1113 reference sensor is suitable for such an application.
• a dynamometer placed in contact with the plate, and configured to detect a displacement of the plate under the effect of a pressure exerted on the plate;
• transducer configured to measure a variation of a vibration of the plate, the variation resulting from a pressure exerted on the plate.
• the transducer makes it possible to measure the pressure exerted as described in patent application EP3566115.
• the presence of the pressure sensor 17 is optional.
• Device 1 comprises a control unit 15, connected to position sensor 14 and to calculation unit 14'.
• the control unit 15 comprises a microcontroller or a microprocessor.
• the control unit 15 is configured or programmed to perform the actions described by the following.
• the control unit 15 is linked to a memory 16, in which is stored at least one digital texturing pattern M, assigned to the texturing zone 10'.
• the virtual texturing pattern is established in digital form, independently of the surface condition of the texturing zone (roughness or presence of any relief), hence the designation virtual pattern. As explained below, several texturing patterns can be assigned, at different times, to the same texturing zone. In this case, a library of texturing patterns is stored in memory 16.
• the control unit 15 is configured to send, at different instants t, an activation signal Act(t) to at least one transducer 12, and preferably to each transducer 12, as a function of the speed V(t).
• the desired objective is to obtain haptic feedback from the device 1, addressed to the user, when the finger moves along the texturing zone 10'.
• each activated transducer can generate an ultrasonic vibration 19, forming through the plate 10, and reaching the finger 9 of the user, as shown in Figure ID. Under the effect of the ultrasonic vibration, the user feels a feeling of texturing, corresponding to the pattern assigned to the texturing zone, according to the principles previously described.
• a texturing zone can be perceived as untextured, whereas under the effect of the activation signal, a finger, moving in contact with the texturing zone, perceives the texturing defined by the texturing pattern M.
• FIG. 2A is an example of such a virtual texturing pattern M.
• the texturing shown in Figure 2A is not real. It corresponds to what the finger 9 perceives moving along the texturing zone 10', under the effect of the activation signal. So that the finger 9 can feel the texturing pattern, the activation signal Act(t) is formed by a so-called “carrier” signal w periodic amplitude modulated.
• FIG. 2B represents the carrier signal: it is a periodic signal, the period corresponding to an ultrasonic frequency, that is to say between 20 kHz and 200 kHz. In this example, the carrier is sinusoidal.
• FIG. 2C shows a triangular modulation function A, allowing amplitude modulation of the carrier, so as to form the activation signal Act(t) such that:
• the modulation function A takes a predetermined temporal form, defined as a function of the virtual pattern M.
• temporal form we mean the evolution of the modulation function according to time, during the displacement of the finger on the texturing area. The finger moves along the texturing area for a travel time.
• the temporal form corresponds to the evolution of the modulation function during the duration of displacement.
• the pattern M is periodic, of spatial period dr, along a reference axis R.
• the periodic pattern is formed by a repetition, in space, of an elementary pattern.
• spatial period is meant a distance along which the elementary pattern is repeated, parallel to the reference axis.
• the reference axis R corresponds to an axis along which the spatial period of the pattern is repeated.
• the reference axis R is parallel to the plate 10; it can be confused with the lateral axis X or the longitudinal axis Y previously defined. It can also be different from these axes.
• the modulation function is also periodic, of time period dt. The time period depends on the spatial period and the speed of movement of the finger and preferably the direction of movement of the finger, as described below.
• the modulation function A takes on a periodic triangular temporal form.
• the activation signal Act(t) corresponding to the texturing pattern M is activated when the finger is in contact with the texturing zone 10'.
• the control unit 15 is programmed to generate the activation signal Act(t) according to the position S(t) detected by the position sensor 14 and according to the texturing pattern M stored in the memory 16.
• the activation signal depends not only on the position of the finger on the plate 10, but also on its speed V(t). More precisely, the temporal form of the modulation function is adjusted according to the speed of the finger V R (t) on the reference axis R. In the example of FIG. 2C, the period dt of the modulation function is all the lower as the speed V(t) is high:
• the texturing pattern M is oriented with respect to the reference axis R.
