Human-machine interface device

Abstract

The human-machine interface device comprises: - a magnetic rocker, which is rotatably movable between a rest position, in which the implement is held in a neutral position, and a tilted position, in which the implement is in a leaning position, - a magnetic assembly, which is attached to the frame, is able to cooperate with the magnetic rocker to generate a magnetic return force, which constantly pushes the magnetic rocker towards its rest position, - a sliding connection, which comprises a flange and a slider, and - an implement, which comprises one of said sliders, the flange and the magnetic rocker comprising the other of said sliders and flanges, so that the sliding connection translates the movement of the implement towards the leaning position by moving the magnetic rocker towards its tilted position, or vice versa.

Description

[0001] This invention relates to a human-machine interface device.

[0002] Such human-machine interface devices typically include:

[0003] -Fixed frame;

[0004] - An appliance that can be rotated by a user in a first direction about a first axis from a neutral position to a first inclined position, the neutral position being the position of the appliance without any external actuation; and

[0005] - A return mechanism that continuously pushes the appliance to its neutral position, the return mechanism including a magnetic assembly comprising one or more magnetic components, each of which is attached to a frame.

[0006] For example, such human-machine interface devices are known in US 2019 / 179357 A1 and US 2018 / 173310 A1. Human-machine interface devices are also known in US 3828148 A, JP 2005 / 183081 A and EP 2891835.

[0007] These human-machine interface devices are used to collect data transmitted by the user through a manipulator. The collected data is then transmitted to an electronic device, which in turn controls an electric actuator or a screen.

[0008] This type of human-machine interface device can be used in environments subject to vibration. This is typically the case when such human-machine interface devices are used in vehicles such as aircraft and motor vehicles.

[0009] In these environments, these human-machine interface devices must be vibration-resistant. In particular, the devices must not, or virtually must not, oscillate around their neutral position in response to these vibrations.

[0010] In addition, these human-machine interface devices must maintain low space requirements and remain easy to manufacture.

[0011] Therefore, the object of the present invention is to provide a human-machine interface device suitable for use in environments that may experience vibration.

[0012] The invention will be better understood by reading the following description, which is presented only as a non-limiting example and with reference to the accompanying drawings, in which:

[0013] - Figure 1 and Figure 2 This is a schematic diagram of the first embodiment of the human-machine interface device as a perspective view and a vertical cross-sectional view;

[0014] - Figure 3 ,4 6 and 7 are schematic diagrams as perspective view and vertical sectional view of a second embodiment of the human-machine interface device;

[0015] - Figure 5 Is Figure 3 , 4 Perspective view of the magnetized rings used in the human-machine interface devices of devices 6 and 7;

[0016] - Figure 8 and Figure 9 This is a schematic diagram of a third embodiment of the human-machine interface device, shown in perspective and vertical cross-sectional view.

[0017] - Figure 10 and Figure 11 This is a schematic diagram of the fourth embodiment of the human-machine interface device as a perspective view and a vertical cross-sectional view;

[0018] - Figure 12 This is a schematic diagram of the fifth embodiment of the human-machine interface device as a vertical cross-sectional view;

[0019] - Figure 13 This is a schematic diagram as a top view, which is part of the sixth embodiment of the human-machine interface device;

[0020] - Figure 14 This is a schematic diagram as a bottom view of a magnetized ring that can be used in the second, third, fourth and seventh embodiments of the human-machine interface device;

[0021] - Figure 15 This is a schematic diagram as a vertical cross-sectional view of the seventh embodiment of the human-machine interface device.

[0022] In these figures, the same reference numerals are used to indicate the same elements. Throughout the remainder of this specification, any features and functions well-known to those skilled in the art are not described in detail.

[0023] In this specification, Chapter 1 first describes detailed examples of embodiments with reference to the accompanying drawings. Then, in the next chapter, Chapter 2, alternative embodiments of these embodiments are proposed. Finally, Chapter 3 introduces the advantages of the various embodiments.

