# US 10,246,069 B2 · Haptic interface providing improved control of the haptic sensation

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- Number: US 10,246,069 B2
- Document ID: US10246069B2
- Status: Granted
- Kind: B2
- Application number: 15/514,741
- Filed: 2015-09-29
- Published: 2018-08-16
- Granted: 2019-04-02
- Earliest claimed: 2014-09-29
- Assignees: Commissariat A L'energie Atomique Et Aux Energies Alternatives
- Applicants: Commissariat A L'energie Atomique Et Aux Energies Alternatives
- Inventors: Laurent Eck; Jose Lozada
- Web page: https://patentgrep.com/patent/US10246069B2

## CPC

- B60T 13/66: Electrical control in fluid-pressure brake systems
- G05G 5/03: 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)
- B60K 35/10: Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
- B60K 35/25: using haptic output
- B60K 35/80: Arrangements for controlling instruments
- G06F 3/016: {Input arrangements with force or tactile feedback as computer generated output to the user}
- B60K 2360/126: Rotatable input devices for instruments
- G05G 1/08: Controlling members for hand actuation by rotary movement, e.g. hand wheels
- H01H 19/00: Switches operated by an operating part which is rotatable about a longitudinal axis thereof and which is acted upon directly by a solid body external to the switch, e.g. by a hand
- H01H 2003/008: {with a haptic or a tactile feedback controlled by electrical means, e.g. a motor or magnetofriction}
- B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- G05G: CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY ("Bowden" or like mechanisms F16C1/10; gearings or mechanisms not peculiar to this purpose F16H; speed changing or reversing mechanisms for gearings conveying rotary motion F16H59/00 - F16H63/00)
- B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- H01H: ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES (contact cables H01B7/10; electrolytic self-interrupters H01G9/18; emergency protective circuit arrangements H02H; switching by electronic means without contact-making H03K17/00)

## Abstract

A haptic interface, including: a button moving in a first direction or in a second direction; an interaction element interacting with a magnetorheological fluid with a viscosity that varies in accordance with a magnetic field; a brake including a magnetorheological fluid and a generation system to generate a magnetic field on command; a sensor detecting the current position of the button; a mechanism determining speed of the button; and a controller configured to send orders to the system to generate a magnetic field, the orders being generated according to the current position of the button and the current actuation speed of the button.

## Claims

### Claim 1

A haptic interface comprising:
a user interaction element for interacting with a user configured to move in a first direction and in a second direction;
a fluid interaction element for interacting with a fluid, viscosity whereof varies according to an external stimulus, the fluid interaction element being secured at least in translation or at least in rotation with the user interaction element;
a brake comprising a fluid, viscosity whereof varies according to a brake external stimulus, and a generation system for generating the brake external stimulus on command in the fluid, the fluid interaction element being arranged in the fluid;
a current position sensor for determining a current position of the user interaction element;
a speed sensor for determining speed of the user interaction element;
a control circuitry configured to send orders to the system to generate each stimulus, the control circuitry comprising:
an order generator to generate the orders according to the current position of the user interaction element and the current actuation speed of the user interaction element;
a first database containing values of a first haptic pattern when norm of the actuation speed is less than or equal to a first given value and is not zero and the user interaction element is moved in the first direction,
a second database containing values of a second haptic pattern when the norm of the actuation speed is at least equal to a second given value and the user interaction element is moved in the first direction,
a third database containing values of a third haptic pattern when the norm of the actuation speed is less than or equal to a third given value and is not zero and the user interaction element is moved in the second direction,
a fourth database containing values of a fourth haptic pattern when the norm of the actuation speed is at least equal to a fourth given value and the user interaction element is moved in the second direction; and
wherein the order generator uses, according to a direction of actuation of the user interaction element, the first and/or second databases or the third and/or fourth databases to determine a value of a new haptic pattern on the basis whereof an order is generated.

### Claim 2 (depends on 1)

A haptic interface according to claim 1, wherein the generator order applies an interpolation between a value of the first database and a value of the second database or between a value of the third database and a value of the fourth database.

### Claim 3 (depends on 1)

A haptic interface according to claim 1, wherein the generator order applies a linear interpolation between a value of the first database and a value of the second database or between a value of the third database and a value of the fourth database.

### Claim 4 (depends on 1)

A haptic interface according to claim 1, wherein the second given value is defined as maximum actuation speed in the first direction and the fourth given value is defined as maximum actuation speed in the second direction.

### Claim 5 (depends on 1)

A haptic interface according to claim 1, wherein the fluid is a magnetorheological fluid, each stimulus being a magnetic field, and wherein the orders generated are current intensities.

### Claim 6 (depends on 1)

A haptic interface according to claim 1, wherein the speed sensor computes derivatives of information provided by the current position sensor for determining the current position.

### Claim 7 (depends on 1)

A haptic interface according to claim 1, wherein the user interaction element is rotatable and is secured to a rotary shaft, the longitudinal axis whereof the fluid interaction element is secured in rotation, the current position sensor being an angular position sensor.

### Claim 8 (depends on 1)

A haptic interface according to claim 1, wherein the user interaction element is translatable.

### Claim 9 (depends on 1)

A method for controlling a haptic interface according to claim 1, comprising:
a) determining the current position of the user interaction element;
b) determining the speed of the user interaction element;
c) determining the direction of actuation;
d) determining, for the direction of actuation determined, a value of a haptic pattern for the actuation speed determined, the value of a haptic pattern being determined on the basis of a first value of a haptic pattern for an actuation speed less than the first given value and not equal to zero and a second value of a haptic pattern for an actuation speed at least equal to the second given value;
e) generating an order to the system for generating each stimulus.

