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    • 专利摘要:
    A touch interface comprising a plate (1) carrying an interaction surface (2) with one or more external elements, having a plurality of interaction zones (Z1, Z2, Z3, Z4) arranged with respect to one another so that they substantially cover the entire interaction surface (2) and several actuators (A1, A2, A3, A4) in contact with the plate, control means (6) for the actuators configured to send control signals to the actuators, comprising calculating means (8) for said control signals, said calculating means (8) implementing an inverse filtering operation, so as to transmit, from one or more desired displacements of one or more zones of interaction (Z1, Z2, Z3, Z4), control signals at least partially compensating for distortion, reverberation and wave propagation.
    公开号:FR3076018A1
    申请号:FR1855186
    申请日:2018-06-13
    公开日:2019-06-28
    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:

    SURFACE DEVICE PROVIDING IMPROVED LOCALIZED DEFORMATION
    DESCRIPTION
    TECHNICAL AREA AND PRIOR ART
    The present invention relates to a surface device offering improved localized deformation, and in particular to a tactile stimulation interface offering improved localization of stimulation.
    A tactile stimulation interface is intended to restore tactile information, such as a texture, a relief, a roughness variable in time and / or space, an illusion of pressing on a flexible material, of pressing a key. ..
    Such interfaces are used for example in the field of human-machine interfaces. They can also be used in the fields of optics, acoustics, chemistry, and automated manufacturing ...
    A touch interface has a surface, for example provided with a screen. A user interacts with the interface by applying one or more fingers on the interface, for example to make a selection by pressing the representation of a button. On the one hand, we wish to be able to reproduce in a realistic way the "click" of selection. On the other hand, we want the user to be able to have several fingers in contact with the interface, in order to be able to perform a multidigital interaction with the interface, and for him to feel very distinct sensations from each other.
    There are tactile interfaces implementing one or more actuators under the tactile surface, for example electromagnetic or piezoelectric actuators, intended to vibrate the entire surface. If several fingers are in contact with the surface, they all perceive the same sensation.
    There are also interfaces with a matrix of actuators, each dedicated to stimulation in one area of the interface. The finger is either directly in contact with the actuators, or insulated by a flexible surface which can deform locally. These devices do not allow a localized return to be made on a rigid plate-type surface such as a touch pad (“track pad” in English terminology).
    By replacing the flexible surface with a rigid plate, for example a glass plate, the vibrations produced locally by an actuator propagate and reverberate throughout the surface. These vibrations are then perceived by all fingers, even if only one actuator under a given finger has been activated.
    Furthermore, if several actuators are activated to stimulate several fingers simultaneously, the effects of the vibrations of each actuator are added to that of the other actuator, in the areas where it is actually desired to generate stimulation, and also in the others areas. So even the stimulated fingers have "polluted" stimulation.
    There are tactile interfaces using the time reversal method, for example described in the document C. Hudin, J. Lozada, and V. Hayward, "Localized Tactile Feedback on a Transparent Surface through Time-Reversal Wave Focusing", IEEE Transactions on Flaptics, vol. 8, no 2, p. 188 198, Apr. 2015. This interface allows you to locate the stimulation. The interface comprises a glass plate and actuators arranged in contact with and at the periphery of the glass plate. The piezoelectric actuators propagate acoustic waves in the glass plate. The implementation of a time reversal process has the advantage of making it possible to generate a vibration in a localized manner on the surface of the plate and makes it possible to stimulate the different fingers separately, this tactile feedback is also designated “multitouch localized tactile feedback ". This interface is satisfactory, however, this interference requires frequencies typically between 20 kHz and 150 kHz. An audible noise is therefore generated when the finger or fingers are in contact with the plate, which produces less natural sensations than low frequency vibrations such as that produced by the mechanical response of a keyboard key. Indeed, the low frequency vibrations, in the range of tactile sensitivity, generally between 0 kHz and 1 kHz, allow, when they are correlated to an action of the user, such as a force, a displacement, a contact, to simulate the presence of keys or relief on the surface of a screen.
    The document H. Nicolau, K. Montague, T. Guerreiro, A. Rodrigues, and V. L. Hanson, "HoliBraille: multipoint vibrotactile feedback on mobile devices," 2015, pp. 1-4 proposes to solve the problem by placing an actuator under each finger and mechanically isolating each actuator by a vibration absorbing surface. The activation of an actuator then produces a stimulus perceived only by the finger in direct contact. In this case the finger is therefore in direct contact with the actuator and not with the touch surface with which it interacts. Furthermore, sufficiently absorbing low frequency vibrations requires a large volume of foam, not very compatible with the constraints of space in a mobile device, such as a touch pad or a smartphone-type mobile phone.
