WO2021198591A1 - Dispositif haptique passif - Google Patents
Dispositif haptique passif Download PDFInfo
- Publication number
- WO2021198591A1 WO2021198591A1 PCT/FR2021/050513 FR2021050513W WO2021198591A1 WO 2021198591 A1 WO2021198591 A1 WO 2021198591A1 FR 2021050513 W FR2021050513 W FR 2021050513W WO 2021198591 A1 WO2021198591 A1 WO 2021198591A1
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- WIPO (PCT)
- Prior art keywords
- mechanical
- magnetized
- haptic device
- magnet
- passive haptic
- Prior art date
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Classifications
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- 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
- G05G5/06—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member for holding members in one or a limited number of definite positions only
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B6/00—Tactile signalling systems, e.g. personal calling systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
- B06B1/04—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with electromagnetism
-
- 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
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- 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
- G05G1/025—Controlling members for hand actuation by linear movement, e.g. push buttons actuated by sliding movement
-
- 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
- G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
-
- 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
- G05G1/08—Controlling members for hand actuation by rotary movement, e.g. hand wheels
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04781—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional rotation of the controlling member
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
Definitions
- the invention relates to a passive haptic device, that is to say that can be manipulated by the finger or the hand or even possibly by the foot of a user and providing a variable force feedback and that without consumption of energy. electric energy.
- the present invention applies for example to a computer control interface or a control interface inside a motor vehicle or else a control interface of a household appliance.
- Manual haptic devices which are angularly indexed in a purely magnetic manner. These devices are based on a magnetic field source US3885560, or two magnetic field sources US3934216, oriented unidirectionally and constituted by permanent magnets, associated with soft ferromagnetic flux looping parts. These parts are arranged facing each other and define a magnetic air gap. They are cut so as to create a variable magnetic air gap permeance as a function of the phase shift between the fixed parts and the moving parts. When the teeth of the fixed assembly face the teeth of the mobile assembly, the permeance is minimal and the position is then indexed. These looping parts have the same number of teeth on the fixed part and on the moving part. This number is equal to the number of stable positions sought.
- the utility certificate application FR2935497 describes an angular indexing device based on the use of magnetic couplings between a fixed part and a rotating part. Each of these parts has alternating magnet poles (North and South) facing those of the other part. The parts have the same number of magnet poles, equal to twice the indexed positions sought. A position is indexed when all magnets of a given polarity of the movable assembly are aligned with all magnets of opposite polarity on the fixed assembly. This application does not present a soft ferromagnetic material for looping the flow.
- haptic devices it is often necessary to implement a position sensor in order to be able to control the operation of a device such as for example the movement of a computer pointer when the haptic interface is a mouse, or of a cursor on a dashboard screen, these examples not being limiting.
- the devices of the prior art often use optical, resistive or magnetic sensors which are juxtaposed with the haptic device, making the solution either bulky or uneconomical.
- the passive haptic devices of the prior art have mechanical members made of soft ferromagnetic material in areas where the magnetic induction varies greatly by the use of said devices. These variations induce losses of magnetic origin (by induced currents, by hysteresis effect, etc.) which provide significant friction and detrimental to the quality of the haptic rendering during dynamic use of the device.
- the present invention aims to overcome the drawbacks of the state of the art by allowing a simplified and more economical industrial production of the mobile and fixed mechanical members of a passive haptic device with magnet.
- the present invention proposes to produce a determined number of notches felt by the user by association of a fixed part and a mobile part, each having a minimized number of magnetic poles of North / South alternation, preferably less than the number of indexed positions desired, which makes it easier to achieve, and this while remaining passive, that is to say without the use of an electric coil and without the consumption of electric energy. It is also the object of the invention to provide a simple and economical solution for integrating a position sensor into such a haptic device.
