Classifications

• • G—PHYSICS
  • G10—MUSICAL INSTRUMENTS; ACOUSTICS
  • G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
  • G10H1/00—Details of electrophonic musical instruments
  • G10H1/32—Constructional details
  • G10H1/34—Switch arrangements, e.g. keyboards or mechanical switches specially adapted for electrophonic musical instruments
  • G10H1/344—Structural association with individual keys
  • G10H1/346—Keys with an arrangement for simulating the feeling of a piano key, e.g. using counterweights, springs, cams
• • G—PHYSICS
  • G10—MUSICAL INSTRUMENTS; ACOUSTICS
  • G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
  • G10H2220/00—Input/output interfacing specifically adapted for electrophonic musical tools or instruments
  • G10H2220/155—User input interfaces for electrophonic musical instruments
  • G10H2220/265—Key design details; Special characteristics of individual keys of a keyboard; Key-like musical input devices, e.g. finger sensors, pedals, potentiometers, selectors
  • G10H2220/311—Key design details; Special characteristics of individual keys of a keyboard; Key-like musical input devices, e.g. finger sensors, pedals, potentiometers, selectors with controlled tactile or haptic feedback effect; output interfaces therefor

Definitions

• the present invention relates to haptic simulation or emulation devices for digital keyboard musical instruments.
• the invention relates more particularly to a device reproducing the haptic sensation of the keyboards of an acoustic piano by an electronic piano and its associated method.
• the tail of the key is integral with a flexible metal blade at its end, said blade being sandwiched so as to effect the pivoting of the key.
• a force and/or position sensor is located on the key.
• a deformable stopper elastomeric material located under the tail of the key exerts a force that resists the downward movement of the user.
• An asymmetrical bore in this thrust bearing provides a monotonous non-linear character to the resistive force applied by the thrust bearing. The sensor recovers the information of the resistive force resulting from the action of the flexible blade and the deformable stop, in the form of a signal which is then supplied to a processing unit to generate a sound with a corresponding sound level to stimuli.
• Patent application FR2902538 presents a haptic simulation device using a magne-rheological fluid whose viscosity is modulated by a magnetic field to generate a force that opposes the movement of the key in order to improve the musician's feeling.
• the keyboard musical instrument disclosed in this document uses three sensors (acceleration, speed and position) placed to provide real-time current control to means of generating the magnetic field as a function of time which will oppose a reaction force function key travel to provide a satisfying touch feel.
• the means of generation consist of a coil through which a current varies over time, which makes it possible to actuate a force of more or less intensity on a blade attached to the key depending on the value of the current.
• the document W02020/016536 describes a haptic controller capable of reproducing certain sounds other than a traditional piano, one of these functionalities being commonly designated by the term “aftertouch” and the essential element of which is a device for damping consisting of a body of deformable material having two recesses, said body having a protuberance placed in a groove arranged on an underside of a key.
• the two recesses make it possible to absorb the compression exerted by the key via the protrusion according to two different damping profiles, one flexible, the other rigid.
• Sensors adapted to measure the displacement in rotation and in translation of the keys deliver a signal as a function of this displacement.
• Document US7582821 discloses a device seeking to reproduce the feeling of releasing a key of an acoustic piano and is essentially composed of a pivoting lever, three key switches and a retractable load member.
• a pivoting lever When the musician depresses a key, the latter pivots around its axis and comes to press on the pivoting lever, which is substantially as long as the key and arranged under the key.
• the pivoting lever comes in turn to touch three elastic switches of different lengths making it possible to provide information on the depth of support thanks to the sequence of successive triggering of the switches.
• the retractable load member will slow the rise of the lever based on information gathered from the switches and position sensors.
• the reactive force generating device is composed of a deformable element in the shape of an inclined dome having at the top a flat surface whose inclination allows the key which exerts the pressure to be stably received.
• the invention proposes a haptic device for controlling a key of a keyboard fitted to an electronic musical instrument intended to reproduce the sensation of use of a musical instrument.
• homologous acoustics said device being arranged to be associated with a fingerboard of the electronic musical instrument pivotally mounted relative to a frame around a pivot axis, the fingerboard extending in a longitudinal direction and having an angular displacement between a high angular position, called origin, and a low angular position, called abutment.
• the device includes:
• the device according to the invention makes it possible to reproduce the feeling of using an acoustic musical instrument, for example a piano, while offering a compact, inexpensive arrangement, having little or no inertia in its actuation. and little or no instability in its control. It allows you to choose or set a resistance to pressing a predetermined key. In addition, it makes it possible to exert a dynamic opposition force to the depression of the key, according to a predetermined dynamic relationship, including including involving several internal degrees of freedom. Finally, it tends to replace the key in its original position, when the user stops pressing the key.
• a manual control device arranged to control the emission of a sound when pressed by a musician user, by actuator rotary electric, an electromagnetic device or actuator in rotation, by distal end of the key, the support zone or the end zone intended to receive the finger(s) of the user, by proximal end, the end of the key opposite to the distal end, by key return, a part protruding from the lower face or underside of the key so that one face of said key return faces the lower face or underside of the key, for example the key return has the shape of an "L" of which one side of the base of the key return in the shape of an "L" is facing the lower face or underside of the key, by mechanical connection means, means connecting G actua key, said means possibly comprising one or more mechanical elements interconnected, by a flexible element in a single direction of the mechanical connection means, means capable of bending without exhibiting longitudinal elasticity, and/or limited flexibility ( in general
• the mechanical connection means are arranged between the actuator and the key.
• the mechanical connection means comprise an actuator termination and a key termination.
• the mechanical connection means comprise a single key termination and a single actuator termination.
• the key termination is fixed on the key at a touch point, called the fixing point, located between, on the one hand, a reception point located at a distance at least equal to 25% of the length longitudinal of said key from the pivot axis and on the other hand the distal end of the key.
• the touch point can be located on a continuous zone extending over a distance equal to 75% of the longitudinal length of said touch from the distal end of said touch.
• the function of the actuator and of the mechanical connection means between said actuator and the key consists in physically exerting a force on the key, the force being prescribed or whose relation to the movement of the key is predetermined.
• the torque of the force to be exerted by the actuator on the key amounts, at most, to the product of about twenty newtons by the lever arm of the distal end, in nuance fortissimo.
• G rotary electric actuator has an axis of rotation parallel to the axis of pivoting of the key.
• the rotary electric actuator has an axis of rotation parallel to the longitudinal direction of the key.
• G rotary electric actuator has an axis of rotation perpendicular to the longitudinal direction of the key and to the axis of rotation of the key.
• the position in which the axis of rotation of the actuator is parallel or perpendicular to the longitudinal direction of the key is understood to mean a position established when the key is at rest or in the original position, the key being able to pivot by a few degrees when pressed by a user.
