WO2012004214A2 - Systeme de simulation d'un contact avec une surface par stimulation tactile - Google Patents
Systeme de simulation d'un contact avec une surface par stimulation tactile Download PDFInfo
- Publication number
- WO2012004214A2 WO2012004214A2 PCT/EP2011/061184 EP2011061184W WO2012004214A2 WO 2012004214 A2 WO2012004214 A2 WO 2012004214A2 EP 2011061184 W EP2011061184 W EP 2011061184W WO 2012004214 A2 WO2012004214 A2 WO 2012004214A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- simulation system
- stimulation surface
- stimulation
- simulation
- skin
- Prior art date
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Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/015—Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03548—Sliders, in which the moving part moves in a plane
Definitions
- the present invention relates to a system for simulating contact with a surface by tactile stimulation, for example to simulate the roughness or gripping of an object, intended for example to be used as a tactile interface in the field virtual reality or as a sensory interface in various fields such as transport, telephony, computing ...
- US2009 / 0036212 discloses a system for providing tactile information.
- the system is provided with a movable surface in two directions, for generating shear forces on the finger pulp and giving directional indications.
- this type of system is not able to generate a faithful sensation of texture, and does not simulate a surface roughness.
- a system comprising a surface with which is intended to come into contact with an area of the skin of the user, said surface being able to be displaced in at least one direction, advantageously two directions orthogonal to each other. such that it generates shear forces along the one or both directions at the skin area.
- the system includes electromagnetic actuators for moving said surface along the direction or orthogonal directions, the latter being able to provide a high pacing rate, which makes it possible to retranscribe, in a realistic way, the dynamic interactions of the touched, for example the texture of a surface.
- the system according to the present invention is then capable of generating a rendering of the tactile texture of a surface of very good quality.
- the actuators are able to provide a stimulation frequency of between 0 Hz and 1200 Hz.
- the electromagnetic actuators make it possible to have a very rapid refreshing of the stimulation applied to the skin area via the displacement of the stimulation surface, which makes it possible to simulate in a particularly realistic manner a modification of the texture of the skin. 'a surface.
- the surface is also able to be displaced along an axis orthogonal to the surface, thus applying a force normal to the skin zone oriented so as to deform it.
- the system then makes it possible to generate a local stimulation by indentation.
- the skin area is then for example the finger pulp and the system is then provided for at least two fingers.
- the clamping force is simulated and by applying tangential forces to the surface of the fingers, the weight of the object is simulated.
- the slip is simulated by a variation of the tangential forces.
- the surface is supported by elastically deformable support means in the displacement direction or directions, providing in a simple manner the desired one or two degrees of translation and forming return means in the equilibrium position of the surface.
- the present invention therefore relates to a system for simulating contact with a surface by tactile stimulation comprising a stimulation surface intended to come into contact with a skin zone of a user, said system comprising means for moving the surface stimulation circuit in at least a first direction substantially tangent to the skin zone, said moving means being controlled according to the simulation to be generated, wherein said moving means are electromagnetic actuators.
- the means for moving the stimulation surface are also able to move the stimulation surface in a second direction orthogonal to the first direction and substantially tangential to the skin zone.
- the means for moving the stimulation surface comprise three electromagnetic actuators arranged on a circle, distributed around a movable element supporting the stimulation surface, at 120 ° from each other.
- the means for moving the stimulation surface comprise four electromagnetic actuators, two actuators being arranged along the first direction of movement on either side of a movable element supporting the stimulation surface and two actuators being disposed along the second direction of movement on either side of the movable member supporting the stimulation surface.
- Each electromagnetic actuator may comprise a solenoid and a core around which is disposed the solenoid, the core being provided with a free face delimiting with a face of said movable member a gap.
- the cores have a section that is reduced in the direction of the mobile element.
- the faces delimiting the gap of each of the electromagnetic actuators may advantageously be inclined relative to the plane defined by the first and second directions of displacement, for example at an angle of 25 °.
- the stimulation surface is able to move along a third direction orthogonal to the first and second directions, said system comprising means for moving said stimulation surface along said third direction.
- the displacement means along the third direction may advantageously be merged with those ensuring the displacement along the first and second directions.