- the invention relates in its most general sense to a passive haptic device comprising a first mechanical member moving relative to a second mechanical member, the first mechanical member having a magnet and a first plurality of magnetized zones spaced periodically according to a pitch PI, the second mechanical member having a second magnet and a second plurality of magnetized zones spaced periodically at a pitch P2, a force that varies periodically as a function of the relative position of said mechanical members being created by the magnetic interaction between said mechanical members , the magnetic interaction varying according to a period Pt, characterized in that all the magnetized zones of at least one of said mechanical members are magnetized in the same direction.
- the invention also relates to a haptic interface additionally exhibiting one or more of the following characteristics, taken separately or in any technically compatible combination: said first and second pluralities of magnetized zones are integral parts, respectively, of said first magnet and of said second magnet, at least one of the plurality of magnetized zones is made of a soft ferromagnetic material and magnetized by the magnet integrated into its mechanical member, said mechanical members are movable in relative translation, said mechanical members have the shape of a ring and are movable in relative rotation, the magnetized zones of said mechanical members of annular shape are magnetized radially, either in the centrifugal or centripetal direction, the magnetized zones of at least one of said mechanical members of annular shape are diametrically magnetized, said magnetized ring diametrically having two groups of teeth e not identical, these groups being separated by a number of non-integer steps, this number preferably equaling (x + 0.5) steps where x is a positive integer, said groups of teeth being preferably centered along a radius
- the pitch PI is identical to said pitch P2
- the mechanical air gap located between the mechanical member and the mechanical member is devoid of soft ferromagnetic materials
- the mobile mechanical member has a protuberance like a magnet, the field of which is intended to be measured by a magnetosensitive probe in order to provide positional information of said movable member
- said magnetizing protuberance and said magnet are made in one and the same piece
- the protuberance and the magnet are magnetized in the same direction and the same direction
- at least one of said magnets is produced by injection of plastic material charged with magnet powder
- at least one of said magnets is made of a sintered magnet
- said mechanical members have a relative displacement in at least two directions, the relative displacement with respect to a first direction giving occurs at said periodically variable force, and the relative displacement with respect to a second direction resulting in a continuously variable force similar to magnetic stiffness.
- the first mechanical member has two pluralities of magnetized zones spaced periodically according to the same pitch PI and in that said plurality of magnetized zones can be mechanically out of phase in order to modulate the amplitude of the force which varies periodically as a function of the relative position of said members mechanical.
- the terms “ring-shaped” or “annular-shaped” have the same meaning and denote the geometry of the envelope of a generally tubular part and of a height generally less than the diameter.
- the term “soft ferromagnetic material” will be understood to mean a ferromagnetic material with a low coercive field, typically less than 1000 A / m and having a relative magnetic permeability greater than 100.
- the invention relates to a passive haptic device comprising a mechanical member that can be moved relative to a second mechanical member by an action of the user (for example by the rotation drive by a finger), the object of the invention being characterized in that the plurality of magnetized zones of at least one of said mechanical members are all magnetized in the same direction.
- the same direction is understood to mean that for each point of the magnetized zone, the magnetization is carried by a vector m of coordinates (m 1 , m 2 , m 3 ), these coordinates being identical in the local coordinate system associated with each point considered, said local coordinate system being able to be expressed in Cartesian, cylindrical or spherical coordinates.
- said plurality of magnetized zones of at least one of said mechanical members does not have an alternation of North poles and South poles.
- the measurement of the magnetic induction in the mechanical air gap due to the mechanical member having the plurality of magnetized zones all in the same direction, in the direction of the magnetization vector m and along of a path traversing the plurality of magnetized zones, has a periodic function of fundamental period corresponding to the pitch of said plurality of magnetized zones, said periodic function possibly having harmonics of this fundamental period.
- the polar pitches PI and pitch P2 not necessarily being equal, the period Pt of the variable magnetic force preferably corresponds to the smallest common harmonic of the periodic function of fundamental period PI and of the periodic function of fundamental period P2.
- said mechanical members having the plurality of magnetized zones in the same direction are structured by shapes of teeth at the level of the surface delimiting the mechanical air gap. Said tooth shapes are to be taken in the sense of toothing, so they do not necessarily have projecting edges and may have an involute shape of a circle.