    PRESENTATION OF THE INVENTION It is therefore an object of the present invention to provide a surface device offering localization of the deformation of its improved surface. It is also an object of the present invention to offer a tactile stimulation interface making it possible to generate an improved location of the stimulations, while presenting a smooth surface.
    The aim stated above is achieved by a tactile stimulation interface comprising a surface intended to be explored tactually by a user and at least one actuator intended to generate a vibration at an area of the surface where it is desired to generate a tactile stimulation, means for controlling said at least one actuator, comprising means for calculating the control signals implementing a reverse filtering operation, and sending control signals to the actuator. Reverse filtering compensates for the effects of propagation.
    In an embodiment implementing several actuators each located under a zone of the surface, when it is desired to stimulate a finger situated above one of the actuators, the actuator is activated, but the other actuators located under the fingers which one does not wish to stimulate are also activated so as to cancel the vibrations in these zones. In addition, the actuator activated to effectively stimulate a finger is controlled taking into account the effect of the activation of the other actuators.
    In another interface embodiment using several actuators, the finger or fingers are not located above one or more actuators and when it is desired to stimulate a finger, all the actuators receive a signal for, on the one hand, generate a vibration of the area of the surface in contact with the finger to be stimulated and, on the other hand, cancel the vibrations in the areas of the surface in contact with the other fingers that are not desired stimulate. In this embodiment, the control points are not co-located with the actuators.
    In other words, the invention does not prevent the transmission or propagation of the waves throughout the surface but cancels, thanks to the various actuators, the vibrations at the points where it is not desired to generate stimulation. The actuators are therefore used both to produce vibrations intended to generate a desired stimulation and to cancel vibrations. The invention therefore makes it possible to compensate for the reverberation of the waves and their propagation which give rise to a phenomenon of cross effect '(“cross talk” in English terminology), that is to say a pollution of the desired displacement at a point given by the signal sent to another actuator at another point on the plate. The use of this reverse filter therefore makes it possible to obtain, in different zones of the surface, that actuators are located under these zones, a part of them or under none of them, a displacement corrected for dispersion effects. and reverberations.
    Thanks to the invention, the displacement obtained in the zone on which the finger to be stimulated is independent of the displacements obtained in the center of the other actuators. The other fingers are then not stimulated. It is then possible to produce a multi-digital tactile interface, thanks to a partitioning of the stimulations from one zone to another.
    The present invention also applies in the case of an interface to an actuator. Indeed, the generation of the control signals of the single actuator makes it possible to compensate for the distortion of the signal due to the response of the actuator and to the reverberation of the waves in the surface. The touch interface has a footprint suitable for touch applications, its volume is not increased compared to existing interfaces. Actually, the actuators can be glued directly to the touch surface and vibration damping is no longer necessary, the use of bulky isolation means is therefore no longer required.
    The subject of the present invention is therefore a surface device with localized deformation comprising a plate carrying an interaction surface with one or more external interaction elements, comprising at least one interaction zone with the exterior, at least one actuator and capable of causing a deformation in a direction orthogonal to the plane of the plate at the level of the interaction zone, means for controlling said at least one actuator configured to send control signals to said actuator, comprising means for calculating said signals control, said calculation means implementing a reverse filtering operation, so as to emit, from a desired displacement of said zone, control signals at least partially compensating for the distortion, reverberation and propagation of the waves.
    Preferably, the interaction surface comprises several interaction zones arranged in relation to each other, so that they cover substantially the entire interaction surface and at least as many actuators as interaction zones, said zones calculation means implementing an inverse filtering operation, so as to emit, from one or more desired displacements of one or more interaction zones, control signals compensating at least partially for the distortion, the reverberation and wave propagation.
    In an exemplary embodiment, the actuator (s) are arranged under said interaction zone (s), opposite the interaction surface.
    Preferably, the surface of the actuator or actuators corresponds substantially to that of the interaction element or elements intended to come into contact with the interaction surface.
    In the case where the elements are fingers, the surface of the actuator (s) is advantageously between 1 cm2 and a few cm2.
    In another exemplary embodiment, the interaction zone (s) are distant from the actuator (s) in the plane of the interaction surface
    Very advantageously, the device comprises means for detecting the contact between at least the interaction zone and an external interaction element, and preferably, means for detecting the contact between the external interaction element (s) and all areas of interaction.
    The device may include means for measuring the pressing force of the external element or elements with the zone or zones of interaction to determine the desired stimulation.
    For example, the interaction zones and the actuators have a hexagon shape, which makes it possible to optimize the coverage of the interaction surface.
    In an exemplary embodiment, the actuators are piezoelectric actuators. The actuators may include thin transparent films making them suitable for the manufacture of touch screens
    In another exemplary embodiment, the actuators are electromagnetic actuators each comprising a coil and a magnet, the magnet or the coil being able to exert a force on the plate.