• the axis of rotation of G actuator and the longitudinal direction of the key are substantially parallel or substantially perpendicular, plus or minus a few degrees, and are located in the same vertical plane.
• G rotary electric actuator is a direct current electric motor.
• G rotary electric actuator is arranged above or below the key.
• the arrangement of the actuator and of the mechanical connection means is arranged to exert traction on the key of the instrument, so as to provide resistance to depression when the user presses said key and to return the key to its original position when the user does not press said key touches.
• the mechanical connection means are located above or below the key.
• the mechanical connection means comprise a key termination of the mechanical connection means which is fixed on an upper or lower face of the key.
• upper face means a face facing upwards when the electronic musical instrument is arranged horizontally, and/or a face facing outwards from said instrument.
• lower face is meant a face facing downwards when the electronic musical instrument is arranged horizontally, and/or a face facing the interior of said instrument.
• the mechanical connection means comprise connection means with the key.
• the connection means are fixed on the key and are arranged to connect the key end of the mechanical connection means to the key.
• the mechanical connection means comprise at least one connecting piece corresponding to the key termination.
• the connecting piece is placed as far as possible from the pivot axis of the key. This distance makes it possible to exert a greater resistance torque on the key and/or to choose an actuator from a range of devices with a lower nominal current, or lower power, reducing the price and/or the inertia of the motor, and /or the price of its electrical control.
• the ratio between the distance of the lever arm separating the pivot axis from the touch point where the end of the touch of the mechanical connection means is fixed on the touch, on the one hand, and the distance of the arm of the lever separating the axis of rotation of the rotary electric actuator from an actuator point, where the actuator end of the mechanical connection means is fixed on the shaft of G actuator, on the other hand, is at least 10, preferably at least 20, advantageously at least 30, advantageously at least 40, advantageously at least 50.
• the rotary electric actuator is located below the key, for example above the key return, said key return being fixed to or arranged on the underside of the key, for example in a flat piano.
• the key termination of the mechanical connection means is fixed on an upper face of a key return of the key.
• the mechanical connection means comprise a connection part arranged on an upper face of the key feedback.
• the rotary electric actuator has a diameter or a width less than the average width of a key.
• the rotary electric actuator has a diameter or a width less than twice the average width of a key.
• It may also have a longitudinally elongated shape, increasing the length of the electrical conductors accordingly and therefore the torque available for a given current in the actuator.
• the mechanical connection means comprise assembly means comprising a winding part arranged to fit onto the shaft of the rotary electric actuator, and a clamping part in the shape of a stirrup having two branches arranged to at least partially surround the winding piece.
• the at least one flexible element is flexible in a single direction.
• the at least one flexible element in a single direction comprises one or more ribbons or one or more cables.
• the slight bending of the flexible element in a single direction serves to ensure at least in part the kinematic compatibility between the rotational movement of the key and the translational movement imposed by the traction of the actuator .
• the flexibility of said element allows it to wrap around the axis of the actuator.
• the mechanical connection means comprise two flexible elements in a single direction, in particular two strips
• the kinematic compatibility between the rotational movement of the key and the actuator is achieved by a strip, called key strip
• the winding around the axis of the actuator is carried out by a strip, called actuator strip, which is distinct from the key strip, the two strips being interconnected.
• a reduced flexibility (not infinite, as is practically that of a wire) serves to prevent the actuator from continuing to turn when the key is blocked or slowed in its movement, for example by the bottom stop.
• the rebounds are limited in number and in duration by the very particular pace of the longitudinal compressibility of a flexible element according to a direction: null until the limit of buckling, then finished beyond the limit of buckling.
• the mechanical connection means comprise at least one ribbon, or at least one cable, flexible under pressure and rigid under tension, having a distal end connected to a hub of the rotary electric actuator and a proximal end connected to the key, said ribbon being arranged to work in traction at the same time:
• the at least one ribbon makes it possible to achieve the traction necessary to act on the key while allowing slight bending which serves to ensure compatibility between the rotational movement of the key and the translational movement of the ribbon when it is is pulled by the actuator.
• the finite flexibility of the ribbon used avoids or dissipates rebound vibrations when the key reaches the end of its travel.
• the at least one element flexible under pressure and rigid under tension comprises a flexible cable under pressure and rigid under tension or a flexible tape under pressure and rigid under tension.
• the mechanical connection means comprise at least two strips that are flexible under pressure and rigid under tension.
• the mechanical connection means comprise at least two cables that are flexible in pressure and rigid in tension.
• the mechanical connection means comprise at least one ribbon which is flexible under pressure and rigid under tension and at least one flexible cable under pressure and rigid under tension.
• the mechanical connection means comprise at least three mbans that are flexible in pressure and rigid in tension.
• the mechanical connection means comprise a single strip, said strip having an actuator termination arranged to be connected to the shaft of the actuator and a key termination, opposite the termination of the actuator. actuator, arranged to be connected to a key.
• connection means provide a pivot connection between the key and the key termination.
• the key end of the mechanical connection means has a cylindrical opening and the connection means comprise a pivot shaft so that the cylindrical opening can fit onto and pivot around the pivot shaft.
• the connection means comprise a removable pivot shaft, also called a connection shaft, and a body having a bore arranged to receive the removable pivot shaft, said body being arranged to be fixed on a key and comprising a slot along a plane transverse to the axis of the bore so as to align the cylindrical opening of the key termination of the means for mechanical connection to the bore and to insert the removable shaft into the bore and the opening.
• said hole has, according to its cross section, the shape of an oblong hole so that the connecting shaft can be translated laterally.
• the longest length of the oblong hole is at least 20% greater than the width (or shortest length) of the oblong hole.
• the mechanical connection means comprise at least two flexible elements in pressure and rigid in traction comprising at least two flexible ribbons in pressure and rigid in traction, and a junction piece arranged between the two mbans , said junction piece having two opposite ribbon receiving planes perpendicular to each other to receive the ends of the two ribbons.
• the mechanical connection means comprise two strips, an actuator strip arranged to be connected to the shaft of the actuator and a key strip arranged to be connected to the key, and a junction piece arranged between the two ribbons and provided to receive the terminations of the ribbons arranged orthogonally.
• the mechanical connection means comprise three flexible elements, two flexible actuator elements arranged to be connected to the shaft of the actuator and a flexible key element arranged to be connected to the button, and a junction piece arranged between the button element and the two flexible actuator elements, said junction piece being arranged to receive the terminations of the three ribbons.
• the two flexible actuator elements are connected to the circumference of the actuator shaft at two diametrically opposite points.
• the junction piece has two opposite ribbon receiving planes perpendicular to each other to receive the two ribbons.