• oriented is meant that the texturing is variable along the reference axis.
• the pattern is periodic, the texturing repeats along the reference axis.
• the activation signal, and more precisely the temporal form of the modulation function depends on an orientation of a trajectory followed by the finger with respect to the reference axis R.
• the control unit is configured for:
• Figure 3A shows texturing pattern M as shown in Figure 2A.
• the pattern is oriented along a reference axis R.
• the pattern is periodic, along the reference axis R.
• Three trajectories have been represented: a trajectory D parallel to the reference axis R; a trajectory D', oriented with respect to the axis R at an angle of 30°, and a trajectory D", orthogonal to the axis R.
• the activation signal is parameterized by a projection VR of the speed of the finger on the R axis.
• projection on the R axis we mean a projection perpendicular to the R axis.
• the period dt of the modulation function varies according to the value of the speed of the finger projected on the R axis.
• the modulation is carried out according to the angle between the trajectory (D, D', D") and the reference axis R.
• the angle can be determined by the sensor of position. The lower the speed of the finger projected on the R axis, the more the period dt of the modulation function increases.
• the amplitude of the activation signal is defined by the amplitude of the modulation function: the latter depends on the position of the finger on the texturing zone 10' and on the virtual pattern M.
• the temporal form of the modulation function can be adjusted according to a possible variation in the speed of displacement of the finger along the texturing zone 10'.
• the modulation function A(t) has been represented: when the finger moves, at constant speed, along the trajectory D, parallel to the reference axis R, the period of the modulation function is dt. This corresponds to the curve in solid lines.
• the period of the modulation function is dt', with dt' > dt. This corresponds to the dotted curve.
• FIG. 4A represents a texturing pattern simulating the outline of a button, of the push button type.
• FIG. 4A is a cross-sectional view, simulating a button as felt when the finger slides along the texturing zone 10′, along the axis R.
• the feeling of relief perceived by the finger as it moves along the texturing area in four instants t a , tb t c , and t .
• the finger moves along the 10' texturing area, which is for example smooth.
• Figure 4A shows the virtual texturing felt by the finger. It is assumed that the pressing force of the finger exerted by the user is constant.
• FIG. 4B represents a temporal form of a modulation function, making it possible to obtain an activation signal conferring a feeling of a button touch.
• the temporal shape of the modulation function comprises two Gaussian peaks separated by a flat portion, of zero amplitude.
• the two Gaussian peaks are separated by a duration At.
• Each Gaussian peak corresponds to a border of the button.
• the modulation amplitude increases. This leads to a reduction in the friction of the finger on the plate 10: this results in a brief acceleration of the finger.
• the modulation amplitude decreases, which increases the friction of the finger on the plate 10. This results in a deceleration of the finger.
• the user perceives a raising action of the finger on the button.
• the modulation amplitude is constant, being for example zero (time t c ). Friction is high.
• the modulation amplitude increases. This leads to a reduction in the friction between the finger and the plate 10: this results in a brief acceleration of the finger. The user perceives a descent of the finger.
• the sense of rising and falling perception can be accentuated when the user has a visual representation of the button on the texturing area.
• the modulation function A varies according to a speed of displacement of the finger along the reference axis R. The higher the speed, the longer the duration At between the Gaussian peaks decreases.
• the texturing pattern is periodic, along a single reference axis, in this case the R axis.
• the temporal form of the activation function depends of the speed of the finger along the axis R.
• the texturing pattern can be periodic along two axes, for example two orthogonal axes: the axis R and the R2 axis .
• the speed V(t) comprises: a first component VRI(L), representative of a speed of movement of the finger along the first axis, in this case the axis R ⁇ ; and a second component VR2(t), representative of a speed of displacement of the finger along the second axis, in this case the axis R 2 .
• the activation signal Act(t) is obtained by a combination between a first periodic activation signal Act R i (t), according to a first period, depending on the first component V Ri (t); a second periodic activation signal Act R2 (t), according to a second period, depending on the first component V R2 (t).
• combination is meant an arithmetic operation which can be for example a sum or a product.
• the level of gray corresponds to the friction felt when the finger moves along the plate, at constant speed.
