• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A touch interface comprising a first surface (4) and n actuators (ai) for vibrating said first surface (4), n being an integer> 1, the control unit (UC) being able to generate a control signal (si) for each actuator (ai), each control signal (si) being a harmonic signal comprising a carrier signal at a non-radiative frequency.
    公开号:FR3064504A1
    申请号:FR1752794
    申请日:2017-03-31
    公开日:2018-10-05
    发明作者:Charles Hudin
    申请人:Commissariat a lEnergie Atomique CEA；Commissariat a lEnergie Atomique et aux Energies Alternatives CEA；
    IPC主号:
    专利说明:

    DESCRIPTION
    TECHNICAL AREA AND PRIOR ART
    The present invention relates to an interface offering a localized friction modulation by acoustic lubrication, which can in particular be implemented in a tactile interface.
    A tactile interface comprises a surface intended to be explored by one or more fingers. It may for example be the surface of a screen. We are trying to be able to restore sensations of textures when exploring the surface, while the surface is smooth.
    The feeling of texture can be obtained thanks to a technique using electro-vibration which increases and modulates temporally the coefficient of friction between the finger and the surface by creating an electrostatic force of attraction between the finger and an electrode protected by a thin transparent layer of insulating material. By implementing an electrode array, it is possible to obtain a spatial variation of the friction and therefore a multidigital exploration, also called "multitouch" of the surface. To obtain a notable effect, this electrovibration approach however requires applying high voltages, for example greater than 100 V to electrodes isolated from the finger by only a few microns of electrical insulating material. This technique therefore poses problems of safety in use and also requires, in order for the potential difference between the finger and the plate to be controllable, to maintain a common ground and therefore an electrical contact between the voltage source of the electrode. and the user.
    Another technique of temporal modulation of the apparent coefficient of friction between the finger and the surface, correlated to the movement of a finger, uses acoustic lubrication, which is generated by vibrating the surface at an ultrasonic frequency. This vibration, of an amplitude of the order of a micron, generates intermittent contact between the finger and the surface which results in a significant reduction in the apparent coefficient of friction. By modulating this effect according to the position on the surface, one gives the illusion of a spatial variation of friction and therefore of a texture. This technique is described for example in the document M. Wiertlewski, D. Leonardis, DJ Meyer, MA Peshkin, and JE Colgate, A high-fidelity surfoce-hoptic device for texture rendering on bore finger, in Internotionol Conférence on Humon Hoptic Sensing ond Touch Enabled Computer Applications, 2014, pp. 241-248, and the document E. Vezzoli, T. Sednaoui, M. Amberg, F. Giraud, and B. Lemaire-Semail, Texture Rendering Strategies with o High Fidelity Copocitive Visuol-Hoptic Friction Control Device, at the Eurohaptics 2016, London, 2016, vol. 9774.
    As indicated above, the sensation of texture is obtained by a temporal modulation of the apparent coefficient of friction correlated to the movement of a finger and not by a spatial variation of the friction. As a result, several fingers in contact with the surface are subjected to the same stimulus, and therefore feel substantially the same simulated texture.
    The document EPI 956 466 describes a tactile interface comprising a surface and a matrix of piezoelectric actuators in contact with the surface, all the actuators receive the same signal so as to excite a specific mode of the plate. All fingers feel the same texture.
    Methods use the amplitude and / or phase control of several eigen modes of the plate in order to be able to simulate different textures for several fingers. However, no method has yet made it possible to produce an interface which is capable of generating a localized modulation of the friction coefficient.
    STATEMENT OF THE INVENTION
    It is therefore an object of the present invention to provide an interface capable of locally modulating the coefficient of friction, so that, for example when the interface is implemented in a tactile interface and the tactile surface is explored by at least two fingers simultaneously, different apparent coefficients of friction can be generated for each finger, and thus make it possible to simulate different sensations of texture for each finger.
