Classifications

• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02K—DYNAMO-ELECTRIC MACHINES
  • H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
  • H02K33/16—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with polarised armatures moving in alternate directions by reversal or energisation of a single coil system
• • 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
  • G08—SIGNALLING
  • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
  • G08B6/00—Tactile signalling systems, e.g. tactile personal calling systems
• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02K—DYNAMO-ELECTRIC MACHINES
  • H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
  • H02K33/02—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with armatures moved one way by energisation of a single coil system and returned by mechanical force, e.g. by springs
  • H02K33/04—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with armatures moved one way by energisation of a single coil system and returned by mechanical force, e.g. by springs wherein the frequency of operation is determined by the frequency of uninterrupted AC energisation
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04M—TELEPHONIC COMMUNICATION
  • H04M19/00—Current supply arrangements for telephone systems
  • H04M19/02—Current supply arrangements for telephone systems providing ringing current or supervisory tones, e.g. dialling tone or busy tone
  • H04M19/04—Current supply arrangements for telephone systems providing ringing current or supervisory tones, e.g. dialling tone or busy tone the ringing-current being generated at the substations
  • H04M19/047—Vibrating means for incoming calls

Definitions

• the present invention relates to a vibrotactile actuator for generating vibrations from movements generated by a Halbach network in interaction with an electric current.
• the invention finds applications in the field of haptic interfaces intended to reproduce tactile sensations by means of vibrotactile stimuli and, in general, in all the fields where vibrations cause sensations, for example in the domain of simulators or in the field of augmented reality.
• vibrotactile actuators to communicate information by touch to a human being.
• These vibrotactile actuators transform an electrical signal, generated by a machine (for example a mobile phone or a computer), into a vibration signal perceptible by the touch.
• the mobile phone is a well-known example of a device equipped with a vibrotactile actuator.
• the vibrotactile actuator generally comprises an eccentric mass driven in rotation by an electric motor, this mass generating, by its displacements, vibrations due to the principle of conservation of kinetic moment which inform the user of an information, by example of the receipt of a telephone call or a message.
• a known vibrotactile actuator is that used in certain touch pads for directing, by sliding a finger, a pointer on a screen.
• touchpads the movement of the pointer is achieved by varying a small electric current related to the proximity of the fingers, which by nature have easily detectable dielectric properties. This electrical variation also allows, by brief oscillations, to simulate the "click" of a mechanical button, such as the button of a mouse.
• touch pads have been described in particular by MacKenzie, I. Scott, and Aleks Oniszczak in the article: "The tactile touchpad", In CHI'97 Extended Abstracts on Human Factors in Computing Systems, pp. 309-310, ACM, 1997.
• these vibrotactile actuators are not only relatively thick but in addition they are generally mono frequency. They thus make it possible to generate vibrations of vibratory amplitude irremediably related to the speed of rotation and thus to the frequency of oscillation, which offers a feeling unique to the user.
• Another family of vibrotactile actuators rely on the resonance phenomenon of a mass-spring system and therefore have the same disadvantage. In other words, the user feels vibrations, but all vibrations are perceived in an identical manner.
• These known vibrotactile actuators are therefore not usable in haptic applications where one seeks to reproduce the rich sensations of touch.
• Such a linear motor 10 comprises, as represented in FIGS. 1A and 1B, an array of magnets 1 1 comprising a plurality of magnets 11a, 11b in which the polarities are alternated.
• This configuration of the magnet network 1 1 allows a concentration of field lines, generated by said network, substantially orthogonal to the plane of the magnet network January 1.
• This linear motor 10 further comprises first and second sets 12, 13 of electromagnetic coils, flat and rectangular. The sets of coils 12, 13 are each positioned in a plane parallel to the plane of the magnet array 1 1, on either side of said magnet network January 1.
• the sets of coils 12, 13 create, under the effect of an electric current passing therethrough, a horizontal Laplace force, between each plane of the coil assemblies and the plane of the magnet array.