- the measurement of the magnetic induction near this surface has a continuous component of high amplitude and modulated by a periodic function of fundamental period corresponding to the pitch of said plurality of magnetized zones.
- the structuring of the surface by tooth shapes can be carried out in different ways, for example directly by structuring of the magnet either by molding using an injection of plastic loaded with particles of magnets or powder sintering, but also by the addition of ferromagnetic sheets having these tooth shapes, produced by stamping or machining. These production techniques do not limit the invention.
- the mechanical member having the plurality of magnetized zones in the same direction is magnetized according to a transverse diametrical direction, that is to say in one and the same direction according to a Cartesian coordinate system.
- Said mechanical member is structured by two groups of teeth at its surface facing the air gap.
- the groups of teeth have the same pole pitch corresponding to the pitch of said magnetized zone, and are spaced apart by a distance equal to an integer number of the pitch of said magnetized zone plus half a pitch.
- the measurement of the magnetic induction on the outskirts of said surface, according to a circular contour concentric with said ring has a sinusoidal component of high amplitude and periodicity 1 modulated by two pseudoperiodic functions of lower amplitude and of fundamental period corresponding to the pitch of said plurality of magnetized zones, said pseudoperiodic functions being phase-shifted by half a period.
- the space located in the vicinity of the surfaces is devoid of parts made of soft ferromagnetic material.
- This space exhibiting the greatest variations in magnetic induction, this configuration is advantageous for limiting losses by induced currents which slow down the device when it is used in a pulsed manner.
- the mechanical members have a magnet support capable of performing various functions, for example for the mechanical interfacing of said mechanical members, or for increasing the inertia of said mechanical members or else for purely cosmetic reasons.
- FIG. IA is a sectional view of a device according to a first rotary embodiment of the invention.
- FIG. IB Figure IB is a simulation of the magnetic induction in the mechanical air gap of a mechanical member of the device shown in Figure IA;
- FIG. 2A is a sectional view of a device according to a second rotary embodiment of the invention.
- FIG. 2B is a simulation of the magnetic induction in the mechanical air gap of the external member shown in FIG. 2B;
- Figure 3 is a partial sectional view of a device according to a third rotary embodiment of the invention.
- Figure 4 is a perspective view of a device according to an axially coupled rotary embodiment of the invention.
- FIG. 5 is a rear perspective view of the position detection system of a device according to a rotary embodiment of the invention
- FIG. 6 is a perspective view of a device according to a linear embodiment of the invention
- FIG. 7 is a perspective view of a device according to a spherical embodiment of the invention.
- FIG. 8 is a sectional view of a device according to a fourth rotary embodiment of the invention.
- FIG. 9 is a sectional view of a device according to a fifth rotary embodiment of the invention.
- FIG. 10 Figure 10 is a partial sectional view of a device according to a sixth rotary embodiment of the invention
- FIG. 11A-11B Figures 11A and 11B are perspective views of a device according to a seventh rotary embodiment of the invention, and showing different functional positions
- FIG. 12A and 12B Figures 12A and 12B are perspective views of a device according to an eighth rotary embodiment of the invention and showing different functional positions;
- FIG. 13 is a partial sectional view of a device according to a ninth rotary embodiment of the invention.
- Figure 14 is a partial sectional view of a device according to a tenth rotary embodiment of the invention.
- FIG. 1A represents a partial sectional view of a first embodiment of a haptic device according to the invention with rotary actuation having mechanical members (1, 2).
- a first mechanical member (1) of annular shape is housed concentrically inside a second mechanical member (2) also of annular shape.
- Said mechanical members (1, 2) are characterized in that they each comprise a magnet (11, 21) of annular shape each of said magnets (11, 21) having a plurality of magnetized zones (10, 20) periodically spaced apart respective angular PI and P2.
- Said magnetized zones (10) interact with said magnetized zones (20) so as to produce a variable force of period Pt as a function of the relative position of said mechanical members (1, 2).