    The previously stated aim is achieved by an interface implementing acoustic lubrication, comprising a surface, at least one actuator capable of vibrating said surface. Said actuator is excited by a harmonic signal in which the carrier signal is at a so-called non-radiative frequency. By implementing a carrier signal at a non-radiative frequency, the vibrations generated by the actuator remain substantially confined to the area covered by the actuator. Only evanescent vibration waves are produced beyond the area covered by the actuator.
    So when the surface is a tactile surface explored by two fingers, the finger located on the area covered by the actuator feels an apparent modular coefficient of friction and the finger located outside this area, feels the actual coefficient of friction between the finger and the material of the touch surface.
    In the case where several actuators are used, the interface is such that each actuator can be excited by a different excitation signal. The carrier signal is preferably the same for all the actuators.
    In an advantageous example, the control signal can advantageously be modulated. According to the invention, each control signal can be modulated separately. It is then possible to generate an acoustic lubrication at the level of each actuator which differs from one actuator to another. So each finger can be stimulated differently and feel a different texture.
    Indeed, certain frequencies, called non-radiative frequencies, have been identified, for which very little energy propagates outside the surface of the actuator. However, generally one avoids placing oneself at these frequencies which can be identified at cut-off frequencies and one chooses the dimensions of the actuators in order to be outside of these actuation frequencies. Contrary to general practice, the inventor uses these frequencies to generate a control signal and obtains localized acoustic lubrication, which had not yet been obtained.
    By choosing one of these radiative frequencies as the frequency of the carrier signal, it is possible to reduce the apparent coefficient of friction on a zone confined substantially to the surface covered by the actuator, and therefore to only vibrate the zone of the surface. touchscreen covered by the actuator. By implementing several actuators, different stimulations for two fingers can be generated. Advantageously, the control signal can be modulated, making it possible to temporally modulate the variation in the apparent friction coefficient.
    By distributing actuators under the entire surface intended to be explored by touch, it is possible to simulate sensations of textures located over the entire tactile surface.
    The actuators are for example pellets made of piezoelectric material bonded to the surface of the plate opposite the surface intended to be explored by touch.
    Preferably, the non-radiative frequency or frequencies are chosen outside the audible frequency range so as to offer a touch interface with silent operation.
    The present invention therefore relates to an interface comprising a first surface and at least one actuator intended to vibrate said surface in a direction transverse to the surface, a control unit capable of generating a piloting signal, said piloting signal being a harmonic signal comprising a carrier signal at a non-radiative frequency.
    In an exemplary embodiment, the interface comprises n actuators intended to vibrate said first surface, n being an integer> 1, the control unit being able to generate a control signal for each actuator, each control signal being a harmonic signal comprising a carrier signal at a non-radiative frequency.
    Preferably, the carrier signal is identical for all the control signals.
    Advantageously, each non-radiative frequency is such that the amplitude of the vibrations generated by the actuator in an area of the surface outside an area of the surface covered by the actuator is less than the amplitude of the vibrations generated by the actuator in the area of the surface covered by the actuator of at least 10dB.
    In an exemplary embodiment, each non-radiative frequency is greater than or equal to 1 kHz
    According to an additional characteristic, the control signal (s) (s) comprise a modulation signal, having for example a modulation frequency of 1 Hertz to several hundred Hertz.
    In an exemplary embodiment, the interface may include a plate carrying the first surface. The actuator (s) are piezoelectric actuators secured, for example by bonding, to a second surface of the plate opposite the first surface, so as to vibrate the first surface.
    The interface can advantageously include means for detecting the presence of one or more objects or one or more tactile members of a user on the first surface and / or of the force exerted by the object or objects or the limb or touch limbs on the first surface. For example, the detection means implement the piezoelectric actuator (s) and are configured to measure a variation in electrical impedance of the piezoelectric actuator (s).
    In an exemplary embodiment, the actuator or actuators cover substantially the entire second surface.