• the junction piece has two opposite and perpendicular slots with respect to each other to receive the two ribbons, so as to be placed between the two ribbons.
• Each slot has a thickness greater than or equal to the thickness of a ribbon.
• the junction piece comprises two junction parts arranged perpendicular to each other, each junction part having a receiving face for attaching a ribbon.
• the junction piece comprises two plates extending in the same vertical direction. The plates are arranged perpendicular to each other, each plate being drilled to receive a means of fixing a tape.
• strips will therefore be used whose central thickness is increased compared to the thickness near the junction pieces, or short strips, in order to increase both the buckling limit and to reduce the compressibility beyond the buckling limit.
• the central thickness is increased relative to the thickness of the portion of the ribbon which does not wrap around the shaft of the actuator.
• the mechanical connection means comprise a return part.
• the mechanical connection means comprise at least two flexible elements, a flexible actuator element arranged to be connected to the shaft of the actuator and a flexible key element arranged to be connected to the key, and a return part having a pivot axis, said return part being disposed between two flexible elements, said return part being arranged to produce a non-rectilinear trajectory of the mechanical connection means.
• the mechanical connection means comprise three strips, an actuator strip arranged to be connected to the shaft of the actuator, a first key strip, a junction piece arranged between the actuator strip and the first key strip, a second key strip arranged to be connected to the key, and a return piece arranged between the first key strip and the second key strip and provided to receive the terminations of the strips extending orthogonally.
• the return part is a pulley or an “L”-shaped lever actuation part.
• the return part is a fixed or rotating pulley, so that a ribbon or a cable is in contact with said pulley.
• the pulley performs a quarter turn, or the ribbon or the cable travels a quarter of the circumference of the fixed pulley.
• the mechanical connection means further comprise a counter-pulley or axis guide parallel to the axis of the pulley. The counter-pulley or the guide is arranged near the pulley so that the ribbon or the cable is in contact simultaneously with the pulley on the one hand, and the counter-pulley or the guide on the other hand.
• the mechanical connection means comprise a lever actuation part.
• the lever actuation part has the shape of an "L” or a square.
• the lever actuation part comprises a rotation axis at the point of intersection of the two branches of the "L” or of the two branches of the square.
• the "L"-shaped actuation piece is arranged under the key and is connected near the key return.
• the lever actuation piece can form a junction piece.
• One or both ends of said piece may include a slot as defined above for the junction piece.
• the various embodiments comprising a combination of characteristics proposed above: [0065] - the rotary electric actuator has an axis of rotation parallel to the axis of the key, the mechanical connection means comprising a cable or a ribbon connecting the actuator to the key;
• the rotary electric actuator has an axis of rotation parallel to the axis of the key
• the mechanical connection means comprising a cable or a ribbon connecting the actuator to the key, and a return part between the actuator and the key in order to modify the trajectory of said cable or of said ribbon, the return piece having a pivot axis parallel to the axis of the key;
• the rotary electric actuator has an axis of rotation parallel to the axis of the key
• the mechanical connection means comprising two flexible elements, which may be two cables or two ribbons or a cable and a ribbon, connecting the actuator to the key, and a return part having a pivot axis parallel to the axis of the key, the two flexible elements being separated by the return part;
• the rotary electric actuator has an axis of rotation parallel to the longitudinal direction of the key, the mechanical connection means comprising a cable connecting the actuator to the key;
• the rotary electric actuator has an axis of rotation parallel to the longitudinal direction of the key, the mechanical connection means comprising a strip connecting the actuator to the key, and connection means comprising a hole with a section at shape of an oblong hole so as to produce an operating clearance in a direction parallel to the longitudinal direction of the key;
• the rotary electric actuator has an axis of rotation parallel to the longitudinal direction of the key, the mechanical connection means comprising two strips connecting the actuator to the key, and a junction piece being arranged between the two strips ;
• the rotary electric actuator has an axis of rotation perpendicular to the longitudinal direction of the key and to the axis of rotation of the key, the mechanical connection means comprising two flexible elements, the two flexible elements possibly being one or two cables or two ribbons or a ribbon and a cable, connecting the actuator to the key, and a return piece having a pivot axis parallel to the axis of the key, the two flexible elements being separated by the reference, the reference piece can also be a junction piece in the presence of one or two ribbons;
• the rotary electric actuator has an axis of rotation perpendicular to the longitudinal direction of the key and to the axis of rotation of the key,
• the mechanical connection means comprising two flexible elements, the two flexible elements possibly being two ribbons or a ribbon and a cable, connecting the actuator to the key, and an "L"-shaped lever actuation part having a pivot axis parallel to the axis of the key, the two elements hoses being separated by the lever actuating part, the lever actuating part comprising, at the end intended to connect the actuator strip, a cross-sectional drilling in the form of an oblong hole so as to produce a play of operation in a direction parallel to the longitudinal direction of the key;
• the rotary electric actuator has an axis of rotation perpendicular to the longitudinal direction of the key and to the axis of rotation of the key, the mechanical connection means comprising two ribbons connecting the actuator to the key, a junction piece being arranged between the two strips, and a deflection piece, in particular a pulley, in addition to the junction piece, having a pivot axis parallel to the axis of the key, the deflection piece being arranged so as to be in contact with the button strip in order to modify its trajectory;
• the rotary electric actuator has an axis of rotation perpendicular to the longitudinal direction of the key and to the axis of rotation of the key, the mechanical connection means comprising three ribbons, or two ribbons and a cable, connecting the actuator to the key, a junction piece being arranged between the two first strips, and a return piece, in particular a lever actuation piece, in addition to the junction piece, having a pivot axis parallel to the axis of the key, the lever actuation part being arranged between the second ribbon and the third ribbon or cable.
• the mechanical connection means comprising three ribbons, or two ribbons and a cable, connecting the actuator to the key, a junction piece being arranged between the two first strips, and a return piece, in particular a lever actuation piece, in addition to the junction piece, having a pivot axis parallel to the axis of the key, the lever actuation part being arranged between the second ribbon and the third ribbon or cable.
• the mechanical connection means comprise at least two strips, an actuator strip arranged to be connected to the shaft of the actuator and a key strip arranged to be connected to the key, a junction piece arranged between the two strips, and provided to receive the ends of the strips arranged orthogonally to one another, and a pulley on which the key strip cooperates.
• the rotary electric actuator has an axis of rotation perpendicular to the longitudinal direction of the key and to the axis of rotation of the key, and offset with respect to a plane passing through the thickness of the key.
• the return pieces have a pivot axis parallel to the longitudinal direction of the key.