[0024] Chapter 1: Example Implementation:

[0025] Figures 1 to 2 A human-machine interface device 2 is shown, comprising a device 4 rotatably mounted within a frame 6. In this case, the device 4 is a joystick. The device 4 is rotatably mounted only about a single axis 10. The axis 10 is parallel to the X direction of an orthogonal XYZ reference coordinate system. The axis 10 is attached to the frame 6, which has no degrees of freedom.

[0026] In this XYZ reference coordinate system, the X and Y directions are horizontal and the Z direction is vertical. Thereafter, terms such as "top," "bottom," "up," and "down" are defined relative to the vertical Z direction. The terms "left" and "right" are defined relative to the Y direction and the vertical intermediate plane 12 of the interface device 2. Therefore, the term "right" refers to the content to the right of plane 12 when the Y direction points to the right. Plane 12 contains axis 10. Thereafter, the XYZ reference coordinate system is used for orientation of each of the figures.

[0027] In this particular embodiment, Figure 1 In the neutral position shown, interface device 2 is symmetrical with respect to plane 12. Furthermore, interface device 2 is also symmetrical with respect to a vertical plane 14 that is perpendicular to plane 12. Therefore, only the components of interface device 2 located on one side of plane 12 and behind plane 14 will be described in detail below. Other components are derived through the symmetry with respect to these planes 12 and 14.

[0028] The neutral position is the position of device 4 without any external propulsion.

[0029] Starting from a neutral position, the user can move forward in an S direction. AV The device 4 is rotatably movable about axis 10, and alternatively, in the rearward direction S AR The appliance 4 is rotatably movable about axis 10. For example, the user moves the appliance 4 directly with their hand or fingers. Forward direction S AV and the rear direction S AR As indicated by the arrows, using Figure 1 S in AV and S AR Symbols are used to identify arrows. In this case, the direction is S. AV It is counterclockwise and the direction is S AR It is clockwise.

[0030] Device 4 in direction S AV From a neutral position to a pivot Figure 2 The indicated leftward tilt position. Device 4 can also be positioned in direction S. AR The center pivots from the neutral position to the right-leaning position. Typically, the right-leaning position is a mirror image of the left-leaning position relative to plane 12. In this case, the angular offset α between the neutral position and the leftmost leaning position... AV It can be 2° to 50°, or 2° to 45°, or 5° to 45°.

[0031] The appliance 4 includes a gripping handle 20, which is accessible from outside the frame 6 for direct manual operation by the user. In the neutral position, the handle 20 extends vertically upward from the cylindrical body 22. The cylindrical body 22 is rotatably mounted on axis 10.

[0032] The interface device 2 includes a return mechanism that continuously pushes the appliance 4 to its neutral position. The return mechanism includes a magnetic assembly attached to a frame 6, which has no degrees of freedom. This magnetic assembly includes one or more magnetic components. In this application, "magnetic component" refers to a permanent magnet and a non-permanently magnetized magnetic component. The term "non-permanently magnetized magnetic component" refers to a magnetic component that is not permanently magnetized but is magnetized when placed in the magnetic field of a permanent magnet. Therefore, when such a non-permanently magnetized magnetic component is located near a permanent magnet, it will be attracted by the permanent magnet. Typically, non-permanently magnetized magnetic components are made of ferromagnetic materials (e.g., ferromagnetic metals). For example, in this case, the non-permanently magnetized component is made of steel.

[0033] In the first embodiment, the magnetic assembly includes two permanent magnets 30 and 32. Magnet 30 is located on the right side of plane 12. The magnetic moment of magnet 30 is perpendicular. Magnet 30 includes a south pole facing downwards and a north pole facing upwards.

[0034] The return mechanism also includes a mechanism that can rotate about axis 36. Figure 2 The magnetic rocker arm 34, and alternatively, can also be rotatably moved about axis 38. Figure 2 Axes 36 and 38 are parallel to and separate from axis 10. Axes 36 and 38 are fixed relative to frame 6. In this case, axis 38 is a mirror image of axis 36 with respect to plane 12.