    The interface can be a tactile interface, in which the first surface is a tactile surface intended to be explored by one or more tactile members of a user.
    The plate can be transparent and the actuators can also be transparent so as to allow a user to see a screen located under the plate.
    The present invention also relates to a device for micromanipulating objects comprising an interface according to the invention and means for generating vibrations in the plane of the surface.
    The subject of the present invention is also a method of restoring a feeling of texture by means of a tactile interface comprising a surface and at least one actuator capable of vibrating said surface, said method comprising:
    the step of generating a control signal comprising a harmonic signal comprising a carrier signal at a non-radiative frequency,
    the step of sending this piloting signal to the actuator so as to generate a modification of a coefficient of friction of an area of the tactile surface covered by the actuator.
    In the case of an interface comprising several actuators, the method can generate several control signals to excite several actuators separately, said control signals each comprising a harmonic signal comprising a carrier signal at a non-radiative frequency and the sending of this signal of piloting to the actuator so as to generate a modification of a coefficient of friction of an area of the tactile surface covered by the actuator.
    All the control signals advantageously have the same carrier signal.
    At least part of the control signals may include a modulated signal.
    BRIEF DESCRIPTION OF THE DRAWINGS
    The present invention will be better understood on the basis of the description which follows and of the appended drawings in which:
    FIG. 1 is a side view schematically represented of a touch interface according to an example of the present invention,
    FIG. 2 is a top view of the interface of FIG. 1,
    FIG. 3 is a representation of the response of a piezoelectric actuator as a function of the frequency of the excitation signal,
    FIG. 4A is a side view represented diagrammatically of a touch interface according to another example of the present invention comprising two actuators, FIG. 4B is a top view of the interface of FIG. 4A,
    FIG. 5 is a graphic representation of the amplitude of the vibrations in nm of a surface of a tactile interface according to the invention as a function of the frequency in kHz, comprising two actuators, during an excitation of the two actuators,
    FIG. 6 is a graphic representation of the displacement measured in nm as a function of the position on the touch surface,
    FIG. 7 shows graphical representations of the displacements in nm at the level of the actuators al and a2 and in a zone of the tactile surface outside the actuators al and a2, as a function of time in ms,
    FIG. 8 shows two graphical representations, one representing the position of a finger on the tactile surface as a function of time in s and the other the friction force in Newton seen by the finger as a function of time in s,
    - Figures 9A to 9D are representations of the displacement at the center of an actuator excited by two control signals having different carriers having the frequencies fl, f2, f3, f4 of Figure 3 respectively.
    DETAILED PRESENTATION OF PARTICULAR EMBODIMENTS
    The description which follows describes in detail the invention in an application to tactile interfaces. However, the invention may have other applications which will be described below.
    In FIGS. 1 and 2, a diagrammatic representation of an example of a tactile interface 11 according to the invention can be seen, comprising a plate 2 comprising a first surface 4 and a second face 6 opposite the first face.
    The first surface 4 is intended to be explored by touch, for example by the fingers of a user. The first surface 4 is designated the tactile surface.
    In the example shown, the touch surface is flat, as is the plate, but the present invention applies to curved touch surfaces and curved plates. The term “plate” is not limited to a planar element but to any element offering a great length compared to its thickness and which can be plane at least in part and / or have one or more curvatures.
    In the present application, it is considered, for the sake of simplicity, that the tactile surface 4 is intended to be touched by the pulp of a finger D or of several fingers. However, the surface of the interface according to the invention is suitable for apply stimulation to any part of the user's body sensitive to the sense of touch, designated as tactile limbs
    In the example shown, the interface comprises several actuators ai, with i an integer l <i <n, in contact with the second surface 6 so that, when one or more actuators is or are excited, they transmit vibrations to the plate 2. A touch interface with a single actuator is within the scope of the present invention.