• This Laplace force has the effect of moving the coil assemblies 12, 13 relative to the magnet array 11 and, conversely, moving the magnet array relative to the coil assemblies so as to generate a translational movement.
• One of the most known applications of such a linear motor is the magnetic levitation train in which the relative displacements successive stages between the coil assemblies and the magnet array ensure the movement of the train along a rail.
• certain magnet configurations have the particularity of guiding the field lines on only one side of the plane of the magnet array.
• This magnet configuration called the Halbach network, consists in arranging the magnets so as to break the symmetry of the geometry of the path of the field lines, as shown in FIGS. 2A and 2B.
• the magnets are arranged so that the polarization of the contiguous magnets differs.
• the polarization of two contiguous magnets can be oriented in orthogonal directions or at angles less than 90 °, as in the example of FIGS. 2A-2B, where the polarization direction offset angles are of the order of 45 °.
• the smaller the angle between the directions of polarization the smaller the dispersion of the field lines, which allows, at equal current, a greater relative displacement in translation.
• a vibrotactile actuator comprising a linear Halbach network motor in which the translational movements generated by the linear motor are transformed into haptic vibrations by sliding or elastic guide means.
• the invention relates to a vibrotactile actuator, comprising:
• a network of flat electromagnetic coils positioned contiguously in a plane and arranged so that an electric current flows, in adjacent segments of two juxtaposed coils, in common directions which alternate in pairs, said coil network being capable of generating a Laplace force, under the effect of an electric current flowing through the coil network, a network of permanent magnets linearly assembled in a plane parallel to the plane of the coil array and whose polarities are oriented in different directions, said array of magnets forming a Halbach grating generating magnetic field lines oriented towards the coil array, an electromagnetic interaction between lines of current flowing through the coil array and lines of magnetic fields causing, by force Laplace, relative translational movements between the coil array and the magnet array, and
• the invention relates to a vibrotactile actuator, comprising:
• a network of flat electromagnetic coils positioned non-contiguously in a plane and arranged so that an electric current flows in identical directions in each of the coils, said coil network being able to generate a Laplace force under the effect electrical current passing through said coil network,
• a network of permanent magnets linearly assembled in a plane parallel to the plane of the coil array and whose polarities are oriented in different directions, said network of magnets forming a Halbach grating generating lines of magnetic fields directed towards the grating coil (120), an electromagnetic interaction between current lines passing through the coil array and the magnetic field lines resulting, by Laplace force, relative translational movements between the coil array and the magnet array, and
• the vibrotactile actuator according to one or the other aspect of the invention may include one or more of the following features:
• the vibrotactile actuator comprises a frame in which are mounted the coil network and the magnet array.
• the elastic guide means are mounted at least partially between the frame and one of the network of coils and the magnet array.
• the elastic guide means are mounted longitudinally in the plane of the coil network.
• the elastic guide means are mounted longitudinally in the plane of the magnet array.
• the elastic guide means comprise at least two guide and return elements each mounted at one end of the network of coils or magnet network.
• the guide and return elements are made of an elastic material whose material and geometry lead to a bandwidth of between about 10 Hz and 10 kHz.
• Each guiding and restoring element comprises a thin S-shaped blade.
• Each guide and return element comprises a thin X-shaped blade.
• Each guide and return element comprises thin strips in the form of oblong loops mounted laterally on either side of the coil network or the magnet array.
• the guide and return elements optionally comprise obstacle means able to constrain relative translational movements in the normal direction to the magnet network and the coil network.
• the thin blade is electrically conductive and electrically feeds the network of coils.
• the guide and return elements are slidably mounted on rails fixed longitudinally in the frame.
• the guide and return elements comprise raceways which may contain balls to provide rotational translation guidance.
• Each coil of the network of coils comprises a track engraved in a printed circuit board.
• Each coil of the coil network comprises a wound conductive strip.
• Each coil of the coil network comprises a stack of flat turns.