    In an exemplary embodiment, at least part of each actuator is fixed directly to the plate.
    The device may include a screen placed under the plate opposite the interaction surface. The screen can be fixed to the plate opposite the interaction surface. The actuators can be fixed on the screen opposite the face of the screen in contact with the plate.
    The present invention also relates to a tactile stimulation interface comprising a device according to the invention.
    The present invention also relates to a touchpad comprising a device according to the invention.
    The present invention also relates to a method of operating a surface device with localized deformation comprising a plate carrying an interaction surface with one or more external interaction elements, comprising at least one interaction zone with the outside. , at least one actuator in contact with the interaction surface and capable of causing deformation in a direction orthogonal to the plane of the plate, comprising: - detection of contact between said interaction zone and the interaction element exterior, - choice of a desired movement of said interaction zone, - generation of a control signal by a reverse filtering operation from the desired movement, - application of the control signal to said actuator.
    The present invention also relates to a method of operating a surface device with localized deformation comprising a plate carrying an interaction surface with one or more external elements, comprising zones of interaction with the exterior, actuators in contact with the interaction surface and capable of causing deformation in a direction orthogonal to the plane of the rigid plate, comprising: - detection of one or more contacts between said interaction zones and the interaction elements, - choice of a desired displacement for each of said interaction zones, - generation of control signals by a reverse filtering operation from the desired displacements, - application of the control signals to at least part of the actuators located under zones for which a displacement workforce is desired.
    In an example of operation, all or part of the actuators are arranged under the interaction zones, and control signals are applied to all or part of the actuators situated under an interaction zone with which contact with an external element has been detected.
    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: - Figure 1 is a top view of a schematic representation of a touch interface implementing four actuators, according to a first embodiment of the present invention, - Figure 2 is a representation of the desired displacement in μιτι as a function of time in ms, - Figure 3A graphically represents the signals transmitted in V as a function of time in ms, for actuators Al to A4 for a state-of-the-art interface for obtaining the displacement of FIG. 2, - FIG. 3B graphically represents the signals transmitted in V as a function of time in ms, for the actuators A1 to A4 for a interface according to the invention in order to obtain the displacement of FIG. 2, - FIGS. 4A are graphical representations of the displacement measured in the center of an area above each actuator, by actuating the he actuators A1 to A4 of the interface of FIG. 1 with the signals of FIG. 3B, - FIGS. 4B to 4D are graphic representations of the displacement measured in the center of the zones ZI to Z3 when the displacement of FIG. 2 is desired in zones Z2, Z3, Z4 respectively, by actuating the actuators A2, A3, A4 of the interface of FIG. 1, - FIGS. 5A are graphical representations of the displacement measured in the center of an zone above each actuator, by actuating the actuators A1, A2, A3 and A4 with the signals of FIG. 3A, - FIGS. 5B to 5D are graphical representations of the displacement measured in the center of the zones above each actuator, when the desired displacement of Figure 2 is desired in areas Z2, Z3, Z4 respectively, by actuating the actuators A2, A3, A4 of the interface of the prior art, - Figure 6 is a schematic representation of the operating steps d 'an interface this touchscreen according to another example of the present invention, FIGS. 7 A to 7D are sectional views along a plane orthogonal to the plane of the tactile surface of various exemplary embodiments of structures of a tactile interface according to the present invention, - Figure 8 is a top view of a touch interface according to a second embodiment according to the invention.
    DETAILED PRESENTATION OF PARTICULAR EMBODIMENTS
    In the description which follows, the invention will be described more particularly in an application to a tactile interface, but the present invention applies to other fields such as, for example, micromanipulation or optics.
    In the case of a touch interface, it will be considered that the user interacts with the touch interface with his fingers. It will be understood that it could interact with other parts of its body.
    In Figure 1, we can see a schematic representation of a top view of a first embodiment of a touch interface according to the invention, comprising a plate 1, for example made of glass, bearing on one of its faces the surface for interacting with the outside, designated as the touch surface, four actuators A1, A2, A3 and A4 arranged under the glass plate, for example fixed on the surface of the plate 1 opposite the touch surface 2. The interface touch also includes means 6 for controlling each of the actuators comprising means 8 for calculating control signals.
    The plate material is chosen so that it allows low frequency vibrations, typically less than <1 kHz, to propagate over a few cm. The material can be a flexible or rigid material.
    The actuators are such that they are capable, when activated, of exerting a force on the plate in an out-of-plane direction, i.e. orthogonal to the plane of the plate. The plane of the plate is the plane extending parallel to its largest surface. In FIGS. 7A to 7D, several examples of interface according to the invention can be seen seen from the side. The actuators are capable of exerting an upward and / or downward force in the representation of FIGS. 7 A to 7D.