- the stimulation surface may comprise a roughness whose average amplitude is less than or equal to 100 ⁇ m.
- the simulation system may comprise a frame and means for supporting the stimulation surface, said support means being elastically deformable along at least one direction of displacement so as to allow the displacement of the surface of the stimulation surface. stimulation along said direction and provide a return of said stimulation surface in an equilibrium position.
- the support means are interposed between the frame and the movable member.
- the support means comprise at least three elastically deformable rods, said rods connecting the movable element and the chassis of the system.
- the rods may be polyurethane or elastomer, for example silicone.
- the support means comprise at least a first hollow cylindrical element with a rectangular section of longitudinal axis aligned with the first direction.
- the system according to the invention may comprise a second hollow cylindrical element of rectangular section whose longitudinal axis is aligned with the second direction and is superimposed on the first element and is integral therewith.
- the support means is disposed between the movable member and the stimulation surface, the movable member being suspended from the support means and the stimulation surface being supported by the support means.
- the support means may comprise a plate fixed on its periphery to the frame and comprising at its center cuts delimiting a central zone suspended by beams, the movable element and the stimulation surface being integral with said plate. at the level of said suspended zone.
- the electromagnetic actuators each comprise a solenoid controlled by a transconductance amplifier.
- the position of the stimulation surface is advantageously determined by the current applied to said solenoids.
- the present invention also relates to a virtual reality system comprising at least one simulation system according to the present invention.
- the system may be portable and adapted to be attached to a skin area, so that the skin area can move in space and the pacing surface remains in contact with said skin area.
- the invention may advantageously comprise at least one position sensor associated with the simulation system in order to know the position of the skin zone in space with respect to the surface to be simulated.
- the virtual reality system according to the invention can be used to stimulate the pulp of the fingers, and comprises systems for each of the fingers of a hand and forming a glove.
- the means generating simulation instructions are formed for example by a virtual reality simulation physics engine.
- the present invention also relates to a touch control system comprising at least one system according to the present invention, said system being for example a touch screen or a touchpad.
- the present invention also relates to a control method of a virtual reality system according to the present invention, said method comprising:
- the roughness profile is for example determined:
- FIG. 1 is an isometric perspective view of an exemplary embodiment of a system of simulation according to a first embodiment of the present invention
- FIG. 2 is a perspective view of the system of FIG. 1 in which two actuators have been removed
- FIG. 3 is a cross-sectional view of the system of FIG. 1 along a plane containing the X axis and normal to the Y axis;
- FIG. 4 is a view identical to that of FIG. 3, the system being mounted in a housing and represented in a simulation situation, with a finger in contact therewith,
- FIG. 5 represents the reproducible roughness profile in the spatial domain for the control of the system according to the present invention
- FIGS. 6A and 6B are graphical representations of the forces to be simulated in the case of the gripping of an object and the case of the sliding of the finger on a surface respectively,
- FIG. 7 is an example of a diagram of the electronic control of a simulation system according to the present invention.
- FIG. 8 is a perspective view of another example of a system according to the first embodiment according to the present invention, in which two actuators have been removed,
- FIG. 9 is a longitudinal sectional view of an example of a system according to a second embodiment according to the present invention
- FIG. 10 is a sectional perspective view of the system of FIG. 9 in which the stimulation platform and an actuator have been removed,
- FIG. 11 is a view from above of a part of the system of FIG. 9,
- FIG. 12 is an exploded perspective view of another example of the system according to the second embodiment according to the present invention.
- FIG. 13 is a view from above of the interior of the system of FIG. 12.
- the simulation system according to the invention is described in particular for stimulating the pulp of a finger.
- the present invention can be applied to any area of the skin of the user.
- the simulation system comprises a substantially plane element 2 movable relative to a chassis 6 and means for moving the mobile element 2 along at least two orthogonal X, Y axes and contained in the plane of the movable member 2.
- the system is mounted in a housing 7 having an upper opening.
- a platform 4 disposed at this opening is integral in motion of the movable member 2 at least in the X and Y directions, the platform 4 is provided with a surface 4.1 for coming into contact with a skin area to be stimulated .
- the surface 4.1 is mobile in a plane parallel to the XY plane.