• the positioning of the various elements of the actuator according to the invention will be defined in an orthogonal reference XYZ, in which the X axis defines the longitudinal direction of the actuator, the Y axis defines its direction transverse and the Z axis defines its vertical direction.
• the PA planes of the magnet array and PB of the coil array are parallel planes, defined along the XY plane of the XYZ mark.
• FIGS. 1A and 1B already described, represent a perspective view and an exploded view of a linear motor according to the prior art
• FIGS. 2A and 2B already described, represent a perspective view of a Halbach network as well as the field lines generated by this network;
• FIGS. 3A and 3B show two embodiments of a vibrotactile actuator according to the invention
• FIGS. 10A, 10B and 10C show various embodiments of the coils of the network of coils of the vibrotactile actuator according to the invention.
• FIGS. 12A-12B show still other embodiments in which the magnet network ensures the displacement of a moving surface.
• FIG. 3A shows a vibrotactile actuator according to some embodiments of the invention.
• This vibrotactile actuator 100 comprises a network of coils 120 and a network of magnets 110 forming together a linear motor.
• the coil array 120 has a plurality of electromagnetic coils juxtaposed longitudinally next to each other.
• the network of coils comprises four coils, referenced 121, 122, 123, 124.
• the coils 121 -124 electrically powered by a power source not visible in the figures, are connected together so as to form a linear coil network. They are arranged so that the current flows, in the adjacent segments of two juxtaposed coils, in common directions that alternate pairs in pairs.
• the coils are arranged so that the current flows in the same direction in the first segment, for example 121a, of a first coil 121 and in the second segment 122a of a second coil 122 when the first segment of the first coil is contiguous to the second segment of the second coil.
• the current in the segment 121a of the coil 121 and the current in the segment 122a of the coil 122 flow in the same first direction while the current in the segment 122b of the coil 122 and the current in the segment 123b of the coil 123 flow in the same second direction, this second direction being opposite to the first direction.
• the current in the segment 122a of the coil 122 and the current in the segment 124a of the coil 124 flow in the same direction, for example the first direction.
• the coil network 120 comprises a plurality of electromagnetic coils which are not contiguous with each other.
• the network of coils 1 20 comprises coils positioned in the same plane but spaced from each other by a predefined distance.
• the network of coils 120 comprises two coils, referenced 121 'and 123', spaced a distance of the order of the width of a magnet from the magnet array 1 10. Otherwise said, in this variant, the coils are not contiguous to each other and are traversed by a current whose direction is identical from one coil to another.
• FIG. 3B the coil network 120 comprises a plurality of electromagnetic coils which are not contiguous with each other.
• the network of coils 1 20 comprises coils positioned in the same plane but spaced from each other by a predefined distance.
• the network of coils 120 comprises two coils, referenced 121 'and 123', spaced a distance of the order of the width of a magnet from the magnet array 1 10.
• the coils are not contiguous to each
• the number of coils can vary according to, for example, the dimensions of the linear motor or the dimensions of the coils, without, however, modifying the configuration of the actuator described.
• the coils electrically powered by a power source not visible in the figures, are connected together so as to form a linear coil array 120. They are arranged so that the current flows in identical directions in each of the coils. In other words, the coils are arranged so that the current flows in the opposite direction in the first segment, for example 121 'a, of a first coil 121' and in the second segment 122'a of a second coil 122 ' when the first segment of the first coil is close to the second segment of the second coil.
• the coils 121 -124 or 121 '-124' are flat coils, for example of rectangular shape, positioned in the same first plane PB.
• the coils 121 -124 may be mounted and fixed on a support 125 plane so as to ensure the flatness of the coil network 120.
• This support 125 may be a wafer made of an insulating material ensuring a structural function such as ABS (Acrylonitrile Butadiene Styrene) or any other injectable plastic.
• the magnet array 110 is a Halbach grating, as shown in FIG. 4, having a plurality of flat permanent magnets whose polarities are oriented in more than two different directions.
