Hybrid haptic interface with improved haptic feedback

Patent metadata

Field	Value
Publication number	US-10963051-B2
Application number	US-201615765748-A
Country	US
Kind code	B2
Filing date	Oct 6, 2016
Priority date	Oct 6, 2015
Publication date	Mar 30, 2021
Grant date	Mar 30, 2021

Abstract

A haptic interface including: a button that can be rotated by a user; an interaction element for interaction with a magneto-rheological fluid, secured to the button; a mechanism for measuring a current position of the button; a brake including a magneto-rheological fluid and a system for generating a magnetic field in the fluid; a rotary electric motor including a shaft secured in rotation to the button; a control unit generating orders for the magnetic field generating system and for the motor; and a mechanism detecting the user's intention for action on the button, the control unit controlling generation of a magnetic field and/or the motor based on the information obtained on the detection mechanism.

First claim

The invention claimed is:

1. A haptic interface comprising:
a first element configured to interact with a user and configured to be moved in a first direction and in a second direction;
a second element configured to interact with a fluid of which viscosity varies according to an external stimulus, the second element being secured at least in translation or at least in rotation to the first element;
a sensor configured to measure a current angular position of the first element;
an actuator configured to determine a direction of rotation of the first element;
a brake comprising a fluid of which apparent viscosity varies according to an external stimulus and a system configured to generate the stimulus on control in the fluid, with the second element being arranged in the fluid;
a rotating electromechanical device comprising a shaft secured in rotation to the first element, the shaft of the rotating electrical mechanical device, the first element, and the second element being coaxial;
a controller configured to generate orders for the system to generate the stimulus to modify a value of the stimulus, and for the rotating electromechanical device;
a detector configured to detect torque exerted by a user on the first element, in a case of the first element being mobile in rotation, to know a direction of torque and if the torque is greater than a given value for a given direction, with the controller controlling the system that generates the stimulus based on information obtained on the torque at least when a zero or low speed of the element for interaction with the user is detected, the detector including a cylindrical proof body that is coaxial with the rotating electrical mechanical device and that is configured to deform in response to the torque, the cylindrical proof body including one end fixed to the brake and another end fixed to a frame of the haptic interface.

2. The haptic interface according to claim 1 , wherein the rotating electromechanical device comprises an electric motor.

3. The haptic interface according to claim 1 , wherein the actuator configured to determine the direction of rotation of the element for interaction with the user is formed by the detector configured to detect the torque exerted by a user on the element for interaction with the user or use temporal variations of the sensor configured to measure a current angular position of the first element.

4. The haptic interface according to claim 1 , wherein the controller is configured to generate orders for the rotating electromechanical device to bring the first element into at least one given position.

5. The haptic interface according to claim 1 , wherein the controller is configured to generate orders for the rotating electromechanical device and for the system that generates the stimulus such that they act simultaneously on the first element.

6. The haptic interface according to claim 1 , wherein the controller is configured to generate orders for the rotating electromechanical device to apply a torque to the first element that offsets friction applied to the first element.

7. The haptic interface according to claim 1 , wherein the controller is configured to generate orders for the rotating electromechanical device and for the system that generates the stimulus such that, from at least one given angular position of the first element, the system that generates the stimulus acts and/or the rotating electromechanical device act on the first element, when the first element rotates in the first direction and in the second direction opposite the first direction, to oppose the rotation of the first element, and such that the rotating electromechanical device assists the rotation of the first element at least when the latter is pivoted in the first direction or the second direction towards the given angular position.

8. The haptic interface according to claim 7 , wherein the controller is configured so that, when the first element is in the given angular position, it generates orders for the rotating electromechanical device and/or for the system that generates the stimulus to apply a non-zero force on the first element.

9. The haptic interface according to claim 7 , wherein the controller is configured so that, when the first element is in an angular zone on either side of the given angular position, it generates orders for the rotating electromechanical device and/or for the system that generates the stimulus to not apply any force on the first element.

10. The haptic interface according to claim 9 , wherein the controller is configured so that, when the first element is at ends of the angular zone, it generates orders for the rotating electromechanical device and/or for the system that generates the stimulus to apply a force on the first element.

11. The haptic interface according to claim 1 , wherein the detector configured to detect the torque or the force applied by the user on the first element comprises at least one force sensor.

12. The haptic interface according to claim 1 , wherein the fluid is a magneto-rheological fluid, with the stimulus being a magnetic field.

13. A method for controlling a haptic interface according to claim 1 , comprising:
measuring a first current position of the first element;
recording the current position in a non-volatile memory;
measuring a second current position of the first element;
comparing the second current position and the first current position;
controlling the rotating electromechanical device so that the second current position corresponds to the first current position.

14. The method according to claim 13 , wherein measuring the second current position of the first element is carried out after an interruption in the electrical power of the controller.

15. A method for controlling a haptic interface according to claim 1 , with a purpose of reproducing a haptic pattern of a spring effect, comprising:
measuring a current position of the first element;
determining a direction of rotation of the first element;
controlling the rotating electromechanical device to apply a force in the direction of movement of the first element; or
controlling the rotating electromechanical device and/or the system that generates the stimulus to apply a force that opposes movement of the first element.

16. A method for controlling a haptic interface according to claim 1 , comprising:
controlling a rotating electromechanical device to apply a force in a direction of movement of the first element such that the rotating electromechanical device applies a torque that offsets an idling torque exerted on the first element.

17. A method for controlling a haptic interface according to claim 1 , comprising:
determining the speed of the first element from information provided by the sensor configured to measure the current position on the first element;
determining torque applied to the first element;
determining a current position of the first element;
if the speed is greater than a given speed, the direction of rotation is that given by the speed and the system that generates a stimulus is controlled to apply the recorded haptic pattern for the determined current position and for the determined direction of rotation;
if the speed is less than a given speed and if the torque or the force is greater than a positive threshold value or less than a negative threshold value, the direction of movement of the first element is deduced from the determined torque or force, and the system that generates a stimulus is controlled to apply a stimulus according to the haptic pattern

Assignees

• Commissariat Energie Atomique

Inventors

• Eck Laurent
• Hafez Moustapha
• Lejas Romain

Classifications

• H01H2003/008

  with a haptic or a tactile feedback controlled by electrical means, e.g. a motor or magnetofriction · CPC title

• G05G1/08

  Controlling members for hand actuation by rotary movement, e.g. hand wheels · CPC title

• 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 (arrangements for indicating the position of the controlling member G05G1/015) · CPC title

• G06F3/016 Primary

  Input arrangements with force or tactile feedback as computer generated output to the user · CPC title