Classifications

• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; 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
  • G05—CONTROLLING; REGULATING
  • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
  • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
  • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; 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
  • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
  • G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; 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
  • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
  • G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of two-dimensional [2D] relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
  • G06F3/03548—Sliders, in which the moving part moves in a plane
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; 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
  • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
  • G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of two-dimensional [2D] relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
  • G06F3/03549—Trackballs
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; 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
  • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
  • G06F3/0362—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of one-dimensional [1D] translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
  • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
  • G05G1/02—Controlling members for hand actuation by linear movement, e.g. push buttons

Definitions

• the technical field of the invention is the implementation of acoustic lubrication to control the movement of a part.
• One of the targeted applications is the creation of a haptic interface.
• Haptic interfaces allow a user to experience sensations of touch or texture.
• Haptic gloves have, for example, been developed, which can be coupled with virtual reality headsets. This allows a user, wearing the headset, to feel a sensation of touch or contact with an object depending on the position of the finger, in a virtual environment.
• Haptic interfaces are described in documents US6154201 or EP1349050. In these documents, control buttons for devices intended to be moved, in particular in rotation, are described.
• the haptic interfaces are intended to feedback on the torque exerted by the user to turn the button.
• these interfaces have a relatively complex design and are bulky. They are not compact enough to be able to be integrated into interfaces intended to be worn by a user, for example a haptic glove.
• WO2018011523 describes a haptic interface, intended to apply a haptic pattern to a control button intended to be manipulated by a user's finger.
• the control button is placed on a vibrating plate.
• the principles of ultrasonic lubrication are used, allowing a controlled reduction of friction between the vibrating plate, according to an in-plane vibration mode, and the button. Applying vibration makes it easier to rotate the button relative to the vibrating plate. Conversely, stopping the vibration causes the user to perceive resistance to rotation.
• Another haptic device using the same principles, is described in EP3485349.
• the inventors have designed a simple, compact and inexpensive device, which can be easily integrated into a haptic interface.
• a first object of the invention is a device for controlling the movement of a mechanical part, comprising:
• control unit configured to activate the first resonator, the first resonator being configured to vibrate the part in an in-plane vibration mode when activated;
• the movement of the part can be a translation or a rotation.
• the second support may include a bearing, in contact with the part, configured to rotate against the part, under the effect of the movement of the part.
• the second support comprises a second resonator, placed in contact with the part
• the second resonator is connected to the control unit, so that the second resonator transmits a vibration to the part when activated;
• the device comprises a return means, connected to the part, and configured to return the part to a predetermined position following a movement of the part relative to the first resonator and the second support.
• the part can be a plate or a cylinder or a sphere.
• control unit is configured to activate the piezoelectric resonator according to different vibration amplitudes, so as to modulate the friction between the first resonator and the part.
• the device may include a clip, secured to the part, the clip being configured to be connected to an object, so as to set the object in motion depending on the movement of the part.
• the clip can be connected to the part by a flexible link.
• the device may include a button, configured to be moved by a support force exerted by an external body, the button being integral with the part, so that the friction between the first resonator and the part makes it possible to condition the force of support exerted by the external body to move the button.
• the device may include an assembly part, configured to hold the first resonator in support towards the second support, so as to exert a prestress on the part.
• the first resonator comprises a central part, arranged opposite a transducer, and a peripheral part, extending around the central part;