[0035] More specifically, the joystick 34 can be controlled via direction S AV 36 from the center around the axis Figure 1 The rest position shown pivots to Figure 2 The joystick 34 can be moved to the left tilted position shown. It can also be moved in the opposite direction (S). AR The center moves by pivoting around axis 38 from a stationary position to a right-tilted position. The right-tilted position is... Figure 2 The left tilt position shown is a mirror image of plane 12.

[0036] In the stationary position, the rocker arm 34 holds the device 4 in its neutral position. In its left-tilted position, the device 4 is in its left-tilted position ( Figure 2 In the right-tilted position, device 4 is in its right-tilted position.

[0037] For pivoting about axis 36, rocker arm 34 includes an abutment point 40 movable between an active position and a remote position. In this embodiment, abutment point 40 is formed by the upper corner of rocker arm 34. In the active position, point 40 is mechanically abutted directly against stop 42 of frame 6. In this active position, point 40 is located on axis 36 and, through its engagement with the shape of stop 42, forms a hinge that allows rocker arm 34 to pivot about axis 36. In the remote position, point 40 is no longer in mechanical contact with stop 42.

[0038] Point 40 and stop 42 are mirror images of each other relative to plane 12, referred to by reference numerals 44 and 46, respectively. Point 44 and stop 46 perform their functions, but also achieve the same function as point 40 and stop 42 in order to pivot rocker arm 34 about axis 38.

[0039] The rocker arm 34 also cooperates with magnets 30 and 32 to generate a restoring force that continuously pushes the device 4 to the neutral position. In this case, the restoring force is generated by the magnetic attraction between the rocker arm 34 and magnets 30 and 32. For this purpose, the rocker arm 34 includes two permanent magnets 50 and 52. Magnet 50 is located on the right side of plane 12. The magnetic moment of magnet 50 is perpendicular. Magnet 50 includes a south pole and a north pole. The north pole of magnet 50 faces upward in the resting position. In the resting position, this north pole faces the south pole of magnet 30. In this case, in the resting position, the north pole of magnet 50 is attached to the south pole of magnet 30. Therefore, without any external pushing, the rocker arm 34 returns to its resting position.

[0040] As the joystick 34 moves between its stationary position and its left-tilted position, point 40 is held in its active position by the magnetic attraction between magnets 30, 32 and magnets 50, 52. Simultaneously, point 44 is in its away position in this situation.

[0041] Similarly, as the joystick 34 moves between its stationary position and its right-tilted position, point 44 is held in its active position by the magnetic attraction between magnets 30, 32 and magnets 50, 52. In this case, point 40 is in its far-away position.

[0042] Finally, the return mechanism also includes a sliding connection between the device 4 and the rocker arm 34. This sliding connection includes a left portion located to the left of plane 12. The left portion of the sliding connection includes a flat spot 60. Figure 2 ) and slider 62 ( Figure 2In this configuration, the flat portion 60 extends in a direction perpendicular to axis 10. In the rest position, this direction is horizontal. The left portion converts the movement of the appliance 4 from its neutral position to its left-leaning position into the movement of the rocker arm 34 from its rest position to its left-leaning position. The slidingly connected left portion also converts the movement of the rocker arm 34 from its left-leaning position to its rest position into the movement of the appliance 4 from its left-leaning position to its neutral position.

[0043] Therefore, when the device 4 moves between the neutral position and the left-leaning position, the slider 62 slides along the flat portion 60. The slider 62 is also adjacent to the flat portion 60 of the device 4 in the neutral position. The slider 62 is at least 1 mm or 3 mm from the axis 10, and in some embodiments, the slider 62 is more than 5 mm or 10 mm from the axis 10. The slider 62 is attached to the device 4, which has no degrees of freedom. In this embodiment, the slider 62 is formed by the left edge of the blade 64. The blade 64 is attached to the body 22. In the neutral position, the blade 64 extends parallel.

[0044] The sliding connection also includes a right portion, which is a mirror image of the left portion of plane 12 in the neutral position. This right portion converts the movement of appliance 4 from its neutral position to its rightward tilt position into the movement of rocker arm 34 from its rest position to its rightward tilt position. The left portion of the sliding connection also converts the movement of rocker arm 34 from its rightward tilt position to its rest position into the movement of appliance 4 from its rightward tilt position to its neutral position.