• the mechanical connection means comprising two flexible elements, the two flexible elements being able to be two cables or two ribbons or a ribbon and a cable, connecting the actuator to the key, and a return piece separating the two flexible elements , the return piece being a pulley or an "L" shaped lever actuation piece, in the case of an actuator strip and an "L” shaped lever actuation piece the latter being able to comprise, at the end intended to connect the actuator strip, a drilling of section in the form of an oblong hole so as to produce an operating clearance in a direction parallel to the pivot axis of the key, and / or in the case of a key strip, the mechanical connection means comprising connection means comprising a oblong hole-shaped section so as to achieve a running clearance in a direction parallel to the longitudinal direction of the key;
• the mechanical connection means comprising two strips connecting the actuator to the key, a junction piece separating the strips and a pulley having a pivot axis parallel to the longitudinal direction of the key and being arranged so as to be in contact with the button strip in order to modify its trajectory;
• the mechanical connection means comprising three flexible elements, which may be three ribbons or two ribbons and a cable, connecting the actuator to the key, a junction piece separating the first and second ribbons and/or a junction piece separating the second and third mbans, a pulley having a pivot axis parallel to the longitudinal direction of the key and being arranged so as to be in contact with a ribbon in order to modify its trajectory, and a lever actuating part made of "L" shape separating two flexible elements
• the mechanical connection means comprising connection means comprising a cross-sectional drilling in the shape of an oblong hole so as to produce an operating clearance in a direction parallel to the longitudinal direction of the key ;
• the mechanical connection means comprising four ribbons connecting the actuator to the key, a junction piece separating the first and second ribbons and/or a junction piece separating the third and fourth mbans, and an actuation piece "L" shaped lever separating second and third mbans.
• the mechanical connection means comprise at least two mbans, at least one actuator mban arranged to be connected to the shaft of the actuator and at least one key mban arranged to be connected to the key, and a lever actuation piece arranged between the two mbans and provided to receive the ends of the mbans arranged orthogonally.
• each mban has the following dimensions:
• the mechanical connection means are metal connection means.
• the actuator and key strips may be metal actuator and key strips.
• the material of the strips comprises or consists of metal (steel, preferably stainless steel, or aluminum), or of a fiber-reinforced or composite polymer material, and/or synthetic fiber textile, for example Kevlar (registered trademark).
• the mbans make it possible to achieve the traction necessary to act on the key while allowing a slight flexion ensuring compatibility between the rotation of the key and the translational movement of the key strip when it is pulled by the actuator.
• a second function ensured by the limited flexibility of the ribbons, consists, when the key is slowed down, in limiting the stroke of the actuator driven by its own inertia. They prevent or dissipate kickback vibrations.
• the flexible tape connection does not have the disadvantage of mechanical play and has the advantage of having a stable equilibrium configuration when releasing the tensile stress.
• the haptic device comprises an actuator abutment placed on the periphery of the rotation shaft of the actuator or around said rotation shaft, so as to control the angular movement of the shaft of rotation of the actuator, in particular if the connecting means implement cables.
• the stop may be arranged on the rotation shaft of the actuator or close to said shaft, for example arranged tangentially.
• the abutment has the shape of a cylinder. The actuator stop is placed in the immediate vicinity of the connecting means or the actuator. Preferably, the actuator stop is reached when the key reaches the stop position.
• the presence of at least one element that is flexible under pressure and rigid under tension and/or the presence of the actuator abutment constitute mechanical means for controlling the movement of the mechanical connection means.
• Said control means make it possible to control the angular displacement of the rotation shaft of the actuator as a function of the angular displacement of the key. They also make it possible to avoid displacements of undesired means of connection or excessive displacements.
• the mechanical means for controlling the movement of the mechanical connection means are of a mechanical nature and are located in the immediate vicinity of the connection means and the actuator, said means having the function of keeping the connection means and the actuator the geometric configuration that they have in absolute terms and in relation to the key at the moment when traction ceases.
• the mechanical means for controlling the movement of the mechanical connection means are the at least one flexible element.
• the use of ribbons greatly allows part of ensuring this function of geometric restoration thanks to its natural, stable equilibrium configuration.
• a wire connection in particular not having a natural configuration of stable equilibrium, has the disadvantages of a difficulty of fixing and a complication of the limitation of the stroke of the motor which must be ensured by d other means: actuator stop or electrical position control means.
• the actuator can be controlled according to a four-quadrant operation, to take part in the control of the mechanical connection means and to prevent the motor from turning on its momentum.
• the tick hap device further comprises means for holding the key in the high position.
• Maintaining in the high position means maintaining in the original position.
• the means for holding in the high position also make it possible to recall the key to its original position when the user does not press the key.
• the means for maintaining the high position can be independent of the rotary electric actuator.
• the means for holding in the high position may comprise at least one spring, at least two permanent magnets, or a holding actuator through which a current flows permanently when the key, thus equipped, is not used.
• the calculation means can control G rotary electric actuator to perform the function of holding in the high position via the mechanical connection means.
• the calculation means comprise four-quadrant control means for actuating G electric actuator.
• the detection means are arranged and configured to detect or measure the position and/or the acceleration of the associated key or the force applied by the user to said associated key. They make it possible to inform the calculation algorithm implemented by the means of calculation.
• the touch detection means comprise touch kinematics sensors.
• the sensors are for example of the position sensor, motion sensor, acceleration sensor, angular velocity sensor type.
• the bite detection means comprise force sensors, for example of the strain gauge type.
• the key detection means comprise two sensors.
• the detection means are placed under the key, preferably on the underside of the key.
• the detection means comprise means for measuring the current of the actuator.
• the calculation means preferably comprise an integrated microprocessor on a stand-alone card, a control interface and software comprising a mathematical model of the dynamics of the mechanism of the real instrument which it is desired to reproduce.
• the calculation means comprise an actuator module integrating a mechanical control model of at least one key of at least one acoustic musical instrument.
• This module integrates the mathematical model of the dynamics of the mechanism of the real instrument that we seek to reproduce.
• This module also integrates the mathematical model of the dynamics of the digital keyboard mechanism used to reproduce the real instrument, in the absence of electrical control.
• the calculation means comprise an actuator module integrating a mechanical control model of at least one key of the keyboard described here, when the associated actuator receives no electric current.
• This module integrates the mathematical model of the dynamics of the keyboard mechanism used to reproduce the real instrument, made passive by the absence of electrical control.
• Said module also integrates a mathematical model of the dynamics of the button, the connecting means and the actuator, in the absence of electrical control.
• the invention proposes an electronic musical instrument keyboard with haptic feedback comprising at least one key and at least one haptic device, each key being associated with a device according to one or more of the characteristics from the first look.
• the invention proposes an electronic musical instrument, for example an electronic piano, comprising at least one haptic device according to one or more of the characteristics of the first aspect or comprising a keyboard according to the second aspect.