    The actuators are for example piezoelectric actuators each comprising a piezoelectric ceramic pellet, such as PZT (Lead TitanoZirconate) or AIN (Aluminum Nitride) fixed on the second surface 6, for example by bonding or by deposit in thin layers. Alternatively, the actuators could be magnetostrictive. 3
    The actuators may cover the entire second surface 6 or be arranged only at certain positions on the second face 6.
    The plate can be made of plastic, metal, glass, ceramic.
    In the case of a touch interface, the thickness of the plate is preferably less than 1 mm in order to achieve sufficient amplitudes of movement of the plate while limiting energy consumption. In other applications, the thickness can be increased or reduced.
    Preferably, the thickness of the plate is chosen to be small compared to the dimensions of the actuator in the plane. Preferably, the length or the diameter of the actuator is equal to at least twice the thickness of the plate.
    Preferably the actuators have a circular shape, for example a disc shape or a ring shape. As will be explained in the following description, the actuators are excited at non-radiative frequencies. However, the existence of non-radiative frequencies is explained by the destructive interference of the waves produced over the entire periphery of the actuator. When the actuator is circular, all waves can cancel each other out perfectly. If the actuator has a non-circular shape, it is never possible, at a given frequency, to extinguish the waves completely in all directions. However, there are always frequencies of lesser amplitude of radiation. Whatever the shape of the actuator, one or more non-radiative frequencies can be determined.
    Furthermore, it is possible to choose actuator shapes approaching a circular shape, such as the hexagonal shape which also has the advantage of making it possible to pave the entire surface 6.
    In the example shown, the pellets are hexagonal in shape, which allows the entire second surface 6 to be paved while approaching the shape of the disc. Any other form of actuator can be envisaged, for example a square shape.
    The plate can advantageously be transparent, for example made of glass, as can the actuators so that it can be placed on a screen.
    In other applications, it is possible to envisage equipping, for example, the rear shell of a portable telephone with actuators to form a tactile interface and to interact with the digital content of the telephone. The touch pad of a portable computer could also be formed by a touch interface according to the invention.
    The actuators each have two electrodes (not shown), each in contact with a face of the patch and allowing them to apply a difference in excitation potential to generate the piezoelectric effect. The electrodes are also advantageously transparent for a touch interface applied to a screen.
    Each actuator is connected to a power source S. For example, at least two actuators can be controlled by separate excitation signals. All the actuators can be connected to the power source so as to be excitable each by a signal distinct from the signals applied to the other actuators. For example we can consider a dedicated wired connection for each actuator.
    In one operating mode, it is not possible to activate all the actuators at the same time. We can then use a reduced number of different control sources, for example five, each source producing a desired stimulation. Each actuator could be connected to one of the control sources according to the desired stimulation at the location of the actuator.
    The touch interface also includes a control unit UC which controls the sending of the signals to each of the actuators and the signal sent to each actuator.
    The control unit UC includes a module for generating control signals from each of the actuators.
    According to the invention, each actuator ai is controlled by a harmonic signal s ,, which can be written in the following general form:
    = Mj xP (t) i is an integer> 1 designating the actuator for which it is intended.
    P (t) is a carrier or a carrier signal of high frequency called nonradiative.
    In this embodiment, the carrier is identical for all the actuators and the modulation signal can be identical or different from one actuator to another.
    Each carrier can be written:
    P (t) = sin (27r f p t)
    With f p is a non-radiative frequency from 1 Hz to several hundred kHz in the case of a touch interface, or even one to several MHz for other applications.
    M, is adapted to the actuator ai. It can be a constant. Preferably, it may be a low frequency modulation signal for the actuator i and is written Μ, (ΐ).
    The modulation signal Mi (t) has a spectral content in the tactile perception range, of the continuous signal at a frequency less than 1 kHz, for example of the order of 50 Hz. It can therefore be a sinusoid , a niche, etc.