[0045] The flat portion 60 and the slider 62, as mirror images of the plane 12, are respectively denoted by reference numerals 66 and 68. Figure 2 ).

[0046] In this embodiment, the frame 6 further includes two stops 69A and 69B, which are located on the right and left sides of the plane 12, respectively, and are symmetrical to each other with respect to the plane. When the rocker arm 34 is in S... AV When rotating about axis 36 in the direction, stop 69B limits the angular travel of rocker arm 34.

[0047] The interface device 2 operates as follows. Without any external pushing, the restoring force applied by magnets 30, 32 and 50, 52 holds the rocker arm 34 in its resting position. In the resting position, sliders 62 and 68 simultaneously abut against the flat portions 60 and 66 and are away from the axis 10. Therefore, blade 64 holds the device 4 in its neutral position. Consequently, a higher torque is required to move the device 4 to one of its inclined positions.

[0048] When the user is in direction S AVWhen the handle 20 is pushed upwards, the appliance 4 moves from the neutral position to the left-tilted position. More specifically, in this embodiment, the blade 64 initially bends to the left-hand side before the rocker arm begins to rotate about axis 36. Then, through a sliding connection, the rotation of the appliance 4 is converted into the rotation of the rocker arm 34 from the rest position to its left-tilted position. In this case, in the left-tilted position, the rocker arm 34 abuts against the stop 69B. Then, in S... AV Rotation of the directional rocker arm 34 is blocked. However, in this embodiment, by increasing the thrust on the handle 20, the blade 64 bends again, allowing the user to continue rotating around the axis 10 and in the S of the appliance 4. AV Rotate in the direction until the device abuts the edge of frame 6. Therefore, in this embodiment, in order to exceed Figure 2 As shown in the leftward tilt position, the user must increase thrust.

[0049] When the user releases the force applied to the device 4, the device 4 is no longer subject to any external force. The restoring force generated by magnets 30, 32 and 50, 52 returns the joystick 34 to its rest position. The left portion of the sliding connection translates this overshoot of the joystick 34 into a movement of the device 4 from its leftward tilt position to its neutral position.

[0050] When the user moves the appliance 4 from its neutral position to its rightward tilt position, the operation of the interface device 2 can be inferred from the above description.

[0051] During these movements, Figure 1 and Figure 2 Sensors (not shown) continuously measure the angular position of the device 4 around axis 10. This data collected by the sensors is transmitted to a control device, which controls one or more electric actuators or screens as functions of the collected data.

[0052] Figures 3 to 4 The human-machine interface device 100 is shown, which assumes the main working principle of the interface device 2 in the case of a joystick.

[0053] The interface device 100 includes a device 104 rotatably mounted within a frame 106. Device 104 is a lever. Device 104 is mechanically connected to the frame 106 via a ball bearing connection. Therefore, it can be rotatably mounted about an infinite number of horizontal axes of rotation, all of which intersect at point 108, hereinafter referred to as the "center of rotation 108". The center 108 is attached to the frame 106, which has no degrees of freedom.

[0054] In a neutral position (such as) Figure 3As shown, interface device 100 is symmetrical with respect to a vertical plane 112 passing through center 108. Furthermore, interface device 100 is also symmetrical with respect to a vertical plane 114 perpendicular to plane 12 and passing through center 108. Therefore, as previously described, only the elements of interface device 100 located on one side of plane 112 and behind plane 114 are described in detail. Other elements are derived through the symmetry with respect to these planes 112 and 114. Furthermore, the remainder of this description is provided in a specific case where device 104 rotates about an axis 116 parallel to direction X and passing through center 108. The description in this particular case applies to any axis passing through center 108, and device 104 is capable of pivoting about any axis passing through center 108. In this particular case, plane 112 contains axis 116.