• the polarity of a first magnet 1 18 can be oriented in the X direction, while that of a second magnet 1 17 (contiguous to the first magnet) is oriented in a direction forming an angle of 90 ° with the direction X and the Y direction, a third magnet 1 1 6 (contiguous to the second magnet) is oriented in the -X direction and a fourth magnet 1 (contiguous to the third magnet) is oriented in a direction forming an angle of 90 ° with the -X direction and -Y direction.
• a Halbach network makes it possible to orient the magnetic field generated by the magnet array on the same face of said network.
• Halbach network 1 10 comprises nine permanent magnets 1 1 1 1 -1 19, hereinafter simply called magnets, which have four directions of different polarities.
• magnets which have four directions of different polarities.
• the magnets 1 1 1 1 -1 19 are arranged longitudinally one after the other and assembled with each other, for example by gluing, embedding or hooping. These magnets 1 1 1 -1 19 are positioned so that two consecutive magnets have polarities of different orientations.
• the polarity of the magnet 1 1 1 is oriented in a direction at -90 ° with respect to the axis X
• the polarity of the magnet 1 12 is oriented in the opposite direction to the X axis
• the polarity of the magnet 1 13 is oriented in a 90 ° direction of the X axis
• the polarity of the magnet 1 14 is oriented in the direction of the X axis, the same pattern of polarity orientation being reproduced for the magnets 1 15 to 1 19.
• the magnets of the magnet array 1 10 are arranged linearly along a plane PA, parallel to the plane PB of the coil array 120, as shown in FIG. 3A.
• the PA planes of the magnet array and PB of the coil array are parallel planes defined along the X and Y axes of the XYZ mark.
• the plane PA of the magnet array 1 10 is remote, along the Z axis, from the plane PB of the coil network 120 so as to generate an air gap e (along the Z axis) between the coil network and the network of coils. magnets.
• This gap e is of a reduced size compared to longitudinal and transverse dimensions of the magnet and coil networks.
• the network of coils 120 is positioned vertically above the magnet array 1 10, the coils 121 -124 being opposite magnets 11 1 -1-19.
• the coil array 120 is positioned above the magnet array 110 as shown in FIG. 3A.
• the vibrotactile actuator 100 comprises in an orderly manner the frame 130, the magnet array 1 10 and the coil network 120.
• the coil network 120 is then in line with the network of coils. magnets 1 10.
• the magnet array 110 is positioned above the coil array 120.
• the vibrotactile actuator 100 comprises in an orderly manner, the frame 130, the network of coils 120 and the network of magnets 1 10.
• the magnet array 1 10, permanent is then in line with the network of coils 120 Whatever the relative arrangement of the coil array 120 and the magnet array 1 10, said magnet array generates magnetic field lines directed to the coil array 120.
• an oscillating current flows in the coil array 120 coils
• an oscillating Laplace force is generated along the X axis.
• the electromagnetic interaction between the current lines passing through the network of coils 120 and the magnetic flux generated by the magnet array 1 10 transforms the electrical energy into an energy linear mechanics generating relative translational movements between said magnet array and said coil array.
• the vibrotactile actuator comprises elastic guide means, referenced 140 in FIGS. 3 and 4, adapted to ensure the longitudinal displacement of the parts 1 10 and 120 relative to one another so that if the one of them is linked to an external object any displacement of the free piece will result in a displacement of the external object by the principle of the conservation of the kinetic moment, transforming the electrical energy into haptic vibrations.
• These elastic guide means 140 form an elastic suspension which guides one of the networks relative to the other along a substantially straight path.
• These elastic guide means 140 may be in the form of, for example, one or more guide and return elements, called more simply recall elements, or a sliding system - as described later - which aim to transform the electrical energy by interaction networks of coils 120 and magnets 1 10 in haptic vibrations using the force of Laplace for this purpose. Indeed, the elastic guide means 140, by their elastic characteristic, offer a large amplitude of vibration.
• the vibrotactile actuator comprises a frame 130 in which are housed at least in part the coil network 120 and the magnet array 1 10.