• the periodic activation signals Act R i (t) and Act R2 (t) can have the same period, and the same amplitude, which corresponds to the example given in FIG. 5A. They can also have a different period or amplitude: for example, the texturing is more marked (and/or more spaced out) in one direction than in another direction.
• the device 1 is a tactile and haptic interface, connected to a device 20.
• the device 20 can be, without limitation, a communication device, computer , a machine, household electrical equipment, a vehicle dashboard.
• the operation of the device 20 is governed by at least one operating parameter 18.
• the haptic interface 1 is intended for setting a value of the operating parameter 18 of the device 20.
• the texturing zone 10' forms an adjustment zone, intended for adjusting the parameter 18 under the effect of a sliding of the finger 9.
• the texturing zone 10' extends between two ends, the latter corresponding at two different values of the parameter.
• the extremities can for example correspond to two extreme values of parameter 18.
• the value of parameter 18 is progressively increased when the finger slides along the texturing zone, between the two extremities, in the direction of the arrow, or gradually diminished, as the finger slides in the opposite direction.
• FIG. 6A a part 11' of a screen 11 has been shown, located against the internal face 10i of the plate 10.
• the screen 11 makes it possible to display, on the part 11', of the parameter 18 whose value is adjusted by the finger 9 sliding over the texturing zone 10'.
• the texturing zone 10' is not rectilinear. It extends along a reference axis R in the form of an arc of a circle. An example is shown in FIG. 5B: the reference axis R is shown in dotted lines.
• the reference axis may include a succession of rectilinear parts, being linear in parts. It may also include curved parts and other straight parts.
• the texturing zone 10' can make it possible to switch the value of a parameter between only two values, for example 0 when the finger is located at one end of the texturing zone, and 1 when the finger is located at another end of the texturing area. It may for example be an on/off switch. An example of a switch is described in connection with FIGS. 12A and 12B.
• the sliding action of the finger along the texturing zone 10' is similar to a translation action of a notched cursor or to the rotation of a notched wheel in a conventional, non-haptic interface.
• the interface 1 is configured so that the finger 9 can feel a notch effect when it moves along the texturing zone 10'.
• notches effect we mean an effect by which the finger, when it slides along the texturing zone, feels a haptic sensation of notches, comparable to a passage of mechanical notches that one perceives acting on a mechanical slider notched or on a notched wheel. It is a question of mimicking a sensation of notches that the finger would perceive if it acted on a notched mechanical cursor.
• the variation in the speed of the finger corresponds to an acceleration or a deceleration.
• the variation in speed is induced by a variation in the friction of the finger sliding along the interface.
• the friction variation is obtained by vibrating the plate, as detailed below.
• the control unit 15 can send a control signal Com(t) to the device 20.
• the control unit 15 is configured to transmit the value of the operating parameter 18 to the device 20.
• FIG. 7A represents a finger 9 moving along a texturing zone 10'.
• the pattern M associated with the texturing zone comprises notches C spaced apart from each other.
• the modulation function A is triangular increasing.
• FIGS. 7B, 7C and 7D represent respectively a modulation function A, a sinusoidal carrier w, and the activation signal Act resulting from a sinusoidal carrier amplitude modulation by the modulation function, according to the expression (1 ).
• the abscissa axis corresponds to time (unit: second) and the ordinate axis corresponds to amplitude.
• the temporal form of the modulation function A comprises, for each notch: an earlier temporal phase dt a , occurring when the finger approaches the notch; a notch time phase dt c , occurring when the finger crosses the notch; a posterior temporal phase dt p , occurring when the finger moves away from the notch.
• the anterior, notch and posterior time phases are activated successively. They define an activation sequence associated with the notch.
• the modulation function comprises an activation sequence, corresponding to the succession of anterior phase, notch phase, posterior phase.
• the duration of an activation sequence corresponds to the sum of the respective durations of the anterior, notch and posterior phases.
• each activation sequence corresponding to a notch is such that during the notch phase, the amplitude of the modulation function varies within a significantly greater range of variation than in the anterior and posterior phases. of the sequence.