    In the present application is meant by "non-radiative frequency", an excitation frequency of an actuator for which a small part of the energy transmitted to the plate propagates outside the area covered by the actuator. For example, it is considered that the frequency of the carrier signal is a non-radiative frequency, when the amplitude of movement or vibration outside the area covered by the actuator is less than the amplitude of movement or vibration in the area covered by the actuator by at least 10 dB, very advantageously by at least 80 dB and preferably by at least 100 dB. The vibration waves outside the area covered by the actuator are mainly evanescent waves.
    The area covered by the actuator is the area of the tactile surface located to the right or directly above the actuator and having the same dimensions as that of the actuator. In the case of a disc-shaped actuator, the area covered by the actuator is an area of the tactile surface in the shape of a disc of the same diameter as the actuator and directly above it.
    The inventor has determined that there are such actuator drive frequencies.
    In FIG. 3, we can see the variation in amplitude Amp in dB of the vibration at the center of an actuator ai (curve I) and the amplitude of a propagation wave outside the actuator (curve II) as a function of frequency F in kHz. These curves are obtained by calculation. It is observed that at certain frequencies f1, f2, f3 the amplitude of the propagation wave outside the actuator is canceled. In the example shown, fl = 25 kHz, f2 = 90 kHz and f3 = 195 kHz. By choosing one of these frequencies to excite the actuator, the vibration transmitted to the plate is substantially limited to the area covered by the actuator. These frequencies are the non-radiative frequencies.
    The values of the non-radiative frequencies depend, among others:
    - thicknesses of the plate and the actuator,
    - dimensions of the actuator, such as its radius, its length depending on its shape,
    - elasticities (Young's modulus) of the plate and the actuator,
    - fish coefficients of the plate and the actuator,
    - the densities of the plate and the actuator.
    When the actuator has a small thickness compared to that of the plate, only its length has a significant influence, its mechanical properties and its thickness are then without significant influence.
    It should be noted that the dimensions of the plate have no influence on the values of the radiative frequency (s).
    Thanks to the invention, it is possible to generate different friction or texture patterns for each actuator. Thus, a given texture can be assigned to each area covered by an actuator. It is therefore not necessary to have means of detecting the presence of the finger (s). However, this implies a permanent actuation of all the actuators.
    In another embodiment, one or more control signals if (t) could include different carriers.
    For example in Figures 9A and 9B, we can see the vibration amplitude profiles at the center of an actuator for two different non-radiative frequencies, i.e. controlled by two signals having different carrier signals. For FIG. 9A, the carrier at the non-radiative frequency f1 (FIG. 3) of approximately 25 kHz and in for FIG. 9B, the carrier has a non-radiative frequency f2 of approximately 90 kHz. The surface of the actuator is delimited between the two vertical dotted lines. It can be seen that the displacement profile at the center of the actuator varies with the carrier frequency. In addition, it can be seen that outside the area covered by the actuator, it is mainly evanescent waves which propagate.
    In FIGS. 9C and 9B, one can see the amplitude profiles of the plate at the level of the surface covered by the actuator and of the surface around the actuator at radiative frequencies f3 of approximately 10 kHz and f4 d 'around 60 kHz (Figure 3), there is an amplitude of vibration around the actuator comparable to or even greater than those in the center of the actuator.
    FIGS. 9A to 9D illustrate the efficiency of localization of the vibrations obtained thanks to the invention by selecting carriers at non-radiative frequencies.
    By choosing control signals with different carriers, it is possible to spatially control the displacement field in the area covered by the actuator.
    In a variant, it is conceivable that the same control signal comprises several carriers, each at a non-radiative frequency. The signal is then a linear combination of carrier. It can be written for example in the case of two carriers:
    Sj (t) = MliXsin (2nfpit) + IVI2iXsin (2nfp2t)
    The displacement field at the center of the actuator is then a combination of the displacement fields generated separately by each carrier.