    As will be described later, the actuators may or may not be in direct contact with the plate.
    In the example shown, the actuators are aligned along an axis.
    The actuators are for example piezoelectric actuators. The user is intended to interact with the touch surface 2, for example by pressing at certain points on the surface designated Zl, Z2, Z3, Z4. The actuators A1 to A4 are arranged vertically above the zones Zl to Z4 respectively and are intended to be actuated to tactually stimulate the fingers in contact with the zones. The area of zones Z1 to Z4 is equal to the area of the actuators A1 to A4.
    Preferably, the surface of the actuators corresponds to the surface with which the fingers come into contact with the touch surface, so that only one finger at a time is in contact with an area Z1 to Z4. For example, the external dimensions of an actuator are of the order of cm, for example a disc of diameter of the order of cm or a side square of the order of cm. Thus the surface of the actuators by which they will act on the plate is preferably between 1 cm2 and a few cm2.
    For example, the actuators have a disc shape with a diameter of Φ 2 cm, and for example the touch surface has a length of 15 cm and a width of 10.5 cm.
    As will be described later, the invention can activate the actuators so as to control the tactile stimulation of each zone located above an actuator. The larger the area covered by the actuators, the better the control of tactile stimulation on the tactile surface. The actuators can have any shape, in the form of a polygon disc. For example, the actuators are hexagonal in shape so as to ensure maximum tiling under the tactile surface as shown in FIG. 6.
    The calculation means 8 implement an inverse filtering operation to determine the control signals. The calculation means also implement a vibration synthesis algorithm determining the desired signal in a zone, as a function of the stimulation desired in this zone, and taking for example into account the pressing force on this zone, the speed of finger movement as will be described below. This type of algorithm is well known to those skilled in the art and will not be described in detail.
    We will describe an example of the operation of a touch interface without calculation means 8 applying a reverse filtering operation, and with the calculation means 8 applying the reverse filtering operation. In this example, we want to obtain the displacements in the zones Zl to Z4 shown in FIG. 2, which have been determined by the vibration synthesis algorithm. We want in the Zl zone, a windowed sine-type displacement “burst” of 5 cycles of oscillation at 300 Hz, and no displacement in the zones Z2 to Z4, i.e. no vibration.
    In FIG. 3A, the control signals in Volt as a function of the time in ms emitted and sent to the actuators A1, A2, A3 and A4 can be seen in a touch interface of the prior art. Only a signal is sent to the actuator A1 which is identical to the desired displacement and no signal is sent to the actuators A2, A3 and A4.
    In FIGS. 5A, the displacements measured in pm as a function of time in ms can be seen in the zones Z1, Z2, Z3 and Z4 resulting from the signals of FIG. 3A.
    It can be seen that, on the one hand, the displacement measured in the zone Z1 corresponds to the deformed control signal and has additional oscillations due to the reflections of the waves produced by the plate and their propagation, it therefore does not correspond to the desired displacement represented on FIG. 2. On the other hand, it can be seen that non-harmful displacements are measured in the zones Z2 to Z4, while no displacement was desired in these zones. In addition, these displacements are not negligible. So if a user has one or more fingers on zones Z2, Z3 and / or Z4, he will experience unwanted tactile stimulation. He may then perceive false information.
    The graphical representations of FIGS. 5B, 5C and 5D show the displacements measured in all the zones during the activation of the actuators A2, A3 and A4 respectively by applying the signal of FIG. 3A which was applied to Al.
    It can therefore be seen that by applying a control signal which corresponds directly to the desired displacement, there is on the one hand a difference between the desired displacement in an area and the displacement obtained, and on the other hand that unwanted tactile stimulations are generated.
    According to the invention, the calculation means implement reverse filtering, which makes it possible to better control the movements in each of the zones, whether these movements are harmful or not.
    In FIG. 3B, the control signals emitted and sent to the actuators A1, A2, A3 and A4 can be seen in a tactile interface according to the invention to obtain the desired displacement of FIG. 2. All the actuators are activated and not only the actuator Al and the signal sent to Al is not identical to the desired displacement, it is complex and is such that it compensates for the effects of the other actuators and the reflection effects.
    In FIG. 4A, we can see the measured displacements resulting from the signals of FIG. 3B in each zone ZI to Z4. It can be seen that the displacement measured in ZI corresponds to that desired and that the displacements measured in the other zones where no displacement is desired are almost harmful. Thus if the user places his finger on one of the zones Z2 to Z4 he does not feel or then very little tactile stimulation. The information transmitted to the user is therefore correct.
    FIGS. 4B to 4D show the displacements measured in all the zones during the activation of the actuators A2, A3 and A4 respectively by applying the signal of FIG. 3B which was applied to Al. It can be seen that the displacements measured in Z2, Z3 and Z4 correspond to those desired, and that the displacements measured in the other zones where no displacement is desired are almost detrimental.