• This frame 130 may comprise a longitudinal plate 131 equipped, at least one of its ends, a support arm 132.
• the plate 131 of the frame 130 comprises a support arm 132 at each of its longitudinal ends.
• the elastic guide means 140 may be mounted in the frame 130 and secured to the support arms 132 and one or other of the networks of coils 120 or magnets 1 10.
• the magnet array 1 10 is secured to the plate 131 of the frame 130 and the coil array 120 is suspended above the magnet array 1 10 via the guide means. 140.
• An air gap e of fine thickness relative to the other dimensions of the vibrotactile actuator, is then created between the magnet array 1 10 and the coil network 120.
• This gap e can be, for example, a few tens of micrometers.
• the coil array 120 is free to move in translation in the X direction (in the + X direction and the X direction). X) with respect to the magnet array 1 10.
• the elastic guide means 140 may comprise return elements 140 formed between the network of coils 120 and the support arms 132, as shown in FIG. 3A, or between the magnet array 1. and the support arms 132, as shown in Figure 4.
• one of the networks (coils or magnets) is fixed on the plate 131 of the frame 130 while the other network is suspended between the elements of recall 140.
• the return elements 140 may be, for example, thin sections 141, 142 each positioned between the network of coils 120 or the network of magnets 1 10 and a support arm 132 of the frame 130.
• Each thin section 141 may have in the plane PA or the plane PB, an S shape with a first vertex 141 fixed to the support arm 132 and a second vertex 141b fixed to the longitudinal end of the network of coils or magnets. Examples of S-shaped thin sections 141 are shown in FIGS. 3 and 4. Such thin S-sections provide high torsional rigidity.
• the return elements 140 may be thin blades 142 having, in the plane PA or the plane PB, an X shape with two legs of the X 142a fixed on the arm 132 and two other legs of the X 142b attached to a longitudinal end of the network of coils or magnets.
• These embodiments have the advantage of producing a substantially more precise guidance than that provided by the thin blades 141 in the shape of an S.
• the thin sections 141, 142 are made of a sufficiently rigid material to remain longitudinally between the support arms 132 and the networks of coils or magnets and sufficiently elastic for transform linear mechanical energy into vibrations of variable amplitudes.
• the thin sections 141, 142 may be made in elastomers such as polysiloxanes, in rubbers or metal strips with a high elastic limit, such as certain cuprous alloys or steels for generating haptic vibrations from the linear mechanical energy resulting from networks of coils and magnets.
• the thin blades may, in particular, be made of a beryllium cuprous alloy, this material having the advantage of being sufficiently flexible and elastic to provide a wide bandwidth of the order of 10 Hz to several kHz.
• the tops of the thin S-shaped slats 141 or the legs of the X-shaped thin slats 142 are fixed to the support arms 132 and / or the longitudinal ends of the coil network or the magnet array, for example. example by gluing.
• the apices of the thin S-shaped slats 141 or the legs of the X-shaped thin slats 142 are molded, for example by injection, with the support arms 132 and / or the ends of the support 125 of the network. of coils.
• the thin blades 141 or 142 are made of an electrically conductive material.
• the thin blades not only form the return elements of the actuator 100 but they also form the electrical connections that electrically connect the coils to a power source.
• the magnet array 1 10 has the advantage of forming a thermal bridge which favors the dissipation of the heat produced by the Joule effect, in the coils 121 -124 during of the flow of electric current.
• the return elements 140 are sliders 143a, 143b slidably mounted on slides 143c and forming, with said sliders, a slide system 143. Examples of such embodiments are shown in the figures. 7 and 8.
• This slide system 143 comprises, for example, two parallel rails 143c, positioned longitudinally on either side of the network of coils 120 (example of FIG. 7) or of the magnet array 1 10 (example of FIG. Figure 8).
• slides 143c are fixed, at each longitudinal end, in the support arms 132 of the frame 130.
• the slides 143a, 143b of the slide system 143 are provided for sliding on the slides 143c.