[0055] Instrument 104 surrounds axis 116 and in direction S AV Rotate from neutral position to Figure 4 The device 104 is also capable of tilting to the left in the direction S. AR The axis pivots from the neutral position to the right-leaning position. Typically, the right-leaning position is a mirror image of the left-leaning position relative to plane 12. In this case, the angular offset α between the neutral position and the leftmost leaning position... AV It can be 2° to 50°, or 21° to 45°, or 5° to 45°.

[0056] The appliance 104 includes a gripping handle 120 that is accessible from outside the frame 6, for example, to allow direct manual activation by a user. The handle 120 extends beyond the frame 106. The handle 120 is mechanically connected to a hemispherical body 122 via a shaft 172. In this embodiment, the shaft 172 is attached to the body 122, which has no degrees of freedom. The body 122 is rotatably mounted within the frame 106 via ball bearing connections.

[0057] The interface device 100 includes a return mechanism that continuously pushes the appliance 104 to its neutral position. This return mechanism includes a magnetic assembly attached to a frame 106 that has no degrees of freedom. In this embodiment, the magnetic assembly includes a magnetized ring 130 whose axis of rotation is perpendicular to and passes through the center 108. The ring 130... Figure 5 As shown in the diagram, the magnetic moment of the ring 130 is vertical. The magnetic moment includes a south pole facing downwards and a north pole facing upwards.

[0058] The return mechanism includes a mechanism that can rotate around axis 136 ( Figure 4 And alternatively, it can also be around axis 138 ( Figure 4A rotatable magnetic rocker arm 134. Axes 136 and 138 are parallel to and separate from axis 116. Axes 136 and 138 are attached to a frame 106 that has no degrees of freedom. Axe 138 is symmetrical to axis 136 with respect to plane 112.

[0059] More specifically, by means of direction S AV The upper pivots around axis 136, and the rocker arm 134 can be rotated from... Figure 3 The indicated rest position moved to Figure 4 The indicated leftward tilt position. This is achieved through direction S. AR The upper pivot rotates around axis 138, and the rocker arm 134 can also move from a stationary position to a right-tilted position. The right-tilted position is... Figure 4 The left tilt position shown is a mirror image of plane 112.

[0060] In the rest position, the rocker arm 134 holds the appliance 104 in its neutral position. In the left tilt position of the rocker arm 134, the appliance 104 is in its left tilt position. In the right tilt position of the rocker arm 134, the appliance 104 is in its right tilt position. For pivoting about axis 136, the rocker arm 134 includes an abutment point 140 movable between an active position and a remote position. In the active position, the abutment point 140 is mechanically abutted against the stop 142 of the frame 106. The active position of point 140 is obtained when the rocker arm 134 tilts to the left. In this embodiment, the stop 142 is formed by the lower surface of the ring 130. The operation of the abutment point 140 and the stop 142 is the same as that of point 40 and stop 42 described in the case of interface device 2. The mirror images of point 140 and stop 142 with respect to plane 112 are respectively referred to by reference numerals 144 and 146.

[0061] The rocker arm 134 engages with the ring 130 to generate a restoring force that continuously pushes the device 104 to its neutral position. Similar to the interface device 2, the restoring force is generated by the magnetic attraction between the rocker arm 134 and the ring 130.

[0062] Therefore, in this embodiment, the rocker arm 134 is in the form of a washer made of a non-permanently magnetized magnetic material. In the rest position, the rotation axis of the rocker arm 134 coincides with the rotation axis of the ring 130. Thus, the rocker arm 134 concentrates and guides the field lines of the ring 130. Therefore, in the presence of the ring 130, the rocker arm 134 becomes magnetized and then has a north pole facing the south pole of the ring 130. In this case, in the rest position, the north pole of the rocker arm 134 directly presses against the south pole of the ring 130. Therefore, without any external force, the rocker arm 134 returns to its rest position.

[0063] In this case, points 140 and 144 are diagonal points on the upper edge of joystick 134.

[0064] In the case of interface device 2, points 140 and 144 are held in their respective active positions by the magnetic attraction between ring 130 and washer 150. Therefore, the same element in interface device 100 used to generate the appliance 4 to its neutral position is also used to hold point 140 and, alternatively, point 144 in their active positions.