- the surface area for a finger can for example be 10 mm ⁇ 10 mm. It can be larger in Touch Pad applications or touch screens.
- the chassis 6 comprises a plane base, the mobile element 2 is able to move parallel to the chassis 6.
- the surface 4.1 of the platform 4 may be smooth or slightly rough.
- the roughness must be such that the user does not feel it when there is no relative movement between the skin and the surface 4.1.
- the average amplitude of the roughness may be of the order of 100 ⁇ m, which corresponds to a Ra 63.
- the movable member 2 is supported by resiliently deformable support means along the X and Y axes on the stroke of the movable member.
- the support means are formed in this exemplary embodiment by several rods 8 elastically deformable, extending between the frame and the movable member, more particularly visible in Figures 2 and 3.
- the rods 8 are for example four in number and the movable member 2 rests on one end thereof opposite to that fixed in the frame.
- the rods 8 also form return means in central position of the movable element 2.
- the rods 8 are full.
- the frame 6 has protruding surface facing the element 2 pins 10 and the element 2 also has on its surface facing the frame pins 12 protruding.
- Each pin 10 of the frame 6 is aligned with a pin 12 of the element 2 along an axis perpendicular to the frame and the element.
- the pins 10 of the frame 6 and 12 of the movable member 2 are secured to the ends of the rods.
- the rod material is overmolded on the pins 10, 12, ensuring a certain rigidity to the assembly.
- the pins provide a guide platform 2 in translation along the two axes X and Y and prevent the platform 2 comes into contact with the frame 6. It is understood that any other type of assembly is within the scope of this invention.
- the rods are biased in flexion.
- the rods are for example polyurethane which gives them a very good elasticity in flexion.
- the rods 8 may alternatively be made of elastomer, for example silicone.
- the rods could be replaced by helical springs contiguous turns.
- the rods, and more generally the elastically deformable support means because of their flexibility, provide an elastic return effect of the platform in its equilibrium position and make it possible to control the open-loop system, since it is not no need to control the position of the platform.
- the elastic return could be replaced or supplemented by a conventional type of guidance system and means to know the position of the platform.
- the system further comprises means for moving the movable element 2 along the X and Y axes.
- the means for moving the movable element 2 are formed by electromagnetic actuators 14.1, 14.2, 14.3, 14.4.
- the system comprises four electromagnetic actuators. A pair of actuators 14.1, 14.2 is disposed on the X axis and a pair of actuators 14.3, 14.4 is disposed on the Y axis.
- the actuators are able to provide a high stimulation frequency, for example between 0 and 1200 Hz.
- the actuators 14,1, 14.2 are disposed on either side of the movable element 4 so that each acts on the element 2 in an opposite direction along the axis X.
- each actuator comprises a solenoid 18 and a magnetic circuit.
- the magnetic circuit is formed in part by the frame, the movable member 2, and a core 20 around which is disposed the solenoid 18.
- the axis of the solenoid 18 is perpendicular to the plane of the frame 6, but this configuration is in no way limiting.
- the chassis forming part of the magnetic circuit is therefore made of magnetic material.
- the chassis comprises at its center a protuberance located between the four rods 8 and under the element 2, closing the magnetic circuit.
- Each core 20 has a surface 22 facing a surface 24 of the mobile element 2 on which it exerts an attractive force in order to move the movable element 2 towards the core 18.
- the surfaces 22 and 24 of the cores and the movable member 2 are bevelled, the area of these surfaces is thus increased, which allows a better distribution of the force depending of the position.
- the angle of inclination of the surface 22, 24 relative to the plane defined by the X and Y axes is for example of the order of 25 °.
- the movable element 2 has the shape of a truncated apex pyramid.
- the truncated apex forms a flat support for the platform 4.
- Each of the inclined faces forms an interaction surface 24.
- the surfaces 22 are made so as to be parallel to the surfaces 24.
- Each pair of surfaces 22, 24 defines a gap in which the electromagnetic forces will be generated.
- the apex is pierced with two holes 26 intended to receive pins protruding from the surface of the platform 4 opposite the surface 4.1.