• the first resonator rests against the part according to a support zone, the support zone being located at the level of the peripheral part, so that the support is exerted around the transducer.
• a second object of the invention is a haptic interface, comprising a device according to the first embodiment.
• the haptic interface may include a support face, intended to be touched by an external body, the support face being connected to the mechanical part.
• Figure IA represents a first embodiment of the invention.
• Figure IB represents a variant of the first embodiment of the invention.
• Figure IC shows a variant of the configuration shown in Figure IB.
• Figure 1D shows another variant of the first embodiment of the invention.
• Figure 2 represents a second embodiment of the invention.
• Figure 3 schematizes an integration of a device according to the invention in a haptic glove type interface.
• Figure 4 shows a third embodiment of the invention.
• Figure 5 shows a fourth embodiment of the invention.
• Figure IA represents a device and a first embodiment of the invention.
• the device comprises a first support 10 and a second support 20.
• the device comprises a part 30, interposed between the first support 10 and the second support 20.
• the device is intended to control a movement of the part 30, in translation, between the first support 10 and the second support 20.
• the part is a plate, for example a rigid plate, for example made of glass or brass.
• the first support 10 comprises a base 11, on which rests a cylindrical base 12.
• An annular wall 13 extends, from the cylindrical base 12, towards the part 30.
• the annular wall 13 maintains a thin cylindrical plate 17.
• pillar 14, bypassed by the annular wall 13, maintains a first piezoelectric transducer 16.
• the connection between the pillar 14 and the first piezoelectric transducer 16 can be ensured by a glue point 15.
• the glue used can be a cyanoacrylate type glue, or neoprene, or epoxy.
• the connecting plate forms a mechanical interface between the piezoelectric transducer 16 and the part 30.
• the first piezoelectric transducer 16 is directly in contact with the part 30.
• the first support 10 forms a first resonator 101.
• the second support 20 forms a second resonator 102, arranged symmetrically with respect to the first resonator 101.
• the second support 20 comprises a base 21, on which rests a cylindrical base 22.
• An annular wall 23 extends from the cylindrical base 22, towards the first resonator 101.
• the annular wall 23 maintains a thin cylindrical plate 27.
• a pillar 24, bypassed by the annular wall 23, maintains a second piezoelectric transducer 26.
• the connection between the pillar 24 and the second piezoelectric resonator 26 can be ensured by a glue point 25.
• the second piezoelectric transducer when the second piezoelectric transducer is activated, it vibrates, usually at a resonance frequency. The vibration is transmitted to the part 30 by the cylindrical connecting plate 27.
• the connecting plate 27 forms a mechanical interface between the piezoelectric transducer 26 and the part 30.
• the second piezoelectric transducer 26 is directly in contact with the part 30.
• each piezoelectric transducer 16, 26 is connected to a cylindrical base 12, 22 by means of an adhesive, the latter replacing the pillar.
• the adhesive may be polyurethane foam.
• the diameter of the annular walls 13, 23 is for example of the order of 2 cm.
• the thickness of the cylindrical plates 17, 27 is for example of the order of a millimeter.
• the diameter and thickness of each piezoelectric transducer 16, 26 can be respectively equal to 15 mm and 0.75 mm.
• the connecting plates 17, 27 can be made of brass or glass.
• Each piezoelectric transducer 16, 26 is connected to a control unit 40, allowing activation of each transducer at their respective resonant frequencies.
• the vibration frequency is greater than a few kHz, or even 10 kHz or 100 kHz.
• the vibration frequency can be ultrasonic, that is to say greater than 15 kHz or 20 kHz, or even 40 kHz, which makes the vibration inaudible.
• the vibration propagates in a plane parallel to the resonator, which corresponds to an “in-plane” vibration mode. Thus, the vibration propagates in directions in the plane along which the part is applied against the plate.
• the amplitude of the vibration is generally between 0.05pm and 1pm.
• the vibration is preferably oriented parallel to the movement of the part 30, which is obtained by construction for the different implementations of Figures IA, IB, IC, 1D, 2 and 4
• the piezoelectric transducer can be made of lead titano-zircanoate (PZT) or Polyvinylidene Fluoride (PVDF). Its thickness can be a few hundred pm or around 1 mm. Its diameter is for example between 5 mm and 20 mm. Alternatively, the transducer may comprise a magnetostrictive material.
• PZT lead titano-zircanoate
• PVDF Polyvinylidene Fluoride
• the plate 30 is held between the first resonator 101, serving as the first support 10, and the second resonator 102, serving as the second support 20.
• the first support and the second support can be connected by an assembly part 32, clipped around of each support, so that the first support is held against the second support and vice versa. This makes it possible to exert a prestress on the part 30, so that the latter is held immobile between the first support 10 and the second support 20, when none of the transducers is activated.