- each of the magnetized zones (10, 20) does not have an alternation of North and South magnets, but has the same direction of radial magnetization and in the same direction.
- each of the annular magnets (11, 21) constitutes a pole whose polarities are opposite, the magnetic field looping back between these two poles in the axial direction ("out of plane").
- the outer periphery of the magnet (11) and the inner periphery of the magnet (21) are structured by dental shapes to form said magnetized zones (10, 20).
- the induction measured in the radial direction along of a circular contour close to the magnetized zones (10, 20) has a DC component modulated by a periodic function of fundamental period corresponding to the angular pitch (PI, P2) of said magnetized zones (10, 20).
- the measurement of the radial induction along a circular contour located in the mechanical air gap (40) has a DC component modulated by the periodic functions of fundamental periods PI and respectively. P2, these functions being out of phase by the relative rotational displacement of the mechanical members (1) and (2).
- FIG. 2A shows a partial sectional view of a second embodiment with rotary actuation close to the previous embodiment shown in FIG. IA. It differs from the first embodiment in that the magnet (21) of the mechanical member (2), ie the outer ring, has a transverse diametral magnetization direction.
- the inner periphery of the magnet (21) is structured by dental shapes divided into two groups of teeth separated by zones without teeth (50) to form said magnetized zones (20).
- the pitch between two teeth is identical and equal to the angular pitch (P2), and the two groups of teeth are preferably phase-shifted by half an angular pitch (P2).
- P2 the angular pitch
- P2 the induction measured in the radial direction along a circular contour close to the magnetized zones (20) has a sinusoidal component of periodicity 1 of high amplitude modulated by two pseudoperiodic functions of lower amplitude and of the same fundamental frequency corresponding to the angular step (P2), one modulating the positive half-wave of the sinusoidal component of periodicity 1, the other modulating the negative half-wave of the component sinusoidal of periodicity 1, the two pseudoperiodic functions being phase-shifted by half a period.
- phase shift of the groups of teeth by half an angular pitch is not limiting, it makes it possible to maximize the magnetic force when the device is actuated in rotation, said force being zero when the groups of teeth are perfectly phase.
- Figure 3 shows an embodiment similar to that shown in Figure 2A. It differs in that the characteristics of the magnets of the inner and outer rings are reversed.
- FIG. 4 presents an embodiment close to that illustrated in FIG. 2A.
- This embodiment is a transposition into an axial version of the radial rotary version shown in FIG. 2A.
- This embodiment differs in that the mechanical members (1, 2) are disks in relative rotary displacement and separated by a mechanical air gap (40) in the axial direction.
- the mechanical member (2) has a magnet (21), comprising a plurality of magnetized zones (20) all magnetized in the same axial direction and in the same direction (200). So for any point? of the plurality of magnetized zones (20) of the magnets (21), the magnetization vector m is always collinear with the vector ⁇ 1 ⁇ 2.
- Said mechanical member (2) is characterized in that the surface of the plurality of magnetized zones facing the mechanical air gap (40) is structured by shapes of teeth spaced by the same pitch P2 and are in vis-à-vis the second mechanical member (1).
- Said second mechanical member (1) also has a magnet (11), comprising a plurality of magnetized zones (10) all in the same direction and whose surface facing the mechanical air gap (40) is structured. by two groups of teeth of the same pitch PI, these groups of teeth being ideally separated from zones devoid of teeth (50) and separated by an integer number of pitches PI plus half a pitch.
- the plurality of magnetized areas within a group of teeth have the same direction of magnetization (101) opposite to the direction of magnetization (102) of the plurality of magnetized areas within the second group of teeth. Said two groups of teeth are thus magnetically phase-shifted by a half period and constitute the two pseudo magnetic periods of which the interest is explained in the description of FIG. 2A.
- the magnet protuberance (15) located in the upper part of the mobile can advantageously be a sub-part of the magnet (11) and have the same magnetization as the groups of teeth located below.