    Thanks to the reverse filtering operation, the control signals are such that for the zones for which no stimulation is desired, they activate the actuators corresponding to these zones, at least those under the zones with which a finger is in contact, so that it generates vibrations aimed at canceling those resulting from propagation of the activation of the actuator under the area where it is desired to generate stimulation.
    The calculation of the actuator control signal under the zone where it is desired to generate a stimulation takes into account both the desired displacement and the effect of the propagation and the reflection of the vibrations produced by the other actuators. According to the invention, each actuator is therefore controlled taking into account the external environment.
    One can then obtain, in each zone covered by an actuator, a displacement which can be zero, corrected for effects of distortions and reverberations, and independent of the displacements at the center of the other zones.
    We will describe the reverse filtering operation. Such an operation is for example described in the article “Optimal focusing by spatio-temporal inverse filter. I. Basic principles ”M.Tanter et al., The Journal of the Acoustical Society of America 110, 37 (2001) applied to image processing in medical imaging.
    The response R of a linear system to an excitation E is given by the relation R = H.E, with H the transfer function of the system. In the application to a touch interface, the displacement Ui of the plate measured at the center of an actuator i is observed in response to a signal S, sent to an actuator j. So we have :
    With // ÿ (<w) the transfer function between the signal sent to the actuator / and the displacement recorded at the center of the actuator j. If N actuators emit simultaneously, the displacement obtained is the sum of the contributions of these N actuators, that is:
    In matrix form we write:
    or
    The displacement utau the center of an actuator / is therefore not proportional to the signal st which is applied to it but is filtered by the response of the actuator stuck to the plate Hu and depends, via the terms // ÿ, on the signals sent to other actuators which produce waves propagating throughout the plate.
    Reverse filtering consists in reversing this relationship by calculating the signal to be applied to all of the actuators to obtain the desired displacement. By noting
    the desired displacement, in the frequency domain, at all positions, the signal is calculated
    to send to each of the actuators through the relationship:
    We finally get a displacement
    given by :
    We thus obtain a displacement conforming to that expected
    By inverting the matrix, one compensates all the effects, before generation of the control signals to obtain the desired displacement despite the distortions, the reverberations and the wave propagations.
    This filter is temporal insofar as it operates a transformation on the amplitude and the phase at all frequencies, and spatial since it takes into account the signals emitted by all of the actuators.
    Preferably, the interface comprises detection means 10 for detecting the presence of a finger on an area in order, on the one hand, to determine whether stimulation is to be generated and, on the other hand, to activate the actuators under the areas that should not be activated. The detection means used are those usually used in the tactile field, for example they are of the capacitive, resistive, infrared type. As a variant, one can be satisfied with only detecting the finger on the stimulation zone. and control the actuators of all other areas to
    limit or even cancel their movement. However, this activation consumes energy and computing power.
    According to another variant, the interface does not include means for detecting the presence of a finger, it is then possible to produce a vibration in an area without knowing whether or not a finger is actually on this area. Vibration control is then done assuming that all positions are affected.
    Advantageously, the interface comprises means 11 for measuring the pressing force of the fingers on the zones, the value of the pressing force can then advantageously be taken into account to more accurately simulate the response of a key or a button. The force measurement means are for example piezoelectric, piezoresistive, capacitive ... the value of the support force is taken into account by the vibration synthesis algorithm to determine the desired displacement in a zone, and not during of the reverse filtering step.
    Also advantageously, the speed of the finger (s) on the touch surface is also measured and taken into account by the vibration synthesis algorithm to determine the form of the signal that one wishes to obtain.
    By taking into account the support force and the speed of the movements, the stimulation is then more realistic.
    In Figure 6, we can see a schematic representation of an example of operation of the calculation means and control means of another example of touch interface.
    In this example, the interface comprises a plurality of actuators A1, A2, A3 ... AN of hexagonal shape p almost the entire face opposite to the touch surface. Thus whatever the position of the fingers on the touch surface, the movement of the area with which a finger is in contact can be controlled by activating the actuator located under this area.
    In FIG. 6, three tactile stimulations are produced in three distinct zones, these can be identical or different. Three fingers Dl, D2, D3 are in contact with the touch surface in three distinct zones Zl, Z2, Z3. In fact, the calculation of the control signals can be done when it is desired to stimulate in at least two distinct zones. In this operating mode, the displacement of zones is maintained zero except zones Zl, TL and Z3. The control signals are calculated by applying reverse filtering.