• the electronic musical instrument comprises several haptic devices.
• the haptic devices are arranged next to each other.
• the haptic devices are arranged so that the rotary electric actuators are arranged parallel to each other.
• the invention proposes a method for controlling an electronic musical instrument comprising at least one hap device according to one or more of the characteristics of the first aspect.
• the method aims to control, as a function of a given movement of a user on a key and measured by the press detection means, the at least one rotary electric actuator associated with said key so as to exert a predetermined retaining force against the user's bearing force.
• This restraint effort substantially corresponds to an effort that the fingerboard of a traditional or equivalent acoustic instrument would oppose to obtain the same movement, and thus to emulate the dynamics of traditional instrument mechanisms.
• control method comprises at least the following steps:
• the detection means periodically measure the position and/or the acceleration of the key then transmit this information to the calculation means.
• the calculation means calculate the forces generated in a real instrument mechanism from a mathematical model of the dynamics of said mechanism.
• the computing means must have sufficient computing capacity to simulate the model of the key in real time.
• the cycle time (Measures/Calculate/Actuation) is constrained and defined by the movement of the piano key.
• the sampling frequency is for example 2 kHz.
• the calculation means are for example a computer.
• the calculation means further comprise: power electronics, signal electronics, calculation cards based on a real-time simulation model, a MIDI concentrator (abbreviation of Musical Instrument Digital Interface) said musical instrument digital interface, a router.
• a MIDI concentrator abbreviation of Musical Instrument Digital Interface
• the function of the calculation means is to process the measured signals, perform in real time the calculation of the dynamics of the traditional keyboard and of the numeric key (simulation) and to develop the command to be applied to the actuator.
• the calculation means calculate the current or the voltage to be applied to the actuator, from a dynamic model of the musical instrument to be simulated and real-time measurements coming from the detection means.
• control method according to the invention thus makes it possible to emulate or simulate the dynamics of mechanisms:
• Calculation cards perform calculations in real time to emulate the dynamics of the keys of a traditional keyboard, via the processing of signals from the sensors, and the measurement of the power electronic circuits associated with the actuators and possibly via the application of effort signal control algorithms, aimed at correcting certain imperfections in the system, for example delays.
• the control method provides closed-loop control of the at least one rotary electric actuator so that said at least one actuator exerts a variable force in time, following the command given by the computer in real time and relayed by power electronics.
• Each calculation card provides the MIDI codes corresponding to the notes played on the keys it controls, using an electronic circuit.
• the codes are transformed into signals obeying the MIDI standard.
• the signals from the various calculation cards are transmitted to a MIDI hub (internal or external), which sends the computer (in the case of stand-alone prototypes) or the digital piano the MIDI codes necessary for sound synthesis.
• the computer performs the sound synthesis using sound synthesis software, for example Pianoteq software (registered trademark).
• Figure 1 is a schematic side view of a haptic control device according to a first embodiment associated with a key of an electronic upright piano, the device comprising an electric motor and mechanical connection means of the metal strip type between the motor and an upper face of the key, the axis of rotation of the motor being parallel to the longitudinal direction of the key;
• Figure 2a is a schematic side view according to Figure 1 representing in an exaggerated manner the movement of the key and the mechanical connecting means, Figure 2a illustrating the original position;
• Figure 2b is a schematic profile view according to Figure 1 representing in an exaggerated manner the movement of the key and the mechanical connection means, Figure 2b illustrating a stop position when a user presses;
• Figure 3a is a perspective view of three haptic control devices according to the first embodiment, each device comprising mechanical connection means according to one embodiment;
• Figure 3b is a detail view of Figure 3a in the area showing the rotation shafts of the actuators, each device comprising an actuator stopper arranged close to the respective rotation shaft;
• Figure 4a is a schematic side view of a hap tick control device according to a second embodiment, in which the motor is located below the underside of the key and the mechanical connection means are located at the above the upper face of the key return of a flat piano, the axis of rotation of the actuator being parallel to the longitudinal direction of the key;
• Figure 4b is a sectional view of an embodiment of a haptic device according to Figure 4a;
• Figure 4c is a perspective view of an embodiment of a haptic device which is a variant of the embodiment shown in Figure 4a;
• Figure 4d is a perspective view of an alternative embodiment of the previous figure.
• Figure 5a is a schematic perspective view of a haptic control device according to a third embodiment, in which the motor and the mechanical connection means are located above the upper face of a key, the axis of rotation of the actuator being perpendicular to the longitudinal direction and to the pivot axis of the key, the mechanical connection means further comprising a pulley cooperating with the key strip;
• Figure 5b is a view according to Figure 5a, and further comprising a counter-pulley whose peripheral surface is in contact with the key strip, said counter-pulley being arranged substantially tangential to the pulley;
• Figure 5c is a schematic perspective view of a haptic control device according to a fourth embodiment, in which the motor and the mechanical connection means are located above the upper face of a key, the axis of rotation of the actuator being perpendicular to the longitudinal direction and to the axis of pivoting of the key, the mechanical connection means further comprising a rotating bracket and an additional strip located between the actuator strip and the square;
• Figure 6a is a schematic side view of a hap tick control device according to a fifth embodiment, in which the motor is located below the underside of the key and the mechanical connection means are connected to the upper face of the key return of a flat piano, the axis of rotation of the actuator being perpendicular to the longitudinal direction and to the axis of pivoting of the key, the mechanical connection means further comprising a pulley, the key tape guide that can be placed in the immediate vicinity of the pulley is not shown;
• Figure 6b is a schematic side view of a haptic control device according to a sixth embodiment, in which the motor is located below the underside of the key and the mechanical connection means are connected to the upper face of the key return of a flat piano, the axis of rotation of the actuator being perpendicular to the longitudinal direction and to the axis of pivoting of the key, the mechanical connection means further comprising a rotation bracket and an additional strip located between the bracket and the actuator strip, the latter being guided by a series of double guides with vertical axes;
• Figure 6c is a sectional view of an embodiment of a haptic device according to Figure 6b, further comprising actuator ribbon guides;
• Figure 6d is a partial perspective view of a haptic control device according to a variant embodiment comprising an actuator stopper arranged close to the rotation shaft of the actuator, Figure 6d showing the state in wherein the actuator strip assembly means are in contact with said abutment;
• Figure 6e is a side view of an embodiment of a haptic device which is a variant of the embodiments shown in Figures 6a, 6b and 6c, comprising a winch wheel;
• Figure 7 is a perspective view of assembly means according to one embodiment
• Figure 8a is a perspective view of an embodiment of the junction piece between two ribbons
• Figure 8b is a perspective view of another embodiment of the junction piece between two ribbons
• Figure 9a is a perspective view of an embodiment of a connecting piece
• Figure 9b is a perspective view of another embodiment of a connecting piece
• Figure 10 shows an electrical diagram of a haptic control device
• FIG. 11 represents a diagram for calculating the retaining forces according to the dynamics of traditional or acoustic instruments
• Figure 12 is a schematic perspective view of a haptic control device according to a seventh embodiment associated with a key of an electronic upright piano, the device comprising an electric motor and mechanical connection means comprising a single ribbon metal between the motor and an upper face of the key, the axis of rotation of the motor being parallel to the axis of pivoting of the key;
• FIG. 13 is a schematic perspective view of four haptic control devices, two haptic control devices being in accordance with the previous embodiment and two haptic control devices according to an eighth embodiment, in which each device comprises a motor located below the underside of the associated key and mechanical connection means connecting a key return of the associated key, the mechanical connection means comprising a single metal strip between the motor and a face of the key return of the key , the axis of rotation of the motor being parallel to the axis of pivoting of the key, one of the two devices further comprising a return pulley;
• Figure 14 is a schematic perspective view of a hap tick control device according to a ninth embodiment associated with a key of an electronic upright piano, the device comprising an electric motor and mechanical connection means comprising a single metal strip between the motor and an upper face of the key, the axis of rotation of the motor being parallel to the longitudinal direction of the key, the mechanical connection means comprising connection means arranged to produce an operating clearance according to the direction longitudinal;
• Figure 15 is a perspective view of the connection means according to Figure 14 having a bore along an axis perpendicular to the longitudinal direction of the key;
• Figure 16 is a perspective view of three haptic control devices according to a tenth embodiment, each device comprising mechanical connection means according to a particular embodiment comprising two flexible actuator elements per device;
• Figure 17 is a perspective view of a hap tick control device according to an eleventh embodiment, which is a variant of the previous embodiment.