- This magnetic alternation created on the magnet protuberance (15) can be used as a field source for a magnetosensitive position sensor which would be located near the mobile (1), which constitutes an integration solution at greatly reduced cost.
- the magnet (11) being able to be magnetized integrally in a single operation to provide dual functionality both to achieve the haptic effect in interaction with the magnet (21), but also to provide the position information of the magnet. mobile mechanical member (1).
- FIG. 5 presents a mode of integration of a magnetic sensor intended to measure the absolute angular position of the movable mechanical member (2) for an embodiment with rotary actuation.
- This integration mode is compatible with all the previous embodiments, but is illustrated according to the second embodiment presented in FIG. 2A, the magnet support (22) not being shown.
- the mechanical member (2) is movable and the magnet (21) is closed at an axial end and has a cylindrical protuberance (25) magnetized in a transverse diametrical direction (200).
- the magnetic field of said protuberance (25) is measured by a magnetosensitive probe (30) so as to obtain the absolute angular position of said mechanical member (2).
- This embodiment is particularly advantageous in the case where the plurality of magnetized zones (20) have a transverse diametrical magnetization direction.
- the entire magnet (21) has a single magnetization direction (200) which makes the construction of the magnetization tool particularly simple and strengthens the magnetic field measured by the magnetosensitive probe (30 ).
- FIG. 6 shows an embodiment according to the invention with linear actuation.
- This is the linear transposition of the version explained in FIG. 2A in the radial rotary version or in FIG. 4 in the axial rotary version.
- the mechanical member (2) has a magnet (21), comprising a plurality of magnetized zones (20) all magnetized in the same vertical direction and the same direction (200). So for any point? of the plurality of magnetized zones (20) of the magnets (21), the magnetization vector m is always collinear with the vector ⁇ 1 ⁇ 2.
- Said mechanical member (2) is characterized in that the surface of the plurality of magnetized zones facing the mechanical air gap (40) is structured by shapes of teeth spaced at the same pitch (P2) and are opposite the second mechanical member (1).
- the second mechanical member (1) also has a magnet (11), comprising a plurality of magnetized zones (10) all in the same direction and whose surface facing the mechanical air gap (40) is structured. by two groups of teeth of the same pitch PI, these groups of teeth being ideally separated by a whole number of pitches PI plus half a pitch.
- the plurality of magnetized zones within a group of teeth have the same direction of magnetization (101) opposite to the direction of magnetization (102) of the plurality of magnetized zones within the second group of teeth.
- the magnet protuberance (15) located in the upper part of the mobile can advantageously be a sub-part of the magnet (11) and have the same magnetization as the groups of teeth located below.
- This magnetic alternation created on the magnet protuberance (15) can be used as a field source for a magnetosensitive position sensor which would be located near the mechanical member (1), which constitutes a solution of integration at high cost. reduced, the magnet (11) being able to be magnetized integrally in a single operation to provide dual functionality both to achieve the haptic effect in interaction with the magnet (21), but also to provide the position information of the magnet (21). the mobile mechanical member (1).
- FIG. 7 shows an embodiment according to the invention with rotary actuation in three orthogonal directions.
- This embodiment can be seen as the combination of 3 haptic devices as represented in FIG. 1A.
- Each of the 3 devices consisting of tracks respectively integral with a fixed mechanical member (2) on the one hand and on the other hand a movable mechanical member (1) attached to a control device actuated by the user.
- the first haptic device acting in a first direction, consists of tracks (13a) and (23a) magnetized according to the characteristics of FIG. 1A.
- the second device in a second direction of actuation consists of tracks (13b) and (23b).
- the tracks (13a, 13b, 13c) run through the plurality of magnetized areas (10) of the magnet (11), the tracks (23a, 23b, 23c) run through the plurality of magnetized areas (20) of the magnet (21) ), at least one of said magnetized zones (10, 20) all being magnetized in the same direction. So by analogy to the previous embodiments, for any point?