- the cooperation of the holes and pins ensures the solidarity of the platform 4 and the element 2 along the X and Y axes. It is understood that the provisions of the holes and the pins could be reversed. For example, the pins are forcibly inserted into the platform 2, thus ensuring the joining.
- the platform 4 can be fixed on the movable member 2 by gluing, by screwing and / or by clips.
- This exemplary embodiment is not limiting.
- actuators in which the interaction surfaces are contained in planes perpendicular to the plane defined by the X and Y axes are not outside the scope of the present invention.
- the system comprises three actuators arranged on a circle at 120 ° from each other.
- the displacement in one of the directions X and Y is then obtained by a vector sum of the forces applied by each of the actuators.
- the movable element 2 has for example the shape of a disc with beveled edge.
- the device can be powered by different techniques.
- the solenoids 18 are controlled by voltage, by applying a controlled voltage and allowing the current to evolve, with a conventional amplifier.
- the bandwidth of the device is then that of the circuit RL (formed by the resistance and the inductance of the solenoid).
- the solenoids are driven in current which makes it possible to increase the bandwidth.
- the voltage across the solenoid will be adjusted so that the through current is equal to the setpoint.
- the bandwidth of this system will be limited by the maximum voltage that the transconductance amplifier can deliver.
- electromagnetic actuators also has the advantage of not requiring sensors to measure the displacement of the movable element 2, since this can be deduced from the current applied to the solenoids. Indeed, the inductance of the solenoid depends on the position of the platform 2, it is then possible to measure this inductance to deduce the position of the movable member 2 and the platform 4.
- the surface 4.1 is moved so as to generate high stimulation frequencies, advantageously having a bandwidth of 0 to 1200 Hz, to retranscribe the dynamic interactions of the touch.
- the displacement of the surface 4.1 in a plane parallel to the XY plane then makes it possible to simulate a surface roughness or a surface texture.
- the system according to the invention can also make it possible to carry out indentation simulations by moving the surface 4 along an axis Z orthogonal to the X and Y axes in the direction of the skin zone.
- this displacement can be obtained directly with the system of FIGS. 1 to 4 by simultaneously feeding the four solenoids 18.
- actuators dedicated to the displacement along the Z axis. It may be a piezoelectric actuator, means of amplification of the stroke are then advantageously provided between 1 Actuator and element 2.
- An actuator using Laplace forces can also be used, this type of actuator has the advantage of offering a constant force over the entire stroke.
- a position sensor along the X axis is provided, in the case where the means of displacement along the Z axis are not electromagnetic actuators.
- an embedded system for virtual reality it may include position sensors for knowing the position of the finger in space and the speed of movement of the finger. Indeed, the feeling felt by the user depends on the location on the virtual surface and velocity of movement relative to the surface.
- the flexible support of the mobile part 2 allowing two degrees of freedom in translation then comprises a first hollow cylindrical element 28 of longitudinal axis aligned with the Y axis and a second hollow cylindrical element 30 of longitudinal axis aligned with the X axis
- the first and second elements 28, 30 are elastically deformable along the X and Y axes respectively and form deformable parallelograms.
- the two elements 28, 30 are superimposed and interpose between the frame and the movable element 2.
- the first element 28 is secured to the frame for example by screws or by pins inserted by force, and the second element is secured to the moving part 2.
- the elements 28, 30 are for example made of plastic material such as polyoxymethylene, such as Delrin® or metal.
- the system of FIGS. 9 to 11 differs from the systems according to the first embodiment in that the flexible support means allowing the translations in the two directions X and Y and ensuring a return to the equilibrium position are interposed between the platform 4 and the movable surface 2.
- the system comprises a support formed by a plate 32 fixed at its lateral ends to the housing 7, for example by screws at the four corners.
- the plate 32 is cut so that the cutouts 33 offer the two degrees of freedom in translation to the platform 4 and ensure the return to the equilibrium position.
- cutouts 33 are portions of spirals, three in the example shown, which are wound into each other.
- the three portions of spirals 33 define curved beams 34 at the ends of which a plate 35 is suspended.
- the platform 4 is integral with the suspended plate 35, for example the platform comprises a pin 36 projecting from its lower face, which is mounted by force in a bore 38 provided in the upper face of the suspended plate 35, in the center of the -this.