    The presence of the fingers on the zones Z1, Z2 and Z3 is detected and possibly their bearing force on the zones Z1, Z2 and Z3 is measured. One or more stimulations stored in a memory of the control means are associated with each zone, this stimulation can vary depending for example on the support force. For example, the stimulation can be such that it reproduces the movement of a pressing keyboard key, of a validation button, click type; transient vibrations produced when pressing on a deformable surface can also be restored. We can see that the screen has patterns corresponding to different commands.
    The control means synthesize the information collected (step 200), and then determine the desired vibration (step 300) which has been associated with stimulation during the programming of the interface.
    The desired vibrations then serve as input (step 400) to the reverse filter of the calculation means 8 which determine the control signals of at least the actuators A1, A2 and A3 (step 500). The signals are advantageously amplified and are then sent to the actuators A1, A2 and A3 (step 600). They then produce a compliant vibrotactile feedback (step 700). The interface according to the invention can comprise only one actuator, in fact the calculation of the control signal of the single actuator by reverse filtration makes it possible to compensate for the distortion of the signal due to the response of the actuator to its own vibration and reverberation of waves in the surface. The interface according to the invention makes it possible to work at all frequencies and not only at frequencies of tactile sensitivity of less than 1 kHz, however these are advantageous since they do not produce sound when the actuators are activated. Thus different types of actuators can be used. The piezoelectric actuators are suitable for high and low frequency operations.
    A piezoelectric actuator comprises a piezoelectric material in the form of a plate, for example PZT (lead titano-zirconate) or ΓΑΙΝ (aluminum nitride), and electrodes on either side of the plate and in contact with that here, to apply a current to it, cause the piezoelectric material to deform.
    Thanks to the invention, it is also possible to give a controlled profile to the surface. Indeed, a permanent deformation of the surface can be seen as a vibration of zero frequency. We can therefore apply the inverse filter method. By exerting a localized force on a plate, the entire surface is deformed. By applying the reverse filter process, this deformation can be canceled at the desired points.
    Electromagnetic actuators are possible. They are suitable for low frequency operation. Such actuators are for example described in the document Benali-Khoudja et al. - 2007 - VITAL An electromagnetic integrated tactile display ”. The actuators each comprise, for example, a fixed coil and a magnet bonded under the touch surface. The current signal sent to the coils is calculated by reverse filtering.
    In FIGS. 7A to 7D, one can see several examples of a touch interface structure applicable to the present invention.
    FIG. 7A, the actuators A1, A2 ... AN are fixed, for example by bonding directly to the face of the plate 1 opposite the touch surface 2. This structure is suitable for producing a touch pad the actuators are generally not transparent. In the case of a touch pad, the touch surface is generally opaque.
    In FIG. 7B, the interface comprises a plate 1 provided with actuators as in FIG. 6A, and a screen E opposite the touch plate. In this structure, transparent actuators are advantageously chosen, for example piezoelectric actuators deposited in a thin layer.
    In FIG. 7C, the interface comprises a transparent plate 1, a screen E disposed directly under the plate 1 and integral with the latter, it is for example glued to the plate 1, and actuators Al ... AN fixed on the screen on the side opposite to that facing the side of the plate. This configuration has the advantage of not requiring transparent actuators. In this example, the actuators act on the touch surface across the screen. The screen is for example an OLED screen which has the advantage of being very thin and is generally glued directly to the touch plate. This assembly has the advantage of offering good transmission of low frequencies
    In FIG. 7D, the interface comprises a plate 1 and piezoelectric actuators A1 to AN on the face opposite to the touch surface. The actuators have in common a layer of piezoelectric material 12, a common electrode 14 between the layer 12 and the plate 1 and electrodes 16 on the opposite face of the layer 12 so as to produce individual actuators.
    In Figure 8, we can see a top view of a touch interface according to a second embodiment.
    In this embodiment, the finger or fingers to be stimulated, and therefore the areas of the surface to be stimulated, are not located above the actuators.
    In this example the actuators A101 to A106 are distributed along the edges of the touch surface, three on each edge. The fingers are intended to come into contact with areas of the surface located between the two rows of actuators. These zones Z101, Z102, Z103 ... are potential stimulation zones. The arrangement of the actuators of FIG. 8 is not limiting, any other arrangement is possible, for example a distribution along the four edges of the plate, or on two non-parallel edges, a non-symmetrical distribution, a distribution in a circle in the case of a circular surface ...
    The actuators can be arranged on or under the surface, for example glued to the surface.
    This embodiment is very advantageous in an application to a screen because it does not require the use of transparent actuators.
    In a preferred but nonlimiting example, the potential stimulation zones are located in the field close to the actuators. For example, the potential stimulation zones are located at a distance at most equal to the dimension of the actuators in the plane or to the wavelength of the controlled vibrations, the greatest distance being considered.