- FIG. 8 presents an embodiment similar to that presented in FIGS. 1A and 2A. It differs in that the mechanical member (1), ie the inner ring, has a plurality of magnetized zones (10) having an alternation of North and South poles and in that the angular pitches PI and P2 are different.
- the period Pt corresponds to a common harmonic of the functions periodic magnetization of period PI and P2 of the inner and outer rings.
- One of the means used to control the amplitude of the haptic effect is to play on the amplitude of the harmonics of the magnetization functions.
- the plurality of magnetized zones (10) have alternations of North and South poles of different width, this has the effect of increasing the amplitude of the even-order magnetization harmonics.
- any other means of controlling magnetization harmonics that a person skilled in the art could think of, such as the particular design of the inductor, or the structuring of the magnetized zones, is envisaged.
- FIG. 9 presents an embodiment similar to that presented in FIG. IA, it differs in that the plurality of magnetized zones (10) of the mechanical member (1) has an alternation of North and South poles.
- This embodiment is not limiting and a configuration with the outer ring consisting of an alternation of North / South poles and the inner ring, a toothed unipolar magnet, is also possible.
- Figure 10 shows an embodiment similar to that shown in Figure 2A. It differs in that the plurality of magnetized zones (10) of the mechanical member (1) is produced by cutting teeth, spaced by a pitch PI, in two semi-cylindrical parts (16, 17) having a cross section. in the form of a circular arc, made of a magnetically soft ferromagnetic material, coupled to a magnet (11) of parallelepiped shape.
- the magnet (11) is magnetized in a direction (100) in the direction defined by the plane of symmetry of the two poles of soft ferromagnetic material.
- a configuration where the characteristics of the inner and outer rings are interchanged is also contemplated.
- FIGS. 11A and 11B show an alternative embodiment according to the invention with rotary actuation.
- This embodiment differs from the embodiment shown in FIG. 2A in that the mechanical member (1), in the form of an inner ring, has two wafers superimposed axially, the two wafers each having a plurality of magnetized zones (10a) and (10b) radially magnetized.
- the two wafers can be temporarily separated and the plurality of magnetized zones (10a) of the first wafer can be out of phase with the plurality of magnetized zones (10b) of the second wafer of the mechanical member (1).
- FIG. 11A represents the configuration for which the plurality of magnetized zones (10a) and (10b) are in phase opposition, which has the effect of minimizing the effect of notching by interaction.
- the magnetized zones (10a, 10b) are mounted on the same axis.
- Their phase shift is achieved by means of an arm (14) integral with the first wafer, comprising the plurality of magnetized zones (10a). The phase shift can be adjusted when the locking device (19) is released, the arm (14) being movable angularly, while the second wafer comprising the plurality of magnetized zones (10b) is kept fixed with respect to the haptic device by means of a locking device (19).
- phase shifting device presented is entirely mechanical, but one can however imagine that it could be produced thanks to an electromagnetic actuator integrated into the mechanical member (1).
- FIGS. 12A and 12B show an alternative embodiment according to the invention with rotary and axial actuation.
- This embodiment differs from the embodiment shown in FIG. IA in that the mechanical member (1) has an additional degree of freedom in the axial direction.
- the cooperation of the plurality of magnetized zones (10) of the mechanical member (1) with the plurality of magnetized zones (20) of the second mechanical member (2) produces a stiffness effect during the relative displacement of the two mechanical members (1). and 2) in the axial direction.
- Figure 12A shows the axial position of the mechanical member (1) for which the axial restoring force is maximum between the two mechanical members (1, 2)
- Figure 12B shows the position of stability for which the force callback is zero.
- the second mechanical member (2) is fixed and the first mechanical member (1) can be moved axially and in rotation using an actuation interface (105), integral with said mechanical member (1). , and in the form of an axial cylindrical protuberance.
- the mechanical member (1) On the side opposite to said actuation interface (105), the mechanical member (1) has two magnet protuberances (15, 25), the first being annular and the second cylindrical in shape and housed therein. These two protuberances each cooperate with a magnetosensitive probe (30, 31), the first magnetosensitive probe (30) being able to measure, in cooperation with the magnet protuberance (15) having a diametrical or rotating magnetization, the relative rotary displacement of the two mechanical parts (1 and 2).
