# US 9,436,284 B2 · Time-reversal tactile stimulation interface > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,436,284 B2 - Document ID: US9436284B2 - Status: Granted - Kind: B2 - Application number: 14/405,634 - Filed: 2013-06-05 - Published: 2015-06-18 - Granted: 2016-09-06 - Earliest claimed: 2012-06-06 - Assignees: Commissariat A L'energie Atomique Et Aux Energies Alternatives - Applicants: Commissariat à l'énergie atomique et aux énergies alternatives - Inventors: Charles Hudin; Vincent Hayward; José Lozada; Michaël Wiertlewski - Web page: https://patentgrep.com/patent/US9436284B2 ## CPC - G06F 3/016: {Input arrangements with force or tactile feedback as computer generated output to the user} - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract Tactile stimulation interface comprising a support (2), a flexible surface suspended on the support (2) intended to be tactilely explored by an operator, actuators (6) intended to apply a force on the flexible surface (4) and means for controlling the actuators (6), the actuators being located on the contour of the flexible surface. The control means are intended to send, to the actuators (6), signals corresponding to the forces to be applied to the flexible surface (4) according to the tactile stimulation to be generated on the flexible surface (4), the forces being determined by a time-reversal method. The surface (4) comprises at least one sufficiently flexible area, for example of Mylar®, in order for the propagation speed of the waves thus generated to be slow enough to reach sufficiently short wavelengths at low frequencies, thereby substantially improving focusing at resolutions compatible with tactile stimulation. ## Claims ### Claim 1 Tactile stimulation interface comprising an element intended to be tactilely explored by an operator, said element intended to be tactilely explored being formed by at least one surface, at least one actuator configured to apply a force on said surface, and a controller for controlling said at least one actuator, said controller being configured to send, to the actuator, signals corresponding to the forces to be applied to said surface according to the tactile stimulation to be generated on the surface, wherein said forces are determined by a time-reversal method, said surface comprising at least one area such that: c3(λ)/ρλ<1013 ∀λ>=2 cm λ is a wavelength of bending waves being propagated in said area, c is a speed of the bending waves, ρ is a mass per surface unit of said area, and wherein said at least one actuator has a bandwidth extending between 1 Hz and 20 kHz so as to excite a large number of modes specific to said surface. ### Claim 2 (depends on 1) Tactile stimulation interface according to claim 1, comprising at least one support forming a frame holding the surface, said actuator being located near the frame. ### Claim 3 (depends on 2) Tactile stimulation interface according to claim 2, wherein the actuator applies the force directly at the surface, perpendicularly to the surface. ### Claim 4 (depends on 2) Tactile stimulation interface according to claim 2, wherein the actuator applies the force directly at the surface, perpendicularly to the surface. ### Claim 5 (depends on 1) Tactile stimulation interface according to claim 1, comprising a support in the form of a frame from which the surface is suspended, at least one first and one second actuator, the first actuator applying a force directly on the surface and the second actuator applying a force on the support. ### Claim 6 (depends on 1) Tactile stimulation interface according to claim 1, wherein the surface defines a closed volume filled with a pressurized fluid, said surface being stretched by the pressurized fluid, said interface comprising a support for said closed volume and at least one actuator mounted on the support. ### Claim 7 (depends on 1) Tactile stimulation interface according to claim 1, comprising at least one sensor of a parameter capable of influencing the effect of the forces on the surface. ### Claim 8 (depends on 7) Tactile stimulation interface according to claim 7, comprising at least one sensor for detecting the presence of the operator in contact with the interface. ### Claim 9 (depends on 1) Tactile stimulation interface according to claim 1, wherein the actuator is an electromagnetic actuator. ### Claim 10 (depends on 2) Tactile stimulation interface according to claim 2, wherein the actuator is an electromagnetic actuator and wherein the actuator comprises a coil, a soft iron core and a magnet, said magnet being fixed on the surface and the coil being fixed on the support. ### Claim 11 (depends on 1) Tactile stimulation interface according to claim 1, wherein the actuator is made of a piezoelectric material. ### Claim 12 (depends on 1) Tactile stimulation interface according to claim 1, wherein the actuator is made of a piezoelectric material and wherein the actuator comprises a beam, one end of which is built into the support and the other end of which is configured to apply a force on the surface. ### Claim 13 (depends on 1) Tactile stimulation interface according to claim 1, wherein the surface comprises pins intended to come into contact with the operator. ### Claim 14 (depends on 1) Tactile stimulation interface according to claim 1, wherein the surface comprises at least two different materials and/or two different phases. ### Claim 15 (depends on 1) Tactile stimulation interface according to claim 1, wherein the surface is transparent. ### Claim 16 (depends on 1) Tactile stimulation interface according to claim 1, wherein the surface comprises at least one film of a polymer material or a composite material. ### Claim 17 (depends on 16) Tactile stimulation interface according to claim 16, comprising a support over which the surface is stretched. ### Claim 18 (depends on 1) Tactile stimulation interface according to claim 1, wherein the surface comprises at least one glass plate having a thickness of around 100 μm. ### Claim 19 (depends on 1) Tactile stimulation interface according to claim 1, wherein the controller comprises a modal base or an impulse response base. ### Claim 20 (depends on 19) Tactile stimulation interface according to claim 19, wherein the impulse response base contains signals to be transmitted to the actuator, said signals having been determined by the time-reversal method. ### Claim 21 (depends on 19) Tactile stimulation interface according to claim 19, wherein the modal base comprises a unit for determining signals to be transmitted to the actuator by the time-reversal method. ### Claim 22 (depends on 1) Tactile stimulation interface according to claim 1, wherein the controller comprises an actuator controller transmitting said signals to said actuator. ### Claim 23 (depends on 1) Tactile stimulation interface according to claim 1, wherein the speed of the bending waves is on the order of 50 m/s.