    The actuators are similar to those implemented in the first embodiment. The interface also includes control means 106 comprising calculation means 108 implementing a reverse filtering operation, in which the matrix grouping the transfer functions between the signal sent to each actuator and the movements recorded in the different areas of potential stimulation, may not be a square matrix since the number of actuators and the number of potential stimulation zones may be different. In order to ensure the stability of the matrix inversion, the number of actuators is greater than or equal to the maximum number of zones to be stimulated simultaneously, ie in the case of an interface used with one or two hands the number of actuators is greater than or equal to the maximum number of fingers that can come into contact with the surface, 5 or 10 for example.
    Preferably, the interface comprises means for detecting the contact of the fingers on the different areas of the surface.
    As for the first embodiment, the actuator control uses a matrix Η (ω) established from the frequency response functions Hpq (ù)) linking the Qactuators to each of the P fingers.
    These frequency response functions can be obtained from a response database or interpolated from a reduced response database.
    One calculates then the matrix which is a pseudo-inverse of the matrix Ηω, because the matrix can not be square, for each frequency of the passband.
    The operating mode of the control means is as follows, considering an interface with Q actuators and with P fingers capable of coming into contact with the surface of the interface.
    First of all, the position of the finger (s) on the interaction surface are determined by detection means similar to those described above in relation to the first embodiment.
    Depending on the type of interaction, all or part of the fingers on the surface are stimulated. In a next step, the desired vibrations vp (t) are determined under each of the P fingers. These vibrations are arbitrary signals previously determined as a function of the information to be supplied, possibly harmful, determined so as to produce a haptic feedback perceptible by the user and adapted to the context of interaction.
    During a following step, a filtering of the vibrations desired by the inverse matrix is carried out in order to obtain the actuator control signals.
    In a next step, the actuator control signals sq (t) are sent and sent to the actuators.
    For example, it is desired that the finger DI is stimulated and that the other fingers D2 and D3 are not stimulated. All the actuators A101 to A06 are controlled to generate the stimulation in the zone Z101 and to counter any vibration that may appear in the zones Z102 and Z103 and to optimize the stimulation in the zone Z101.
    The operating mode of the interface according to the second embodiment is close to that of the interface according to the first mode.
    As for the first embodiment, the stimulations to be generated can be modulated for example as a function of the force of pressing of the finger (s) on the surface. Alternatively, the device may not include means for detecting the contact or contacts of one or more fingers or other members.
    As a variant, the interface comprises a single actuator.
    In another embodiment, the interface is such that the potential stimulation zones are located above the actuators or not. The number of actuators is chosen to be greater than the number of potential stimulation zones.
    The present invention is particularly suitable for human-machine interaction with a tactile surface. The present invention can also be implemented in applications in adaptive optics or in micromanipulation, which requires a high control of the deformations and vibrations of a surface.
    The present invention also applies to interfaces whose surface is not planar, i.e. it applies to interfaces comprising complex curved surfaces, for example of the shell type.
    权利要求:
    Claims (22)
    [1" id="c-fr-0001]
    1. Surface device with localized deformation comprising a plate carrying an interaction surface with one or more external interaction elements, comprising at least one interaction zone with the outside, at least one actuator capable of causing deformation in a direction orthogonal to the plane of the plate at the level of the interaction zone, means for controlling said at least one actuator configured to send control signals to said actuator, comprising means for calculating said control signals, said means for calculating implementing a reverse filtering operation, so as to emit, from a desired displacement of said zone, control signals at least partially compensating for the distortion, the reverberation and the propagation of the waves.
    [2" id="c-fr-0002]
    2. Device according to claim 1, in which the interaction surface comprises several interaction zones arranged with respect to each other, so that they cover substantially the entire interaction surface and at least as many actuators as of interaction zones, said calculation means implementing a reverse filtering operation, so as to transmit, from one or more desired displacements of one or more interaction zones, control signals compensating at least partially the distortion, reverberation and propagation of the waves.
    [3" id="c-fr-0003]
    3. Device according to claim 1 or 2, in which the actuator or actuators are arranged under said interaction zone (s), opposite the interaction surface.
    [4" id="c-fr-0004]
    4. Device according to claim 3, wherein the surface of the actuator or actuators corresponds substantially to that of the interaction element or elements intended to come into contact with the interaction surface.
    [5" id="c-fr-0005]
    5. Device according to claim 4, in which the elements are fingers and in which the surface of the actuator or actuators is between 1 cm2 and a few cm2.
    [6" id="c-fr-0006]
    6. Device according to claim 1 or 2, in which the interaction zone or zones are distant from the actuator or actuators in the plane of the interaction surface.
    [7" id="c-fr-0007]
    7. Device according to one of claims 1 to 6, comprising means for detecting the contact between at least the interaction zone and an external interaction element.
