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Ground-based haptic interface comprising at least two decoupled rotary finger actuatorsRelated Patent Categories: Data Processing: Presentation Processing Of Document, Operator Interface Processing, And Screen Saver Display Processing, Operator Interface (e.g., Graphical User Interface), Force Feedback InteractionGround-based haptic interface comprising at least two decoupled rotary finger actuators description/claimsThe Patent Description & Claims data below is from USPTO Patent Application 20050257150, Ground-based haptic interface comprising at least two decoupled rotary finger actuators. Brief Patent Description - Full Patent Description - Patent Application Claims
[0001] The present invention concerns a novel "ground-based" haptic interface comprising at least two finger actuators, i.e. actuators that can be manipulated with the fingertips of one hand. This interface can be used as a peripheral for a computer or equivalent device, and in this case allows a user to interact with a virtual environment and in particular to manipulate or control virtual objects. The invention is also applicable to the control or manipulation of real objects, since the interface of the invention can be coupled with any type of machine, for example including but not limited to a robot, a manipulating arm, etc.; the interface of the invention can also be used in the field of telemanipulation. [0002] The term "haptic" interface commonly designates any man-machine interface that allows force feedback and/or tactile feedback for the user. [0003] The haptic interfaces that can be manipulated with a single hand can be classified into two fundamentally different categories. The first category includes the "ground-based>> haptic interfaces. In the present text, <<ground-based>> haptic interface designates any haptic interface that generally comprises a structure that is placed on a surface (floor, desk, table, etc.) and that is designed to be manipulated with a single hand. The second category includes the so-called "man-based" interfaces, which are constituted by portable devices designed to be attached to the user. The most common examples of <<man-based >> interfaces are constituted by haptic devices that are attached to one hand, such as force feedback gloves or the haptic devices described, for example, in the publications WO-A-0207143 and WO-A-9851451. [0004] The invention belongs to the field of the haptic interfaces in the first category mentioned above, i.e. "ground based." [0005] In this field, a first example of a known "ground-based" haptic interface is described in the patent U.S. Pat. No. 6,417,638. This interface is a haptic device with six degrees of freedom (only three of which are motorized) and essentially includes an arm articulated in relation to a fixed base and manipulable by a single hand. This type of haptic device has a very sophisticated design and is therefore very expensive to produce; moreover, this haptic device is bulky and is generally used with the forearm in the air, which makes using the device tiring from a muscular point of view. [0006] A second example of a known "ground-based" haptic interface is described in particular in international patent application WO-A-9628777. The interface described in this publication is used as a 3D computer peripheral and includes a single tactile-feedback actuator that can be manipulated with the fingertips. More particularly, this single actuator is in the form of a ball that can be manipulated by a user. The ball's rotation on itself allows control on two axes X and Y, while control on a third axis Z transverse to the plane (X,Y) is obtained by a vertical translational movement of the ball. Advantageously, this type of <<ground-based>> interface with a single actuator manipulable by the fingertips is not very bulky and can be used with the hand resting at least partially on a surface, which makes it less tiring to use from a muscular point of view, compared to the example of "ground-based" interfaces of the type described in the aforementioned patent U.S. Pat. No. 6,417,638. [0007] The subject of the invention is a novel haptic interface that is ground-based and can be manipulated by the fingertips of a single hand. [0008] The <<ground-based>> haptic interface of the invention is characterized in that it is equipped with at least two decoupled rotary finger actuators that can be manipulated with the fingertips of a single hand. [0009] Like the haptic interface described in the publication WO-A-9628777, the haptic interface of the invention is not very bulky and can be used with the hand resting at least partially on a surface, which advantageously makes the interface less tiring to use from a muscular point of view. The decoupling of the finger actuators of the interface of the invention advantageously allows a decoupling of each degree of freedom, and thus a better manipulation of the virtual or real objects associated with the interface, compared to the ground-based haptic interface with a single actuator described in the publication WO-A-9628777. Likewise, this decoupling advantageously makes it possible to simplify the mechanical architecture of the interface compared to the mechanical architectures of interfaces with only one actuator, particularly when the interface is equipped with motors or the like for simulating a force feedback and/or a tactile feedback in each degree of freedom. Finally, it is advantageous that the haptic interface of the invention is designed to be manipulated with the fingertips of the hand, since that is the part of the hand that is most sensitive to touch, and thus the part of the hand most likely to sense tactile and/or force feedback. [0010] In a preferred variant of embodiment, the interface includes, for each rotary finger actuator, control means that are designed to apply, on the axis of rotation of the actuator, a torque that is a function of the angular position of the actuator. [0011] Other characteristics and advantages of the invention will emerge more clearly below in light of the following detailed description of a preferred exemplary embodiment of a haptic interface of the invention, which description is given as a nonlimiting example in reference to the attached drawings in which: [0012] FIG. 1 is a representation in perspective of a ground-based interface of the invention that includes three rotary actuator levers that can be manipulated simultaneously by means of the thumb, the index and the ring finger of one hand, [0013] FIGS. 2 and 3 illustrate two exemplary embodiments of a finger actuator, [0014] FIG. 4 represents in perspective an assembled lever, [0015] FIG. 5 represents in perspective the lever of FIG. 4, without its angular position sensor, [0016] FIG. 6 is an exploded view of the lever of FIG. 4, [0017] FIG. 7 represents the interface of FIG. 1 without its cover, making it possible to better illustrate the positioning and the mounting of the levers, [0018] and FIG. 8 represents an exemplary control loop of the motor associated with each actuator, which makes it possible to apply on the axis of rotation of the actuator a torque that is a function of the measured angular position of the actuator. [0019] FIG. 1 represents a preferred variant of embodiment of a haptic interface of the invention. This interface 1 comprises a fixed structure (2a, 2b) which is designed to be placed on a surface such as, for example, a desk or a table, and to which are adapted three force-feedback finger levers 4, 5 and 6, each respectively comprising a rotary finger actuator 4a, 5a and 6a. [0020] The three finger actuators 4a, 5a and 6a are rotating parts and are decoupled from one another. Each rotary finger actuator 4a, 5a or 6a is designed to be actuated by a finger of one hand. Each rotary actuator of a lever 4, 5 and 6 corresponds to a degree of freedom. [0021] FIGS. 2 and 3 represent two non-exhaustive examples of finger actuators, which are distinguished from one another by the contour of their contact surface 5C with the finger. This contour of the contact surface 5C of each actuator is designed ergonomically in order to prevent the actuator from slipping from the finger. [0022] In the example illustrated in FIG. 1, which does not limit the invention, the aforementioned fixed structure (2a, 2b) forms a case constituted by a base 2a topped by an attached cover 2b. Preferably, the external surface 2d of the cover 2b, which is designed to come into contact with the palm of the hand, is shaped so as to be ergonomically adapted to the hand. The cover 2b also includes three openings 2c, the rotary finger actuators 4a, 5a, 6a partially passing through the respective openings 2c of the cover, the remaining part of the structure of each lever being housed inside the case formed by the base 2a and the cover 2b. [0023] FIGS. 4, 5 and 6 represent a particular example of the structure of a lever. In this example, the lever comprises: [0024] a base S onto which are mounted two parallel supports S1 and S2, Continue reading about Ground-based haptic interface comprising at least two decoupled rotary finger actuators... 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