• the slides 143a, 143b are movable transverse elements, integral with the network of coils 120 (example of FIG. 7) or the network of magnets 1 10 (example of FIG. 8).
• These slides 143a, 143b may each be fixed at a longitudinal end of the network of coils or magnets, for example by gluing, or may be formed in one piece, for example by molding, with the support 125 of the coil network. 120.
• the guidance can be provided by a rolling system where metal balls, plastic or elastomer, are constrained by raceways of a type well known to the user. skilled person.
• the sliders 143a, 143b may be associated with compression springs, for example two, provided to refocus the sliders to a rest position.
• the slides 143a, 143b made in a pair of materials with a low coefficient of friction such as steel against sintered bronze, or steel against self-lubricating plastics, make it possible to precisely guide the movement of the moving parts resulting from the interaction of coil networks and magnets in haptic vibrations.
• the network of coils 120 and the magnet array 1 10 are at least partially enclosed in a formwork 150, as in the example of FIG. 9.
• This formwork 150 is fixed on the network of coils 120 (embodiment not shown) or on the magnet array 1 10 (embodiment of Figure 9) so as to be movable in translation relative to the plate 131 of the frame 130.
• the formwork 150 then moves linearly, simultaneity with the network (of coils or magnets) of which it is solidary.
• the return elements 140 are formed between the formwork 150 and the support arms 132 of the frame 130, which allows a simplified mounting of the return means 140 in the actuator 100.
• the coil array 120 and the magnet array 110 are positioned between the frame 130 and a movable surface 152.
• the movable surface 152 for example a flat surface such as a screen touch or a left surface, is fixed on the magnet network 1 10, the coil network 120 being fixed on the frame 130.
• the coil network 120 and the magnet array 1 10 are positioned relative to each other and spaced from each other so as to allow the moving surface 152 to move relative to the frame 130.
• the movable surface 152 and the frame 130 are connected by elastic guide means 140 , as for example a flexible connection, which allow the displacement of said moving surface 152.
• the set of networks of coils 120 and magnets 1 10 thus generates a haptic feedback in the moving surface 152.
• a single coil network 120 and a n only network of magnets 1 10 are positioned opposite one another, substantially in the center of the moving surface 152.
• a first set of networks of coils 120 and magnets 1 is positioned at one end of the movable surface 152, a second set of coil arrays 120 'and magnets 1' being positioned at another end of said movable surface.
• the number of sets of coil networks and magnets and their positioning may depend on various criteria such as, for example, the dimensions and / or the mass of the moving surface, the dimensions of the coil and magnet networks, the desired applications, etc.
• the moving mass is optimized in the vibrotactile actuator of the invention, which allows said actuator to have a dimension along the small Z axis in front of the dimensions along the X and Y axes.
• the vibrotactile actuator of the invention can thus have a thickness of less than 4 mm, which gives it a format whose aspect ratio approaches that of a wafer.
• the coils 121-124 of the coils network are optimized in the vibrotactile actuator of the invention, which allows said actuator to have a dimension along the small Z axis in front of the dimensions along the X and Y axes.
• the vibrotactile actuator of the invention can thus have a thickness of less than 4 mm, which gives it a format whose aspect ratio approaches that of a wafer.
• FIG. 10A An example of an actuator comprising such a coil network is shown in FIG. 10A.
• the coil array is etched in the substrate 160 to the surface of which are connected electronic components 61 used by the device for applications other than haptic vibrations.
• the substrate 160 constitutes not only the network of coils but also the plate 131 of the frame.
• Support arms 132 are then fixed directly on the substrate 1 60 to maintain the magnet array 1 10 above the etched coils.
• These embodiments have the advantage of further reducing the size of the vibrotactile actuator since the network of coils is etched in the substrate 1 60.
• the actuator then has a thickness substantially equal to that of an electronic component.
• These embodiments furthermore have the advantage of simplifying the manufacture of the actuator by using known methods for manufacturing the network of coils and eliminating the connections necessary for the power supply of the coil network, which reduces the manufacturing costs while increasing the reliability of the actuator.