    [8" id="c-fr-0008]
    8. Device according to one of claims 1 to 7, comprising means for detecting the contact between the external interaction element or elements and all the interaction zones.
    [9" id="c-fr-0009]
    9. Device according to one of claims 1 to 8, comprising means for measuring the bearing force of the external element or elements with the interaction zone or zones.
    [10" id="c-fr-0010]
    10. Device according to one of claims 1 to 9 taken in combination with claim 2, wherein the interaction zones and the actuators have a hexagon shape.
    [11" id="c-fr-0011]
    11. Device according to one of claims 1 to 10, in which the actuators are piezoelectric actuators.
    [12" id="c-fr-0012]
    12. Device according to the preceding claim, wherein the actuators comprise transparent thin films.
    [13" id="c-fr-0013]
    13. Device according to one of claims 1 to 10, in which the actuators are electromagnetic actuators each comprising a coil and a magnet, the magnet or the coil being able to exert a force on the plate.
    [14" id="c-fr-0014]
    14. Device according to one of claims 1 to 13, wherein at least a part of each actuator is fixed directly to the plate.
    [15" id="c-fr-0015]
    15. Device according to one of claims 1 to 13, comprising a screen arranged under the plate opposite the interaction surface.
    [16" id="c-fr-0016]
    16. Device according to the preceding claim, in which the screen is fixed to the plate opposite the interaction surface.
    [17" id="c-fr-0017]
    17. Device according to claims 15 and 16, wherein the actuators are fixed to the screen opposite the face of the screen in contact with the plate.
    [18" id="c-fr-0018]
    18. Tactile stimulation interface comprising a device according to one of claims 1 to 17.
    [19" id="c-fr-0019]
    19. Touchpad comprising a device according to claim 14.
    [20" id="c-fr-0020]
    20. Method for operating a surface device with localized deformation comprising a plate carrying an interaction surface with one or more external interaction elements, comprising at least one interaction zone with the outside, at least one actuator in contact with the interaction surface and able to cause deformation in a direction orthogonal to the plane of the plate, comprising: - detection of contact between said interaction zone and the external interaction element, - choice of a desired movement of said interaction zone, - generation of a control signal by a reverse filtering operation from the desired movement, - application of the control signal to said actuator.
    [21" id="c-fr-0021]
    21. A method of operating a surface device with localized deformation comprising a plate carrying an interaction surface with one or more external elements, comprising interaction zones with the exterior, actuators in contact with the interaction surface and capable of causing a deformation in a direction orthogonal to the plane of the plate, comprising: - detection of one or more contacts between said interaction zones and the interaction elements, - choice of a desired displacement for each of said zones interaction, - generation of control signals by an inverse filtering operation from the desired displacements, - application of control signals to at least part of the actuators.
    [22" id="c-fr-0022]
    22. The operating method as claimed in claim 21, in which all or part of the actuators are arranged under the interaction zones and in which control signals are applied to all or part of the actuators situated under an interaction zone with which a contact with an external element has been detected.
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    同族专利:
    公开号 | 公开日
    CN111512273A|2020-08-07|
    EP3729241A1|2020-10-28|
    FR3076017B1|2020-10-30|
    FR3076018B1|2020-01-24|
    US20210072861A1|2021-03-11|
    FR3076017A1|2019-06-28|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20110090167A1|2008-10-03|2011-04-21|Nissha Printing Co., Ltd.|Touch Sensitive Device|
    FR3104762A1|2019-12-12|2021-06-18|Actronika|Method for generating tactile sensations localized on a surface and haptic interface implementing this method|
    FR3105491A1|2019-12-23|2021-06-25|Commissariat à l'énergie atomique et aux énergies alternatives|Vibrating surface haptic or acoustic interaction device, corresponding method and computer program|
    法律状态:
    2019-06-28| PLFP| Fee payment|Year of fee payment: 2 |
    2019-06-28| PLSC| Search report ready|Effective date: 20190628 |
    2020-06-30| PLFP| Fee payment|Year of fee payment: 3 |
    2021-06-30| PLFP| Fee payment|Year of fee payment: 4 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1762877|2017-12-21|
    FR1762877A|FR3076017B1|2017-12-21|2017-12-21|SURFACE DEVICE OFFERING IMPROVED LOCALIZED DEFORMATION|CN201880082835.2A| CN111512273A|2017-12-21|2018-12-20|Planar device providing improved local deformation|
    US16/955,983| US20210072861A1|2017-12-21|2018-12-20|Areal device offering improved localized deformation|
    PCT/FR2018/053478| WO2019122762A1|2017-12-21|2018-12-20|Areal device offering improved localized deformation|
    EP18839843.2A| EP3729241A1|2017-12-21|2018-12-20|Areal device offering improved localized deformation|
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