- the suspended plate is secured in movement of the movable part 2, for example by force insertion, by gluing or screwing.
- the movable part 2 and the suspended plate 35 being fixed to each other, the mobile part 2 is in fact also suspended by the beams 34 above the central protuberance of the frame.
- the plate is for example made of plastic material such as polyoxymethylene such as Delrin®, or metal.
- plastic material has the advantage, since it is generally relatively deformable, to allow a greater stroke.
- metal As for the use of the metal, the latter being more rigid, it has a lower damping effect, and therefore the energy losses are reduced.
- the cores 20 have, seen from above, an isosceles trapezium shape whose small base forms the air gap with the moving part.
- the cores then have a cross section which is reduced in the direction of the moving part, which causes a field concentration effect.
- the support means could be made by mechanical links, with elements articulated with respect to each other.
- it could be deformable parallelograms formed by rods articulated relative to each other by pivot links.
- Means of detecting the position of the platform would then preferably be provided.
- the support means would then be deformable mechanically, ie by means of joints.
- a virtual reality engine is a real-time simulation of a virtual mechanical environment. It takes as input the information on the position of the fingers and calculates the interaction forces according to the contact with a virtual object.
- the virtual engine uses previously established roughness profiles which will be described later.
- the simulation system comprises a coordinator 200, for example in the form of an electronic card, coordinating the data received from the physical engine 100, the load of a battery 300 of the system power supply and the instructions of each stimulation device.
- the data is transmitted wirelessly.
- the battery charge is monitored to prevent excessive discharge of the battery.
- the system comprises a microcontroller 400 for controlling the motors according to the orders received by the coordinator 200, and regulates the electromagnetic actuators 14.1, 14.2, 14.3, 14.3 in relation to the instruction and the information provided
- microcontroller 400 can interpolate the movements of the fingers from the information provided by the accelerometer 500.
- a force sensor 600 for example capacitive, may be provided to control the force applied by the motors on the fingers.
- This sensor is disposed between the movable element and the skin and measures the normal and tangential interactions. It is understood that the system according to the present invention can be adapted to stimulate any area of skin, not just the fingers. Moreover, it is conceivable to have a surface acting on several fingers simultaneously.
- the user fixes the surface 4 on the pulp of his finger 9, as shown in FIG. 4.
- the actuators are actuated according to a diagram corresponding to a roughness profile of a given object.
- the tangential force amplitude applied to the finger is measured for each position of the finger on the surface to be simulated. This measurement takes place during a movement of the finger on the surface. Taking into account the speed of movement of the finger is obtained by the position measurements.
- the simulation detects the position of the finger and the system, which is equipped with position sensors with respect to the virtual surface.
- the amplitude of the force to be applied is then connected as a function of the position of the finger thanks to the previously established roughness profile, and the actuators are actuated so that they move the movable element 2 and the platform 4 on the base. of the previously established roughness profile and apply the desired magnitude of force.
- the stimulation frequency of the actuators is high, they make it possible to carry out a stimulation refresh ensuring a realistic simulation.
- an exemplary reproducible roughness profile in the spatial domain can be seen by the system according to the present invention.
- the amplitude of the tangential force in mN can be seen as a function of the position in mm.
- This roughness profile corresponds to a displacement according to one dimension. In the case of displacement on a surface, the profile is made along two directions. In the case of a finger, the variation of the friction of the finger (and thus of the tangential force) is the index of perception of the roughness.
- the movable element 2 is then attracted successively to the cores 20, the surface 4.1 then moves relative to the surface of the pulp of the finger stimulating it and generating a simulation of the roughness of the surface of the given object.
- each finger is equipped with a system according to the invention.
- the systems include means for attaching the systems to the fingers, thereby allowing the user to move the fingers while maintaining contact with the surfaces 4.1.
- both normal forces F norma i are generated at the finger pulp simulating the clamping force, and tangential forces F ta n g in a direction simulating the weight of the object.
- the system according to the present invention provides a high pacing rate, which allows to cover the entire bandwidth of the touch, thus providing a realistic simulation.
- the system described is suitable for stimulating the pulp of a finger, but it is conceivable to make a plurality of glove-forming systems that can stimulate the pulp of several fingers, for example to simulate the grip of an object with all the fingers of one hand, or with both hands.