- the second magnetosensitive probe in cooperation with the magnet protuberance (25) exhibiting axial magnetization, is able to measure the relative axial displacement between the two mechanical members (1 and 2).
- the axial displacement with elastic return associated with a detection of said displacement, can make it possible to perform a selection button function.
- this variant with axial displacement is not limited to the embodiment based on that shown in FIG. 1A, but extends to all versions, of the notching device, compatible that would be considered by those skilled in the art.
- the detection of the axial position does not necessarily require the addition of a second magnet and a second probe, the skilled person can arrange the magnetosensitive probe (30) in a specific way and choose an appropriate magnetization. of the protuberance by magnet (15) so as to obtain the angular and axial displacement information with this single sensor.
- the version with two sensors only offers an improvement in the resolution of the measurement of said displacements.
- FIG. 13 shows an alternative embodiment according to the invention with rotary actuation.
- This embodiment differs from the embodiment shown in Figure IA in that the plurality of magnetized zones (10) of the mechanical member (1) has a direction of magnetization (100) opposite to that of the plurality of magnetized zones. (20) of the second mechanical member (2).
- This configuration also exhibits axial magnetic instability. This effect could be used to achieve an alternate repellant version of the device shown in Figures 12A and 12B.
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP21732371.6A EP4127859A1 (fr) | 2020-03-31 | 2021-03-25 | Dispositif haptique passif |
KR1020227036178A KR20220161359A (ko) | 2020-03-31 | 2021-03-25 | 패시브형 햅틱 장치 |
US17/995,231 US20230154295A1 (en) | 2020-03-31 | 2021-03-25 | Passive haptic device |
JP2022559373A JP2023519604A (ja) | 2020-03-31 | 2021-03-25 | 受動触覚装置 |
CN202180025470.1A CN115698896A (zh) | 2020-03-31 | 2021-03-25 | 无源触觉装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR2003203A FR3108741A1 (fr) | 2020-03-31 | 2020-03-31 | Dispositif haptique passif |
FRFR2003203 | 2020-03-31 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2021198591A1 true WO2021198591A1 (fr) | 2021-10-07 |
Family
ID=71662026
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2021/050513 WO2021198591A1 (fr) | 2020-03-31 | 2021-03-25 | Dispositif haptique passif |
Country Status (7)
Country | Link |
---|---|
US (1) | US20230154295A1 (fr) |
EP (1) | EP4127859A1 (fr) |
JP (1) | JP2023519604A (fr) |
KR (1) | KR20220161359A (fr) |
CN (1) | CN115698896A (fr) |
FR (1) | FR3108741A1 (fr) |
WO (1) | WO2021198591A1 (fr) |
Citations (10)
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US3885560A (en) | 1970-06-02 | 1975-05-27 | Affiliated Hospital Prod | Needle assembly having a folded bandage handle |
US3934216A (en) | 1974-12-11 | 1976-01-20 | Clarostat Mfg. Co., Inc. | Magnetic detent device |
DE4035011A1 (de) | 1990-11-03 | 1992-05-07 | Lucas Elektro Bau Elemente | Rastwerk, insbesondere fuer stufenschalter |
FR2766029A1 (fr) * | 1997-07-08 | 1999-01-15 | Ensmse | Dispositif simple d'accouplements magnetiques synchrones a entrefer cylindrique |
EP0909372A1 (fr) * | 1996-07-05 | 1999-04-21 | EUCHNER GmbH + Co. | Capteur angulaire manuel avec mécanisme magnétique à crants d'arrêt radial |