    Advantageously, the interface includes means 8 (FIG. 4A) for detecting the position of the finger (s) and / or the force exerted by it or these on the surface. Thus it is possible to modulate the stimulation according to the position of the fingers or the forces exerted on the surface. Modulation can only be activated in areas likely to be affected, resulting in a reduction in the energy consumed to operate the touch interface. In addition, monitoring the movement of the finger advantageously makes it possible to give the illusion of a texture finer than the dimension of the actuator itself. If the actuator is small enough so that a maximum of one finger can be above it, the illusion of texture is preserved without having to use means to detect the presence of the finger. Force measurement simulates stiffness.
    According to an exemplary embodiment, the detection of the presence of a finger can be obtained by capacitive means. The finger and the upper electrode of the actuator form the two electrodes of a flat capacitor separated by an intermediate insulating plate. In addition it is possible to use these means to follow the movement of the fingers.
    According to another example, the detection of the presence of a finger can be carried out by measuring a variation in electrical impedance of the piezoelectric material of the actuator. This detection is not very precise but is sufficient to implement the present invention.
    In FIGS. 4A and 4B, one can see side and top views respectively of an example of touch interface 12 with two piezoelectric actuators a1 and a2 arranged one next to the other.
    In FIG. 5, we can see the measured variation of the amplitude amplitude of vibration / applied voltage as a function of frequency F in kHz at the center of one of the actuators (curve Γ) and at any point on the plate outside the area covered by the actuator.
    We again note the existence of the non-radiative frequencies fl ', f2' at around 30 kHz and 100 kHz.
    By choosing as a non-radiative frequency for the carrier signal, only the surface of the plate covered by the actuator is vibrated. We can then excite two actuators independently of each other and generate different stimulations on the same surface.
    Preferably, the non-radiative frequency which chooses the displacement of the highest amplitude is chosen. In the present case, it is the frequency f1. It will be understood that the other frequencies can be chosen according to the applications.
    In FIG. 6, we can see the displacement D measured of the plate in nm as a function of the position P on the plate in mm, when the two actuators a1 and a2 are excited. The frequency of the carrier f p is equal to 33 kHz, the modulation frequency of the actuator al is equal to 25 Hz and the modulation frequency of the actuator a 2 is equal to 100 Hz. The plate has a surface of 148x200 mm 2 and the displacement is measured every 2 mm.
    It can be seen that the displacement is appreciably greater at the level of the two actuators, approximately 250 nm while the displacement is less than 50 nm on the rest of the plate. The dotted lines delimit the axial extension of the actuators along the X axis (see fig. 4A and 4B). It can be seen that the maximum displacements for the two actuators are substantially the same despite the different modulation frequencies.
    In FIG. 7, we can see the variations in displacement in nm at the center of the actuators a1 (curve III) and a2 (curve IV) as a function of time t in ms. It is noted that the displacement is modulated separately for the two actuators, the modulation of the actuator a2 taking place at a higher frequency (100 Hz) than that of the actuator al (25Hz). Curve V shows the variation in displacement of the zone between the two actuators, it can be seen that the displacement is modulated but that its amplitude is very low compared to that of the displacements at the level of the actuators a1 and a2.
    In FIG. 8, we can see a curve VI representing the position of a finger on the surface of the plate along the X axis in mm as a function of time in seconds. Position 0 is located in the middle of the two actuators, and a curve Vil representing the friction force in Newton applying to the finger. There is a significant localized decrease in the friction force on the areas covered by the actuators. The friction force varies from 0.6 N to 0.4 N when the finger passes over an actuator. The actuator a1 is modulated at 25 Hz and the actuator a2 is modulated at 200Hz.
    These curves illustrate the effectiveness of the invention. It is therefore possible to move in an out-of-plane direction at high frequency, different zones of the surface separately from one another and therefore to stimulate several fingers separately.