• the pre-stress opposes the movement of the part 30.
• the pressure pre-stress is shown by two arrows vertical.
• the assembly part is a flange.
• the assembly part 32 can take other forms, for example a screw.
• each piezoelectric transducer has the effect of placing each connecting plate 17, 27 in vibration, in the plane.
• vibration in the plane we mean a vibration propagating along the plane along which the part extends.
• the part 30 remains in contact with each connecting plate.
• the vibration of each connecting plate 17, 27 reduces the friction with the part 30.
• the reduction in friction between the part 30 and each support allows a translation of the part, between the supports, along an axis of translation.
• Figure IA the translation is shown by a double arrow.
• the reduction in the friction force can be considered linear with respect to the amplitude of the vibration, and this for vibration amplitudes between 1 pm and 10 pm.
• the control unit is configured so that the amplitude of the vibration can be modulated.
• the device may include return means 31, configured to return the part to a predetermined position.
• the return means 31 can be a spring or a motorized system, for example an electric motor.
• a protective layer can be deposited on the connecting plates 17 and 27 or on the part 30.
• the protective layer can be useful for modifying the tribological properties of the surfaces and/or preventing wear.
• the protective layer can be made with, for example, epoxy or a polymer material.
• the protective layer When the protective layer is applied to the connecting plates 17, 27, its thickness can advantageously be greater in a part of the supports arranged opposite the periphery of the transducers, and less important in a part of the supports pressing on the transducers. This helps limit friction between each support and the transducers.
• the ultrasonic lubrication effect stops. The part is again immobile in translation, held between the first support 10 and the second support 20.
• Figure IB represents a variant according to which the first resonator 101, forming the first support 10, is inclined relative to the second resonator 102, forming the second support 20.
• the angle of inclination can be a few degrees, for example 2° .
• Part 30 is then pinched between the resonators. The prestressing is only exerted on a reduced surface area of the part 30. This improves the performance of the device.
• the ratio between the resisting forces between the state in which the resonators are activated, and the state in which the resonators are not activated, is improved.
• each glue point 15 and 25 is arranged between the annular wall 13, 23 and the connecting plate 17, 27, opposite the point in which the part 30 is pinched. This increases the amplitude of vibration.
• each glue point making it possible to connect the connecting plate 17, 27, to a piezoelectric transducer, is arranged on the periphery of each resonator 10, 20, being distant from the zone in which the part 30 is pinched between the two resonators.
• Figure 1D shows a variant according to which the assembly part 32 forms a housing.
• the assembly part comprises a base 32i and a cover 322.
• the base 32i and the cover 322 are movable in rotation relative to each other, around a joint 32a.
• the cover can be closed around the base, using a lug 32 4 . This causes the part 30 to be placed under stress between the supports 10, 20.
• the assembly part 32 described in connection with FIG. 1D can be used in all the embodiments described.
• the second support 20 does not form a resonator, but comprises a bearing 28, connected to a base 21 by an arm 29.
• the bearing 28 is free to rotate.
• the bearing is held against the part.
• the part is held between a first resonator 101, similar to the first resonator described in connection with Figures IA, IB, IC, forming a first support 10, and the bearing 28, the latter forming part of the second support 20.
• the part In the absence of activation of the first resonator 101, the part is held immobile relative to the supports 10, 20.
• the first resonator 101 is activated, the reduction in friction between the connecting plate 17 and the part 30 allows a translation of said part.
• the bearing 28 rotates in contact with the part 30.
• the bearing is replaced by a contact element whose friction with the part 30 is low, for example a Teflon part.
• Figures IB, IC and 2 are considered advantageous, because the pressure applied to the part by the first and second supports is exerted in a point support zone, around the transducer, or each transducer, and not at the plumbness of a transducer.
• the support of each transducer on the part is not exerted within a perimeter, corresponding to the perimeter of each transducer. This avoids compression of the transducer or each transducer, which can impair the operation of the transducers.
• the pressure is applied in an optimal point zone with regard to the direction and amplitude properties of the acoustic wave produced by each resonator.
• Each support has a central part, in contact with the transducer, as well as a peripheral part, around the central part.
• the pressure is applied against the peripheral part.
• the area to which the pressure is applied can be determined by a study of the vibration modes of the connecting plates 17, 27.