- the system according to the present invention is particularly suitable for virtual reality systems.
- the system stimulates the finger or any skin area correlated with the information provided by the virtual reality system with high fidelity.
- the system according to the invention can be used in the field of video games, interactive simulations, on a computer mouse, on a touchpad / touch screen or on a steering wheel, for example.
- the screen forms platform 4.
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- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Dermatology (AREA)
- Neurosurgery (AREA)
- Neurology (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP11733617.2A EP2591407B1 (fr) | 2010-07-06 | 2011-07-04 | Système de simulation d'un contact avec une surface par stimulation tactile |
CN2011800427834A CN103097990A (zh) | 2010-07-06 | 2011-07-04 | 通过触觉刺激模拟与表面的接触的系统 |
US13/808,386 US9298259B2 (en) | 2010-07-06 | 2011-07-04 | System for simulating a contact with a surface by tactile simulation |
JP2013517330A JP2013537660A (ja) | 2010-07-06 | 2011-07-04 | 触覚刺激により表面接触をシミュレーションするシステム |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1055479 | 2010-07-06 | ||
FR1055479A FR2962566B1 (fr) | 2010-07-06 | 2010-07-06 | Systeme de simulation d'un contact avec une surface par stimulation tactile |
Publications (2)
Publication Number | Publication Date |
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WO2012004214A2 true WO2012004214A2 (fr) | 2012-01-12 |
WO2012004214A3 WO2012004214A3 (fr) | 2012-06-07 |
Family
ID=43478220
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/EP2011/061184 WO2012004214A2 (fr) | 2010-07-06 | 2011-07-04 | Systeme de simulation d'un contact avec une surface par stimulation tactile |
Country Status (6)
Country | Link |
---|---|
US (1) | US9298259B2 (fr) |
EP (1) | EP2591407B1 (fr) |
JP (1) | JP2013537660A (fr) |
CN (1) | CN103097990A (fr) |
FR (1) | FR2962566B1 (fr) |
WO (1) | WO2012004214A2 (fr) |
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JP2013149005A (ja) * | 2012-01-18 | 2013-08-01 | Seiko Epson Corp | 触力覚呈示装置 |
WO2019141919A1 (fr) | 2018-01-19 | 2019-07-25 | Psa Automobiles Sa | Dispositif de mesure de l'impédance mécanique d'un doigt contactant une paroi tactile, pour un appareil |
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CN104412201B (zh) | 2012-05-09 | 2018-09-21 | 苹果公司 | 基于跟踪窗口来改变计算设备的输出 |
US10108265B2 (en) | 2012-05-09 | 2018-10-23 | Apple Inc. | Calibration of haptic feedback systems for input devices |
FR2991791B1 (fr) | 2012-06-06 | 2014-08-08 | Commissariat Energie Atomique | Interface de stimulation tactile par retournement temporel |
WO2013188307A2 (fr) | 2012-06-12 | 2013-12-19 | Yknots Industries Llc | Actionneur électromagnétique haptique |
FR2992120B1 (fr) | 2012-06-15 | 2014-07-18 | Commissariat Energie Atomique | Actionneur pour moteur ultrasonique et moteur ultrasonique comportant au moins un tel actionneur |
US9886116B2 (en) | 2012-07-26 | 2018-02-06 | Apple Inc. | Gesture and touch input detection through force sensing |
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- 2011-07-04 US US13/808,386 patent/US9298259B2/en not_active Expired - Fee Related
- 2011-07-04 CN CN2011800427834A patent/CN103097990A/zh active Pending
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Also Published As
Publication number | Publication date |
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EP2591407B1 (fr) | 2017-03-29 |
FR2962566A1 (fr) | 2012-01-13 |
CN103097990A (zh) | 2013-05-08 |
JP2013537660A (ja) | 2013-10-03 |
FR2962566B1 (fr) | 2013-05-17 |
US9298259B2 (en) | 2016-03-29 |
EP2591407A2 (fr) | 2013-05-15 |
WO2012004214A3 (fr) | 2012-06-07 |
US20130151960A1 (en) | 2013-06-13 |
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