• the modulation amplitude conditions the friction of the finger on the texturing zone 10'.
• the perception of a notch is realistic when before and after the notch, the friction is relatively stable, and when passing the notch, the friction varies significantly. This results in a sudden variation in the speed of the finger during the passage of the notch, which leads to a perception of a notch by the user.
• the sudden change in speed can be a deceleration, an acceleration, or an acceleration/deceleration combination.
• the variation of the modulation amplitude is less than during the notch phase.
• the modulation amplitude can be stable, as represented in FIGS. 7B and 7D, without this being necessary.
• a stable modulation amplitude generates a feeling of flatness of the texturing zone before or after passing a notch.
• a notch time sequence can be such that:
• the modulation amplitude of the plate is progressively increased, which leads to an increasing perception of sliding: the speed of the finger increases.
• the notch phase ends with a break, causing a sudden slowing down of the finger.
• the acceleration/deceleration combination induces a perception of a notch.
• a time sequence corresponding to a notch is preferably such that during the notch phase, the absolute value of time derivative A′(t) of the modulation function has a higher maximum value than during the earlier and later phases. If A(t) corresponds to the modulation function:
• a texturing pattern M forming one or more notches, is generally oriented along a reference axis R, in the sense that each notch extends along the reference axis.
• the texturing zone 10' to which the pattern is assigned, preferably extends along the reference axis R.
• Two successive notches are spaced apart by a distance dr along the reference axis R.
• V R is the speed of the finger parallel to the axis R. The higher the speed, the longer the time interval dt. It is also understood that the respective durations of the anterior, notch and posterior phases vary in the same way as a function of the speed V R .
• FIGS. 7B and 7D the modulation function is increasing triangular.
• FIG. 7E illustrates another configuration, according to which the modulation function is decreasing triangular.
• the notches have a certain spatial extent along the reference axis R.
• the modulation function A is adjusted such that the time difference dt between two passages of successive notches is as defined in connection with expression (5).
• a direction D has been shown, along which the finger moves, forming an angle 0 with the reference axis R.
• the modulation function is adjusted as a function of the component VR, along the reference axis R, of the speed V of the finger.
• FIGS. 7G and 7H represent respectively a modulation function corresponding to a movement of the finger along the direction D and along the reference axis R.
• the ordinate axis corresponds to the normalized amplitude.
• the abscissa axis corresponds to time t - unit s. It is observed that the temporal shape depends on the speed along the reference axis.
• the duration of the notch phase dt c varies between 140 ps (FIG. 7G) and 70 ps (FIG. 7H).
• the duration of a detent phase dt c is preferably less than 100 ms, or even 1 ms, 500 ps or 250 ps. More generally, the duration of a notch phase depends on the speed of the finger and the size of the virtual notch.
• FIGS. 8A and 8B respectively represent a modulation function A as well as its time derivative.
• the amplitude decreases, then increases, then decreases again. This results in a slowing down of the finger, then an acceleration, before a further slowing down.
• the deceleration/acceleration/deceleration combination leads to a perception of a notch by the user.
• FIG. 8B shows the time derivative A' of the modulation function represented in FIG. 8A: the derivative is zero during the earlier and later phases. It fluctuates significantly during the notch phase, which causes the user to perceive the notch.
• FIGS. 9A to 9H illustrate different possibilities. It is recalled that a sequence corresponds to a succession of an anterior phase, a notch phase and a posterior phase, resulting in a haptic notch effect. The examples given in FIGS. 9A to 9H show that different sequences are possible. This makes it possible to obtain a wide variety of notch sensations at finger level 9.
• FIGS. 10 and 11 illustrate a modulation function A comprising a succession of anterior phase-notch phase-posterior phase sequences, each sequence corresponding to a notch.
• FIG. 12A shows a plane texturing zone 10′, having the appearance of a switch, making it possible to switch between two positions.
• This is for example an on/off switch.
• This type of switch is known in the field of touch interfaces.
• the finger acts on a virtual cursor so as to translate it to one side or another of a movement zone.
• the virtual cursor is here represented by a disc.
• the finger acts from right to left to move the virtual cursor.