• a laser vibrometer can be used which measures the speed of movement at different points on the surface of the connecting plates. 17, 27.
• the laser is first pointed perpendicular to the surface of a support. We thus obtain the normal component of this displacement.
• the laser is then pointed at an angle of 45° to the surface of each connecting plate.
• a geometric calculation makes it possible to obtain the component in the plane
• the device may be intended to be integrated into a haptic interface, for example a haptic glove.
• a haptic interface for example a haptic glove.
• the device comprises attachments, configured to connect it to a user's limb.
• the mechanical part 30 is movable in translation.
• the mechanical part 30 is connected to a flexible link 3, for example a wire.
• the wire 3 is guided by a wheel 2, up to a clip 4, configured to be connected to a finger.
• the device includes a clip 5, allowing it to be secured to one hand.
• the device 1 forms a haptic interface, making it possible to block or authorize movement of the finger.
• part 30 is blocked, the finger is held immobile and cannot move away from the device.
• Setting the resonator, or each resonator, making up the device 1 to vibrate makes it possible to allow movement of the finger.
• THE finger may bend and move away from the device.
• the possible return means makes it possible to return the finger to a predetermined position
• control unit 40 can be configured to measure a movement of the part 30 and/or a force exerted on the flexible link 3.
• the force exerted can be measured by coupling with the return means 31 , or by using a strain gauge secured to part 30 or flexible link 3.
• Figure 4 illustrates an embodiment in which the part 30 is connected, at one of its ends, to a support surface 8, forming a push button.
• the push button can be actuated, or not, by an external body, for example a finger or a stylus.
• the return means can return the push button to a predetermined initial position.
• the support surface 8 may include a contact sensor, for example a capacitive effect sensor.
• the push button can be configured to control equipment, for example a musical instrument.
• the push button may be a key on a piano.
• the equipment may be industrial or consumer equipment, for example a computer or a machine control box.
• control unit 40 can be configured to measure a movement of the part 30 and/or a force exerted on the latter, by coupling with the return means 31 and/or setting work of a strain gauge integral with part 30.
• the part 30 is movable in translation.
• a movement of the part in translation, relative to the resonators, is considered optimal.
• the translation movement is preferably oriented parallel to the propagation of the vibrations exerted at the interface between the part 30 and the resonators.
• Figure 5 represents a configuration according to which the part is a cylindrical part, for example cylindrical of revolution, and movable in rotation.
• the part 30 is held between a first support 10, forming a first resonator 101 and a second support 20, forming a second resonator 102.
• the first support comprises a base 11, now a piezoelectric transducer 16, connected to a connecting plate 17.
• the second support 20 comprises a base 21, maintaining a piezoelectric transducer 26, connected to a connecting plate 27.
• the materials and dimensions of the main components are similar to those of the mode of producing Figure IA.
• An assembly part 32 connects the first support and the second support, so as to exert a constraint on the part 30, opposing rotation of said part.
• the frictional force between each resonator and the part decreases, with the part remaining in contact with each resonator. This allows the part 30 to rotate, for example under the action of a finger.
• each vibration produced by a resonator propagates in the plane of each connecting plate. Part 30 is always in contact with each support. This embodiment makes it possible to create a haptic interface of the adjustment wheel type.
• the invention makes it possible to obtain a compact and low weight device, which can be easily integrated into a glove, or any other compact haptic interface.
• the absence of electric motors guarantees stable operation of the interface, which contributes to good safety of use.
• a part has been described taking the form of a plate or a cylinder.
• Other shapes can be considered, for example a spherical or partially spherical shape.

Landscapes

• Engineering & Computer Science (AREA)
• General Engineering & Computer Science (AREA)
• Theoretical Computer Science (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Human Computer Interaction (AREA)
• Automation & Control Theory (AREA)
• Apparatuses For Generation Of Mechanical Vibrations (AREA)
• User Interface Of Digital Computer (AREA)
• Piezo-Electric Or Mechanical Vibrators, Or Delay Or Filter Circuits (AREA)
• Micromachines (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=85569652

Family Applications (1)

Country Status (3)

Family Cites Families (6)

• 2022
  • 2022-12-26 FR FR2214494A patent/FR3144344B1/fr active Active
• 2023
  • 2023-12-25 EP EP23837727.9A patent/EP4643197A1/de active Pending
  • 2023-12-25 WO PCT/EP2023/087785 patent/WO2024141519A1/fr not_active Ceased

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