• each coil 121 -124 of the coil array has a round-section electrical wire wound, for example around a mandrel of rectangular section, so as to form a rectangular flat coil.
• each coil 121 -124 of the coil array includes a conductive ribbon 170 wound.
• This conductive strip 170 for example copper or aluminum sufficiently pure, is wound along its length, in a rectangular shape, so as to form a rectangular coil such as that shown in Figure 10B.
• This coil is a flat coil whose thickness corresponds to the width of the conductor ribbon.
• each coil 121 -124 of the coil array has a stack of turns 180 as shown in FIG. 10C.
• the turns 180 whose number depends on the thickness and / or the desired power for the coil, are made in sheets of conductive material, cut into rectangular rings and stacked on top of one another.
• Each turn 180 is connected to the next, or the previous one, for example by soldering points 181 so as to form a flat, multi-turn coil.
• Such coil winding coils have the advantage of being able to be manufactured directly in a support, which allows the realization of particularly fine actuators.
• the vibrotactile actuator may be advantageous to optimize the performance of the vibrotactile actuator by reducing the distance between the magnet array 110 and the coil array 120 to a very small value.
• the field lines of a Halbach array although generally orthogonal to the main plane of the grating in the regions of symmetry, tend to diverge in adjacent regions.
• the Laplace force is not perfectly tangential to the main plane of the actuator (plane of the network of magnets and / or coils) which may cause an inadvertent movement of the parts in relative movement in the normal direction Y.
• the guide and return elements may be thin blades 151 shaped loops positioned laterally between the frame 132 and the magnet network 1 10 or the network of coils 120, as shown in Figure 1 1 A.
• These thin blades 151 may be formed of thin metal ribbons or made in elastomers, such as those mentioned above, which have the advantage high rigidity in the Y direction, normal to PA, PB planes magnet and coil networks, and great flexibility in the tangential direction Z.
• These goats the 151 are connected to the moving part, for example to the network of magnets 1 10, on the one hand and the frame 132 on the other hand.
• a constraint can be obtained by means of obstruction, such as a fluid 1 90 introduced into the interstitial space available between the magnet network 1 1 0 and the coil network 1 20, that is to say between the moving parts reciprocal whose desired thickness value is preferably less than ten microns, as shown in FIG. 11B.
• a suitable fluid such as glycerine, ethylene glycol or refined mineral oil, which are low in toxicity and have appropriate viscosities.
• Another embodiment of the guidance in the normal direction Y to the plane PA and PB of the actuator may also consist of at least one pair of flanges 1 61 attached to the ends of the magnet arrays 1 1 0 and coils 1 20 reciprocal movement.
• These flanges 1 61 may be formed of parts comprising two thin sections as illustrated by FIG. 1 1 D.
• a quick calculation shows that if the displacement of a 2D amplitude of the magnet arrays 1 1 0 and coils 1 20 causes an inclination of plus or minus thirty degrees of the connecting rod 1 62, the variation of interstitial distance G will not exceed 14%.
• the vibrotactile actuator according to the invention can be inserted into or attached to any type of device to communicate haptic vibrations to said device. Indeed, if the plate 131 of the frame 130 is attached to a structure to which the vibrations must be communicated, by applying the principle of conservation of kinetic moment, at frequencies above the natural resonant frequency of the assembly consisting of the mass in motion and the suspension formed by the network of magnets or the network of coils, the ratio of the speeds of the coils and the mass of the structure to be vibrated are in the inverse ratio of their mutual masses.
• Such an actuator because of its small dimensions, can be fixed, for example, on a wristwatch type bracelet to communicate, by vibrations, the time to its user.
• the vibrotactile actuator according to the invention comprises various variants, modifications and improvements which will be obvious to those skilled in the art, it being understood that these variants modifications and improvements are within the scope of the invention.

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• Reciprocating, Oscillating Or Vibrating Motors (AREA)
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