• Figures 1, 2a and 2b show a first embodiment of a haptic control device 1 of an electronic musical instrument.
• the instrument for example a piano as shown in Figures 3a and 16, is a musical instrument consisting of a keyboard comprising several keys, of which a single key is shown in Figures 1, 2a and 2b.
• the haptic device and the key K are seen in profile, the key being represented by a horizontal rectangle.
• the K key illustrates a piano key. It is pivotally mounted around the pivot axis Al relative to a frame, for example the frame of a keyboard, see Figure 3a and 16.
• the pivot axis Al is represented by two dotted lines perpendicular to each other representing a target, on a disk representing a rotating shaft.
• the pivot axis Al is shown under the key K near a first end, called the proximal end, of said key, to the left of FIGS. 1, 2a and 2b. Near a second end, called the distal end, opposite the first end, and above the upper face K1 of said key, there is shown a finger of a user of the musical instrument, only visible on the figure 1.
• the haptic device comprises means for detecting and/or measuring pressure and movement of the key by the user.
• the detection and / or measurement means include two motion sensors 31, 32, for example accelerometers. They are arranged to measure the movements of the key and to transmit this information to the calculation means, also called servo and control means, of the haptic device, not shown.
• the haptic control device 1 comprises a rotary electric actuator 10.
• Said actuator is preferably a direct current electric motor, the motor shaft of which extends along the axis B1.
• the motor is arranged relative to the key K so that the axis of rotation B 1 is parallel to the longitudinal direction KO of the key K, in particular in the original position, and that said direction KO and the axis B1 are vertically aligned.
• the axis of rotation Bl is substantially horizontal.
• the haptic control device further comprises mechanical connection means 20 connecting the shaft of the motor 10 to the upper face K1 of the key.
• the mechanical connection means 20 comprise several elements or parts connected one after the other: assembly means 25 (not visible in FIGS. 1 and 2), an actuator strip 24 (two actuator strips 24a, 24b in Figure 16), a junction piece 23, a button strip 22 and connection means 21.
• assembly means 25 make it possible to connect the actuator strip to the rotation shaft of the electric motor, see FIGS. 3a and 3b.
• assembly means 25 comprise a winding part 25e and a clamping part 25s, or stirrup having two branches.
• the winding part has a bore arranged to be fitted onto the rotation shaft of the electric motor, see FIGS. 3a and 3b. It further has a rectangular portion extending radially relative to the bore, portion in which a slot is made to allow fitting.
• the clamping piece 25s has a "U" shape to overlap the rectangular portion of the winding piece 25e.
• the clamping part comprises, in one of its branches, an internal thread arranged to be perpendicular to the rectangular portion of the winding part.
• the actuator strip 24 is located between the assembly means 25 and the junction piece 23.
• the actuator strip extends vertically and tangentially to the rotation shaft of the motor.
• the key strip 22 is located between the junction piece 23 and the connection means 21.
• the key mban extends vertically and in a plane parallel to the plane transverse to the key, in particular in the original position .
• the mechanical connection means 20 comprise a pair of actuator ribbons 24a and 24b.
• Each ribbon 24a, 24b connects the actuator 10 to the junction piece.
• the two ribbons are fixed, by means of sleeve-shaped assembly means 25, to the circumference of the shaft of the actuator 10.
• the actuator terminations of the ribbons 24a, 24b are arranged diametrically opposite .
• the actuator strip 24a is connected directly between the junction piece and the actuator.
• the actuator strip 24b is connected between the junction piece and the actuator via a wheel 11.
• the wheel 11 is positioned elevated relative to the actuator so that the strip 24b winds around the wheel 11 before being fixed at a point on the circumference of the actuator which is substantially diametrically opposite to the point of attachment of the end of the ribbon actuator 24a.
• This arrangement makes it possible, when the actuator is actuated, to exert a double traction in the opposite direction around the shaft of the actuator.
• the actuator strips 24a and 24b are arranged substantially symmetrically with respect to a plane both parallel to the axis of the actuator and the longitudinal direction of the key associated with the device comprising said strips.
• the actuator comprises two half-shafts 111, 112 and the mechanical connection means 20 comprise a single actuator strip 24 which passes between the two half-shafts of the motor shaft before being connected to the wheel 11.
• Each half-shaft has along its longitudinal axis a rectangular face, one side of which corresponds to the diameter of a shaft and a curved face corresponding to a circular half-cylinder. The junction of the half-shafts makes it possible to obtain a shaft.
• the ribbon passes through the shaft of the actuator (motor) between two half-shafts pinched together on the shaft of the motor thanks to the clamping part comprising two half-cylinders clamped together to the other, for example by two screws.
• the junction piece 23 comprises two slots 26, 27 opposite and perpendicular to each other to receive the ends of the two strips 22, 24.
• the junction piece performs the ribbon orientation converter function.