• a haptic sensation is produced, according to the activation function shown in Figure 12B.
• Figure 12B is positioned relative to Figure 12A such that the modulation amplitude corresponds to the position of the finger on the switch.
• the amplitude of the modulation function increases, causing an increase in sliding feel.
• the feeling of sliding is maximum.
• An advantage of the invention is that the haptic rendering of a notch is parameterized by the modulation function.
• the rendering may also depend on the carrier: frequency and/or the shape of the carrier, the latter possibly being, without limitation, sinusoidal or slotted or triangular.
• the activation signal is sent to the transducers only if the pressure exerted by the finger on the plate 10 exceeds a predetermined pressure threshold.
• the control unit 15 can compare a pressure measured by the pressure sensor 17 with a previously determined pressure threshold. Depending on the comparison, the activation signal is generated or not. It can for example only be generated if the pressure exerted by the finger on the plate crosses a predetermined threshold.
• FIG. 13 shows the main steps of a method for controlling a touch-sensitive device, as previously described.
• Step 100 application of a finger to the plate.
• Step 110 determination of a position of the finger on the plate 10: the position sensor 14 forms a position signal S(t). During this step, the control unit 15 can check that the finger is positioned on a texturing zone 10'. Otherwise, the following steps are not implemented.
• Step 120 measurement of a speed of displacement of the finger on the interface, using the calculation unit 14′, the latter generating a speed signal V(t) representative of the speed of the finger.
• Step 120 can comprise a determination of a speed V R (t) with respect to at least one reference axis R.
• Step 130 depending on the speed resulting from step 120, generation of an activation signal Act(t).
• a virtual texturing pattern M is assigned to the texturing zone 10'.
• the activation signal is formed by an amplitude modulation of a periodic carrier, so that the texturing pattern is felt by the finger of the user.
• the temporal form of the modulation function depends on the speed resulting from step 120, on the reference axis R of the pattern M.
• the device 1 can be an interface of a device 20.
• the virtual texturing pattern M can then include notches spaced from each other.
• the texturing zone 10' is configured to control a parameter of the device as a function of a position of the finger on the texturing zone. According to this configuration, the method may comprise the following step:
• Step 140 depending on the position of the finger, generation of a command signal Com(t), transmitted to the device controlled by the interface.
• the control signal allows an adjustment of the value of an operating parameter 18, associated with the texturing zone 10' touched by the finger.
• the method may comprise a step 125 of determining a pressure exerted by the finger on the plate, and of comparing the pressure with a pressure threshold, depending on which steps 130 and 140 are, or are not, implemented. .
• the texturing pattern is a virtual pattern, defined digitally, independently of the surface state of the texturing zone 10'.
• the invention then makes it possible to define several virtual texturing patterns respectively on different texturing zones, spaced apart from each other, on the same plate.
• the invention also makes it possible to assign several virtual texturing patterns to the same texturing zone. For example, when the device is an interface, the same texturing zone can successively be used for adjusting different parameters. The adjustment of the different parameters, on the same texturing zone, can be carried out by assigning different texturing patterns respectively to the same zone.
• Figures 14A and 14B show two Mi and M2 patterns assigned to the same texturing zone, for adjusting two different parameters. These two virtual patterns define a different number and position of notches.
• the invention makes it possible to define a wide variety of texturing patterns on the same texturing zone, and this independently of the actual state of the surface of the plate, in the texturing zone 10'.
• the interface is suitable for controlling devices for the general public, for example in the field of household appliances or the dashboard of vehicles.
• the interface makes it possible to exert a haptic feedback, perceptible by the user.
• the haptic feedback mimics a mechanical response from a moving mechanical component: this makes using the interface simple and user-friendly.

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• 2020
  • 2020-10-26 FR FR2010955A patent/FR3115617B1/fr active Active
• 2021
  • 2021-10-22 JP JP2023525542A patent/JP2023546625A/ja active Pending
  • 2021-10-22 US US18/250,722 patent/US11914783B2/en active Active
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  • 2021-10-22 EP EP21798681.9A patent/EP4232883A1/fr active Pending
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