DE10353181B3 (de) * | 2003-11-13 | 2005-02-03 | Ebe Elektro-Bau-Elemente Gmbh | Rastwerk |
EP1529256A2 (fr) * | 2002-08-06 | 2005-05-11 | Engineering Matters, Inc. | Dispositif de commande a entrainement direct avec retroaction haptique |
FR2908903A1 (fr) * | 2006-11-20 | 2008-05-23 | Valeo Systemes Thermiques | Dispositif d'indexation pour tableau de commande d'un systeme de ventilation,chauffage et/ou climatisation. |
FR2935497A3 (fr) | 2008-08-28 | 2010-03-05 | Dura Automotive Systems Sas | Dispositif d'indexation angulaire d'un organe tournant par rapport a un support |
EP2381330A1 (fr) * | 2010-04-20 | 2011-10-26 | Valeo Systemes Thermiques | Dispositif de commande à indexage magnétique |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US885560A (en) | 1907-01-30 | 1908-04-21 | Edward A Worthington | Safety-brake for elevators. |
US9870021B2 (en) * | 2009-04-15 | 2018-01-16 | SeeScan, Inc. | Magnetic manual user interface devices |
JP6226425B2 (ja) * | 2014-01-31 | 2017-11-08 | アルプス電気株式会社 | 回転入力装置 |
FR3068539A1 (fr) * | 2017-06-30 | 2019-01-04 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | Convertisseur d'energie electromagnetique |
-
2020
- 2020-03-31 FR FR2003203A patent/FR3108741A1/fr active Pending
-
2021
- 2021-03-25 EP EP21732371.6A patent/EP4127859A1/fr active Pending
- 2021-03-25 CN CN202180025470.1A patent/CN115698896A/zh active Pending
- 2021-03-25 WO PCT/FR2021/050513 patent/WO2021198591A1/fr unknown
- 2021-03-25 KR KR1020227036178A patent/KR20220161359A/ko unknown
- 2021-03-25 JP JP2022559373A patent/JP2023519604A/ja active Pending
- 2021-03-25 US US17/995,231 patent/US20230154295A1/en active Pending
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3885560A (en) | 1970-06-02 | 1975-05-27 | Affiliated Hospital Prod | Needle assembly having a folded bandage handle |
US3934216A (en) | 1974-12-11 | 1976-01-20 | Clarostat Mfg. Co., Inc. | Magnetic detent device |
DE4035011A1 (de) | 1990-11-03 | 1992-05-07 | Lucas Elektro Bau Elemente | Rastwerk, insbesondere fuer stufenschalter |
EP0909372A1 (fr) * | 1996-07-05 | 1999-04-21 | EUCHNER GmbH + Co. | Capteur angulaire manuel avec mécanisme magnétique à crants d'arrêt radial |
FR2766029A1 (fr) * | 1997-07-08 | 1999-01-15 | Ensmse | Dispositif simple d'accouplements magnetiques synchrones a entrefer cylindrique |
EP1529256A2 (fr) * | 2002-08-06 | 2005-05-11 | Engineering Matters, Inc. | Dispositif de commande a entrainement direct avec retroaction haptique |
DE10353181B3 (de) * | 2003-11-13 | 2005-02-03 | Ebe Elektro-Bau-Elemente Gmbh | Rastwerk |
FR2908903A1 (fr) * | 2006-11-20 | 2008-05-23 | Valeo Systemes Thermiques | Dispositif d'indexation pour tableau de commande d'un systeme de ventilation,chauffage et/ou climatisation. |
FR2935497A3 (fr) | 2008-08-28 | 2010-03-05 | Dura Automotive Systems Sas | Dispositif d'indexation angulaire d'un organe tournant par rapport a un support |
EP2381330A1 (fr) * | 2010-04-20 | 2011-10-26 | Valeo Systemes Thermiques | Dispositif de commande à indexage magnétique |
Also Published As
Publication number | Publication date |
---|---|
FR3108741A1 (fr) | 2021-10-01 |
EP4127859A1 (fr) | 2023-02-08 |
US20230154295A1 (en) | 2023-05-18 |
JP2023519604A (ja) | 2023-05-11 |
CN115698896A (zh) | 2023-02-03 |
KR20220161359A (ko) | 2022-12-06 |
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