• a first end of the junction piece has the slot 26 arranged to receive the termination of the actuator strip 24, and a second end, opposite the first end, has the slot 27 arranged to receive the termination of the key strip 22.
• the junction piece 23 comprises two plates extending in the same vertical direction.
• the plates are arranged perpendicular to each other, each plate being drilled to receive a means of fixing a tape.
• connection means 21 are fixed on the upper face K1 (in FIGS. 1, 2a and 2b) of the key K.
• the connection means have the form of two rods: a connecting rod 21a and a button rod 21b.
• the connecting rod 21a comprises at one end, called the slot end, a slot arranged to receive a button strip termination. Said slot is directed along a plane which is parallel to the transverse plane of the key.
• the key stem comprises a threaded body arranged to be inserted into a thread made in the key.
• the key post includes a hollow body to receive one end of the link post, opposite the slot end.
• the peripheral wall of the hollow body comprises a thread extending radially in order to receive a screw making it possible to lock the position of the connecting rod in the key rod.
• connection means 21 comprise two plates arranged perpendicular to each other and in different directions.
• a first plate extends horizontally to be attached to the K key and the second plate extends vertically to be connected to the key strip.
• Each plate includes a hole for the passage of a screw.
• the connecting means are positioned on the key, at a touch point located at a distance equal to 25% of the longitudinal distance of the key from the pivot axis Al.
• the touch point is between the middle of the key and the distal end of the key.
• they are fixed as far as possible from the pivot axis Al.
• the connecting means are arranged on the key so that the touch point is located at a distance of at least 50 millimeters, preferably at least 100 millimeters, advantageously at least 150 millimeters from the pivot axis.
• the assembly means in particular the winding part, are arranged on the axis of the motor so that the actuator point is located at a distance of 3 millimeters from the axis of the motor. In the case of these last indications (150 and 3 millimeters), the angular displacement reduction ratio between the motor and the key, or torque multiplication ratio, is equal to 50.
• each slot, or each hole of the connecting pieces is associated with a fixing means, for example a screw.
• a thread is made extending radially or perpendicular to the axis of the part in order to receive a screw.
• the key K is in a substantially horizontal or raised position.
• the latter is pivoted so that the distal end lowers and the key strip 22 tilts and flexes due to the pivoting of the key, see figure 2b.
• the actuator ribbon 24 unwinds while remaining vertical while being retained by the electric motor 10 which is supplied with current so as to reproduce the dynamics of a keyboard mechanism of an acoustic instrument (or any other previously determined dynamics) .
• Each motor is current controlled. When pressed, the torque of the motor slows down the descent of the key (generator operation). When released, the same current command allows the key to be raised (motor operation).
• Figure 10 represents the diagram of the power electronics of the device.
• the calculation means can control the actuator so as to achieve, by means of ad hoc modifications to the diagram of the power electronics, a four-quadrant operation.
• Figures 4a and 4b show a second embodiment which will be described by its differences from the previous one.
• the key represented corresponds to a key of a flat piano, said key comprising a key return R extending under the key from the distal end so as to form an "L".
• the rotary electric actuator and the mechanical connection means are located above the upper face K2 of the key return.
• the distance separating the upper face K2 from the key return from the lower face K3 is for example equal to 45 millimeters.
• the connection means are fixed on the upper face K2 of the key feedback.
• the end of the key strip is fixed on the distal transverse face of the key return R.
• the lower face K3 of the key may have a recess, for example of concave shape, in order to partially receive the actuator.
• the device comprises a threaded rod arranged at the end of the motor shaft of the actuator.
• the threaded rod is a V screw.
• the device comprises a latching finger P placed on the key return.
• the finger is located above the threaded rod, preferably substantially parallel to the motor shaft or to the threaded rod.
• the hooking finger has a cylindrical shape and is fixed on a face perpendicular to the upper face Kl.
• the mechanical connection means 20 comprise two cables, a cable 24c1 connecting the distal end of the key feedback to the threaded rod, and a cable 24c2 connecting the threaded rod to the latching finger.
• the key return R and the latching finger P are integral in translation, for example vertical according to the embodiment shown, when the key goes down or up.
• Screw V is integral with the axis of the actuator and is rotatable along the geometric axis of the motor shaft. The threaded rod, in particular the screw V, does not translate.
• the mechanical connection means 20 comprise a single cable 24c having two strands 24c1 and 24c2.
• the cable 24c is wound in one or more turns around the screw V and is fixed to said screw in order to prevent the cable from slipping.
• the cable 24c is fixed to the screw or the threaded rod by gluing.
• the strands or cable portions 24c 1 and 24c2 emerge from the same side of the threaded rod or the screw V.
• the role of the cable strand 24c2 (whose end is integral with the key) is to block the rotation of the actuator by stopping its momentum when the key reaches its bottom stop.
• the cable strand 24c2 only exerts force when the key stops, serving only as a restraint for the motor. In operation and when the key is pressed, the cable strand 24c2 wraps around the screw V and the cable strand 24c 1 unwinds from the screw V.
• the device further comprises a pulley or wheel 121 and a cable 24d comprising two strands 24d1 and 24d2.
• pulley 121 is arranged above screw V and is fixed to the frame of the actuator, the axis of said pulley 121 being substantially parallel to the axis of the actuator.
• the cable 24d runs substantially half the circumference of the pulley 121 and is partly wound around the threaded rod or the screw V.
• connection point of the distal end of the strand 24d2 is fixed on the periphery of the threaded rod in one point diametrically opposite the point of connection of the distal end of cable strand 24c2. Referring to Figure 4d, the connection points are further offset axially. As in the previous variant, the strands 24c 1 and 24c2 are fixed to the threaded rod or the screw V on the same side or axially offset along a peripheral line of said screw V.
• the cable strand 24c2 wraps around the screw V and the length of said strand decreases, the cable strand 24d2 unwinds of the screw V, the cable strand 24c 1 unwinds from the screw V and the length of said strand increases, and the length of the cable strand 24dl increases.
• the two cables 24c and 24d exert a couple of opposing forces on the axis of the actuator, while offering forces which are added on the touch return. This is the function of the cable 24d which pulls on the key like the strand 24c 1 , but, thanks to the return pulley 121 pulls on the motor in the direction opposite to that of the strand 24cl, while making it turn the actuator in the same way.
• Figure 5a shows a third embodiment which will be described by its differences with respect to the first embodiment.
• the electric motor 10 is located above the key K and is fixed to the frame (not visible in the figure).
• the axis of rotation B1 of the electric motor is perpendicular to the longitudinal direction of the key K.
• the actuator strip 24 extends horizontally and tangentially to the rotation shaft of the motor.
• the mechanical connection means further comprise a pulley 28 whose axis of rotation is parallel to the pivot axis Al.