    Thanks to the present invention, it is possible to locally control, the amplitude and therefore the friction of a finger on a surface, unlike the interfaces of the prior art in which the propagation of waves in the plate causes a variation of the coefficient of friction substantially uniform on the whole of the tactile surface.
    Those skilled in the art can determine the non-radiative frequencies for a given interface, by calculation or experimentally, and establish the control signals suitable for localized acoustic lubrication according to the invention.
    Since the non-radiative frequency band extends over several kHz, a low frequency modulation, for example at a few tens of kHz in the range of tactile sensitivity does not disturb the localization of the vibration.
    Any form of plate can be used as well as any form of actuator.
    The plate can advantageously have a low attenuation time constant, advantageously of the order of ms or even less than 1 ms, which makes it possible to further promote the localization of the vibration by rapidly damping the fraction of propagating energy. outside the area covered by the actuator.
    The amplitude of vibration above an actuator is directly proportional to the voltage applied to the actuator, it follows that the reduction of friction above an actuator is directly related to the value of tenson which is applied.
    The interface according to the invention can be used in fields other than that of tactile interfaces, for example it can be used in the field of micromanipulation by acoustophoresis.
    For example, it is possible to couple a localized out-of-plane vibration obtained thanks to the piloting signal as described above so as to "suspend" the object from a vibration in the plane of the plate in order to move the object. It is thus possible to move in the plane of the objects located in desired zones of plate. We can consider moving objects from a few pm to several cm. The movable mass depends on the thickness of the plate, for example an object of a hundred grams can be moved by vibrations of a plate of the order of mm.
    The present invention can also be applied to the manipulation can objects in a fluid, such as water or air, located above the plate, according to the technique described in the document "Formation of inverse Chladni patterns in liquids at microscale: roles of ocoustic radiation and streaming-induced drog forces ”- Microfluid Nonofluid (2017) 21: 50
    The interface according to the invention can also be implemented in the field of cell biology. Indeed the vibrations of the support on which cells develop influence their differentiation and their growth, as described in the article "Effect of low-magnitude, high-frequency vibration on osteogeny differentiation of rat mesenchymal stromal cells" J Orthop Res .
    2011 July; 29 (7): 10751080. Thanks to the present invention, it is possible to apply localized vibrations to different biological tissues within the same culture. For example, one can instrument a Petri dish with actuators and thus develop complex biological tissues.
    权利要求:
    Claims (17)
    [1" id="c-fr-0001]
    1. Interface comprising a first surface (4) and at least one actuator (ai) intended to vibrate said surface (4) in a direction transverse to the surface, a control unit (UC) capable of generating a control signal (s,), said control signal (s,) being a harmonic signal comprising a carrier signal at a non-radiative frequency.
    [2" id="c-fr-0002]
    2. Interface according to claim 1, comprising n actuators (ai) intended to vibrate said first surface (4), n being an integer> 1, the control unit (UC) being able to generate a control signal ( s,) for each actuator (ai), each control signal (s,) being a harmonic signal comprising a carrier signal at a non-radiative frequency.
    [3" id="c-fr-0003]
    3. Interface according to claim 2, in which the carrier signal is identical for all the control signals (s,).
    [4" id="c-fr-0004]
    4. Interface according to claim 1, 2 or 3, in which each non-radiative frequency is such that the amplitude of the vibrations generated by the actuator (ai) in a zone of the surface outside a zone of the covered surface. by the actuator (ai) is less than the amplitude of the vibrations generated by the actuator (ai) in the area of the surface covered by the actuator (ai) by at least 10dB.
    [5" id="c-fr-0005]
    5. Interface according to claim 4, in which each non-radiative frequency is greater than or equal to 1 kHz
    [6" id="c-fr-0006]
    6. Interface according to one of claims 1 to 5, in which the control signal or signals (s) comprise a modulation signal, having for example a modulation frequency of 1 Hertz to several hundred Hertz.
