Fluid haptic interface with improved haptic rendering using a torque or load sensor

A haptic interface, comprising:

• a user interaction element interacting with a user and configured to move in a first direction and in a second direction;
• a fluid interaction element 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 current position sensor to measure a current position of the user interaction element;
• a brake comprising a fluid, viscosity whereof varies according to an external stimulus, and a generation system to generate the stimulus on command in the fluid, the fluid interaction element being arranged in the fluid;
• a control circuitry configured to generate orders to the system to generate the stimulus to modify the stimulus value;
• and
• a torque sensor to detect torque applied by a user on the user interaction element, and in a case of a rotatable user interaction, to determine direction of the torque and whether the torque is greater than a given value for a given direction, the control circuitry to control the generation system to generate the stimulus based on 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 on the user interaction element, and in a case of a translatable user interaction element, to determine direction of the force and whether the force is greater than a given value for a given direction, the control circuitry to control the generation system to generate the stimulus based on information obtained on the force at least when a zero or low speed of the user interaction element is detected.