### Claim 10 (depends on 9)

A control method according to claim 9, wherein d) computes the value of a haptic pattern for the actuation speed determined by a threshold function, the value of the pattern for the actuation speed determined being either the first value of a haptic pattern for an actuation speed less than the first given value, or the second value of a haptic pattern for an actuation speed at least equal to the second given value.

### Claim 11 (depends on 9)

A control method according to claim 9, wherein d) computes the value of a haptic pattern for the actuation speed determined by interpolation.

### Claim 12

A haptic interface comprising:
a user interaction element for interacting with a user configured to move in a first direction and in a second direction;
a fluid interaction element for interacting with a fluid, viscosity whereof varies according to an external stimulus, the fluid interaction element being secured at least in translation or at least in rotation with the user interaction element;
a brake comprising a fluid, viscosity whereof varies according to a brake external stimulus, and a generation system for generating the brake external stimulus on command in the fluid, the fluid interaction element being arranged in the fluid;
a current position sensor for determining a current position of the user interaction element;
a speed sensor for determining speed of the user interaction element;
a control circuitry configured to send orders to the system to generate each stimulus, the control circuitry comprising means for generating the orders according to the current position of the user interaction element and the current actuation speed of the user interaction element;
means for determining the user's intended action on the user interaction element, comprising a torque sensor to detect torque or force applied by the user to the user interaction element, in a case of a rotatable user interaction element, to determine direction of the torque and whether the torque is greater than a given value for a given direction, the control circuitry controlling the generation system for generating the stimulus on the basis of the information obtained on the torque at least when a zero or low speed of the user interaction element is detected, or a load sensor to detect load applied by a user to the user interaction element, in a case of a translatable element for interacting with the user, to determine the direction of the force and whether the force is greater than a given value for a given direction, the control circuitry controlling the generation system to generate each stimulus on the basis of the information obtained on the force at least when a zero or low speed of the user interaction element is detected,
wherein the control circuitry comprises:
a first database containing values of a first haptic pattern when norm of the actuation speed is less than or equal to a first given value and the user interaction element is moved in the first direction,
a second database containing values of a second haptic pattern when the norm of the actuation speed is at least equal to a second given value and the user interaction element is moved in the first direction,
a third database containing values of a third haptic pattern when the norm of the actuation speed is less than or equal to a third given value and the user interaction element is moved in the second direction,
a fourth database containing values of a fourth haptic pattern when the norm of the actuation speed is at least equal to a fourth given value and the user interaction element is moved in the second direction; and
wherein the means for generating orders uses, according to a direction of actuation of the user interaction element, the first and/or second databases or the third and/or fourth databases to determine a value of a new haptic pattern on the basis whereof an order is generated.

### Claim 13 (depends on 12)

A haptic interface according to claim 12, wherein the torque or load sensor applied by the user to the user interaction element comprises at least one load sensor, mounted pre-stressed, or at least one sensor of strain induced by the torque or force to one of the elements of the haptic interface.

### Claim 14 (depends on 13)

A haptic interface according to claim 13, wherein the at least one load sensor is mounted pre-stressed.

### Claim 15 (depends on 12)

A haptic interface according to claim 12, further comprising a proof body configured to be strained by the torque or force applied by the user to the user interaction element, the torque or load sensor being in contact with the proof body.

### Claim 16 (depends on 15)

A haptic interface according to claim 15, wherein the proof body is made of a material such that the strain thereof is not perceptible by the user.

### Claim 17 (depends on 12)

A haptic interface according to claim 12, wherein the means for generating the orders applies an interpolation between a value of the first database and a value of the second database or between a value of the third database and a value of the fourth database.

### Claim 18 (depends on 12)

A haptic interface according to claim 12, wherein the means for generating the orders applies a linear interpolation between a value of the first database and a value of the second database or between a value of the third database and a value of the fourth database.

### Claim 19 (depends on 12)

A haptic interface according to claim 12, wherein the second given value is defined as maximum actuation speed in the first direction and the fourth given value is defined as maximum actuation speed in the second direction.

### Claim 20 (depends on 12)

A haptic interface according to claim 12, wherein the fluid is a magnetorheological fluid, the stimulus being a magnetic field, and wherein the orders generated are current intensities.

### Claim 21 (depends on 12)

A haptic interface according to claim 12, wherein the speed sensor computes derivatives of information provided by the current position sensor for determining the current position.

### Claim 22 (depends on 12)

A haptic interface according to claim 12, wherein the user interaction element is rotatable and is secured to a rotary shaft, the longitudinal axis whereof the fluid interaction element is secured in rotation, the current position sensor being an angular position sensor.

### Claim 23 (depends on 12)

A haptic interface according to claim 12, wherein the user interaction element is translatable.

### Claim 24 (depends on 12)

A method for controlling a haptic interface according to claim 12, comprising:
a) determining the current position of the user interaction element;
b) determining the speed of the user interaction element;
c) determining the direction of actuation;
d) determining, for the direction of actuation determined, a value of a haptic pattern for the actuation speed determined;
e) generating an order to the system for generating the stimulus;
the method further comprising prior to d) determining a user's intended action on the user interaction element, and wherein during d), the value of a haptic pattern is determined on the basis of a first value of a haptic pattern for an actuation speed less than or equal to the first given value optionally equal to zero and a second value of a haptic pattern for an actuation speed at least equal to the second given value.

### Claim 25 (depends on 24)

A control method according to claim 24, wherein d) computes the value of a haptic pattern for the actuation speed determined by interpolation.