    [7" id="c-fr-0007]
    7. Interface according to one of claims 1 to 6, comprising a plate (4) carrying the first surface (4) and in which the actuator (s) (ai) are piezoelectric actuators secured, for example by bonding, of a second surface (6) of the plate (2) opposite the first surface (4), so as to bring into
    5 vibration the first surface (4).
    [8" id="c-fr-0008]
    8. Interface according to one of claims 1 to 7, comprising means for detecting (8) the presence of one or more objects or of one or more tactile members of a user on the first surface (4) and / or the effort exerted by the
    10 or the objects or the member or the tactile members on the first surface (4).
    [9" id="c-fr-0009]
    9. Interface according to claims 7 and 8, in which detection means (8) implement the piezoelectric actuator or actuators and are configured to measure a variation in electrical impedance of the actuator or actuators
    15 piezoelectric.
    [10" id="c-fr-0010]
    10. Interface according to one of claims 1 to 9 in combination with claim 7, wherein the actuator or actuators (ai) cover substantially the entire second surface (6).
    [11" id="c-fr-0011]
    11. Tactile interface comprising an interface according to one of claims 1 to 10, in which the first surface is a tactile surface intended to be explored by one or more tactile members of a user.
    25
    [12" id="c-fr-0012]
    The touch interface according to claim 11, wherein the plate is transparent and the actuators (ai) are transparent so as to allow a user to see a screen located under the plate.
    [13" id="c-fr-0013]
    13. Device for micromanipulating objects comprising an interface according to one of claims 1 to 10 and means for generating vibrations in the plane of the surface.
    [14" id="c-fr-0014]
    14. Method for restoring a feeling of texture by means of a tactile interface comprising a surface and at least one actuator capable of vibrating said surface, said method comprising:
    the step of generating a control signal comprising a harmonic signal comprising a carrier signal at a non-radiative frequency,
    the step of sending this control signal to the actuator so as to generate a modification of a coefficient of friction of an area of the tactile surface covered by the actuator.
    [15" id="c-fr-0015]
    15. The method of claim 14, applied to an interface comprising several actuators, said method generating several control signals to separately excite several actuators, said control signals each comprising a harmonic signal comprising a carrier signal at a non-radiative frequency and the sending of this control signal to the actuator so as to generate a modification of a coefficient of friction of an area of the tactile surface covered by the actuator.
    [16" id="c-fr-0016]
    16. The method of claim 15, wherein all the control signals have the same carrier signal.
    [17" id="c-fr-0017]
    17. The method of claim 15 or 16, wherein at least a portion of the control signals comprise a modulated signal.
    1/4
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    WO2018178582A1|2018-10-04|
    US11137900B2|2021-10-05|
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    US20150169060A1|2012-06-06|2015-06-18|Commissariat à I'énergie atomique et aux énergies alternatives|Time-reversal tactile stimulation interface|
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    法律状态:
    2018-03-29| PLFP| Fee payment|Year of fee payment: 2 |
    2018-10-05| PLSC| Publication of the preliminary search report|Effective date: 20181005 |
    2020-03-31| PLFP| Fee payment|Year of fee payment: 4 |
    2021-03-30| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1752794A|FR3064504B1|2017-03-31|2017-03-31|INTERFACE OFFERING LOCALIZED FRICTION MODULATION BY ACOUSTIC LUBRICATION|
    FR1752794|2017-03-31|FR1752794A| FR3064504B1|2017-03-31|2017-03-31|INTERFACE OFFERING LOCALIZED FRICTION MODULATION BY ACOUSTIC LUBRICATION|
    US16/498,874| US11137900B2|2017-03-31|2018-03-29|Interface providing localised friction modulation by acoustic lubrication|
    PCT/FR2018/050781| WO2018178582A1|2017-03-31|2018-03-29|Interface providing localised friction modulation by acoustic lubrication|
    EP18718600.2A| EP3586215A1|2017-03-31|2018-03-29|Interface providing localised friction modulation by acoustic lubrication|
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