• the pulley is connected to the frame, not visible in the figure. The pulley makes it possible to receive, on its circumference, the key strip 22 along its path.
• the device further comprises a counter-pulley 51 having the shape of a cylinder and is arranged tangentially to the pulley 28.
• the counter-pulley is in contact or quasi-contact with the key strip 22.
• the counter-pulley makes it possible to guide and/or control the movement of the key strip and thus maintain the key strip on the periphery of the pulley 28.
• the counter-pulley prevents the key strip from taking off of the pulley.
• Figure 5c shows a fourth embodiment which will be described by its differences from the previous embodiment.
• the mechanical connection means comprise, replacing the pulley 28, a bracket 29 whose axis of rotation Cl is parallel to the pivot axis Al.
• the axis Cl of the bracket is connected to the frame, not visible on the figure.
• the bracket makes it possible to receive the button strip 22 along its path.
• the key strip 22 includes a first key strip 22b and a second key strip 22a. Between the junction piece and said bracket, the first button strip 22b extends substantially horizontally. Between the bracket and the connection means, the second button strip 22a extends substantially vertically.
• Figure 6a shows a fifth embodiment which will be described by its differences with respect to the third embodiment.
• the key represented corresponds to a key of a flat piano, said key comprising a key feedback R, like the second embodiment.
• the electric motor 10 is located below the key K.
• the axis of rotation B1 of the motor is perpendicular to the longitudinal direction of the key and perpendicular to the pivot axis Al.
• the mechanical connection means extend under the underside K3 of the key.
• the pulley 28 is located between the upper face of the return R of key and the underside K3 of the key.
• the connection means which are not visible, are fixed to the upper face K2 of the touch return.
• Figure 6b shows a sixth embodiment which will be described by its differences from the previous embodiment.
• the pulley 28 is replaced by the bracket 29, the arrangement of which in relation to the key and actuator mbans is similar or identical to the fourth embodiment.
• the actuator 10 is arranged close to the pivot axis Al.
• the device further comprises one of the ribbon guides 61 for guiding the movement of the actuator ribbon 24.
• Each ribbon guide comprises a pair of spaced apart rods so that the ribbon can translate therebetween, see also figure 6d.
• the mechanical connection means further comprise an actuator stop 42 disposed near the rotation shaft of the actuator so as to restrict the angular movement of said shaft.
• the stop 42 has a cylindrical shape and is fixed to a frame. The stop 42 is provided to limit the rotation of the rotation shaft of the actuator via the assembly means 25.
• the device comprises a wheel 291 and a roller 292 arranged coaxially, the diameter of the wheel 291 being greater than the diameter of the roller, for example at least three times greater.
• the wheel 291 and roller 292 assembly is arranged close to the key return so that the key strip 22 is connected to the roller 292 and to the distal end of the key return.
• the actuator ribbon 24 is replaced by a cable 24e having two strands 24el, said lower strand, and 24e2, said upper strand.
• the cable 24e is fixed to the wheel 291, making it possible in particular to limit or prevent slippage of the cable in contact with the periphery of the wheel.
• the actuator 10 is arranged close to the pivot axis Al, the axis of rotation of the actuator being substantially perpendicular to the pivot axis Al.
• the actuator comprises two rotation shafts, an upper shaft and a lower shaft, each rotation shaft being arranged at an axial end of the actuator.
• the 24e cable has one end connected to the upper shaft, extends to the wheel 291 so as to form the upper strand 24e2, runs through substantially half the circumference of the wheel 291, extends to the lower shaft so as to form the lower strand 24th 1 and is connected to said lower shaft.
• One end of 24el wraps around the bottom of the actuator shaft. The ends are rolled up in a different gyratory direction: when one end rolls up, the other unrolls.
• FIG. 12 shows a seventh embodiment which will be described by its differences from the first embodiment.
• the electric motor 10 is located above the upper face Kl of the key, the axis of rotation of the motor extending parallel to the pivot axis Al of the key.
• the mechanical connection means comprise a single strip which forms both the actuator strip 24 and the key strip 22.
• the assembly means 25 conform to the assembly means of FIGS. 3a and 3b.
• the connection means 21 conform to the connection means of FIG. 9b.
• the upper part of FIG. 13 represents two haptic devices in accordance with FIG. 12 and which are connected to white keys. The two actuators associated with the white keys are located above the keys, are superimposed and offset from each other.
• FIG. 13 there is shown an eighth embodiment which will be described by its differences from the previous embodiment.
• the black keys shown each include an R key return extending below the key to form an "L".
• the rotary electric actuator and the mechanical connection means are located above the upper face K2 of the key return.
• the actuators associated with the black keys are located under the keys and offset from each other.
• the means of connection are fixed on the front face of the end of the touch return.
• the end of the key strip is fixed on the distal transverse face of the key return R.
• the mechanical connection means comprise a deflection pulley 28 arranged between the key feedback R and the electric motor 10.
• the embodiment of Figure 13 proposes a particular arrangement to solve the problems of space posed by the transverse arrangement of actuators whose length is several times the average width of the key.
• the figure gives a perspective view of four keys, three of which are associated with actuators and connection means in AxRl configuration and the black key in the foreground, with an actuator and connection means in AxRIPxRl configuration.
• the axes of the actuators are parallel to the axis of rotation of the keys and the means of connection are reduced to a single ribbon and its attachment parts.
• FIG 14 shows a ninth embodiment which will be described by its differences from the first embodiment.
• the mechanical connection means comprise a single strip which performs both the function of the actuator strip 24 and of the key strip 22.
• the assembly means 25 conform to the assembly means of FIGS. 3a and 3b.
• the ribbon is connected to the key by specific connection means 21.
• the connecting means are a connecting piece 21 comprising a body from which two parallel plates extend perpendicular to the longitudinal direction of the key and perpendicular to the pivot axis of the key, the plates being spaced apart so as to define a slot.
• the slot has a width allowing the insertion of the key termination of the ribbon.
• each bore has, according to its cross section, the shape of an oblong hole so that the connecting shaft can translate laterally.
• the longest length of the oblong hole is at least 20% greater than the width (or shortest length) of the oblong hole. The oblong shape of the hole makes it possible to produce an operating clearance in a direction parallel to the longitudinal direction of the key.
• the position of the elements of the system is updated with the measurement of the current time and the result of the resolution of the equations at the previous time;

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• Electrophonic Musical Instruments (AREA)

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• 2021
  • 2021-07-07 FR FR2107340A patent/FR3125162A1/fr active Pending
• 2022
  • 2022-07-05 EP EP22753723.0A patent/EP4367660A1/de active Pending
  • 2022-07-05 WO PCT/FR2022/051342 patent/WO2023281206A1/fr active Application Filing

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