[0065] The return mechanism also includes a sliding connection between the appliance 104 and the rocker arm 134. As in interface device 2, this sliding connection includes a left portion and a right portion located on the left and right sides of plane 112, respectively. The left portion of the sliding connection includes a flat portion 160 and a slider 162. Slider 162 is formed by a point on the lower edge of the body 122. The mirror images of the flat portion 160 and slider 162 relative to plane 112 are respectively referred to by reference numerals 166 and 168 (…). Figure 4 The operation of the sliding connection is exactly the same as that described in interface device 2. Therefore, it is not described in more detail here.

[0066] The upper end 104b of shaft 172 is mechanically connected to handle 120. The lower end of shaft 172 is located below rocker arm 134. For this purpose, shaft 172 passes through a central throttling orifice of rocker arm 134. The lower end 174 includes a permanent magnet 176.

[0067] The interface device 100 also includes an electronic board 190 ( Figure 3 and 4 The electronic board 190 is equipped with one or more sensors capable of measuring the magnetic field generated by the magnet 176. The board 190 also includes a computer capable of establishing the angular position of the apparatus 104 about the center 108 based on the measurements from these sensors. The board 190 also includes a transmitter capable of transmitting the established angular position.

[0068] The operation of interface device 100 is derived from the explanation provided in the case of interface device 2, in addition, in this case, the user is also able to rotatably move appliance 104 about any horizontal axis passing through center 108.

[0069] Figures 6 to 7 An interface device 184 identical to that of interface device 100 is shown, except that the handle 120 can be operated by the user. Figure 6 The release position shown and Figure 7 The pressure positions are vertically shifted. Therefore, in this embodiment, the handle 120 also functions as a push rod. For this purpose, the main body 122 and the rocker arm 134 are replaced by the main body 186 and the rocker arm 188, respectively.

[0070] The main body 186 also includes a housing 170, otherwise it is identical to the main body 122. In the neutral position, the housing 170 extends along a vertical axis passing through the center 108. For example, the housing 170 is a hole that passes completely through the main body 186. The shaft 172 of the appliance 104 is slidably received within the housing 170.

[0071] The joystick 188 includes a washer 150 and a leaf spring 178 that continuously pushes the handle 120 to the release position. The washer 150 is the same as that of the joystick 134.

[0072] In this embodiment, the leaf spring 178 is cup-shaped, having a flat circumference 180 and a central boss 182. The circumference 180 abuts the upper surface of the washer 150. The boss 182 passes entirely through the shaft 172. The central boss 182 abuts the shoulder 189 of the shaft 172. More specifically, in the neutral position and without any external pushing, the leaf spring 178 applies a thrust F. p This is to hold handle 120 in its released position. Force F p Vertical and pointing upwards. Force F p The amplitude is less than the restoring force F generated by the magnetizing ring 130 and the washer 150 in the neutral position. r The amplitude of the force. Therefore, when the user applies a downward vertical force to the handle 120, its amplitude is between that of the force F. p and F r When the amplitude is between [value missing], the handle 120 moves from its released position to its depressed position, while the joystick 188 does not move. Once the user releases the handle 120, the leaf spring 178 returns it to the released position. For example, the leaf spring 178 is made of a non-magnetic material.

[0073] In this case, the handle 120 includes a hemispherical abutment surface 192. Figure 6 and Figure 7 When the appliance 104 is in any of its inclined positions, the abutment surfaces are slidably abutted (e.g., as shown in the image). Figure 4 (As shown) on the corresponding upper adjacent surface 194 of the frame 106. Therefore, in the inclined position, the handle 120 cannot move to its pressed position. The handle 120 can only move to its pressed position when the appliance 104 is in the neutral position.

[0074] In this embodiment, the computer of board 190 is also programmed to determine whether handle 120 is in its released or depressed position based on the same measurement value from the sensor. Subsequently, the released or depressed position of handle 120 is transmitted to an external control device.

[0075] The operation of interface device 184 is derived from the explanation provided in the case of interface device 100, in addition, in this case, device 104 can also move between a release position and a press-down position.

[0076] Except that joystick 188 has been replaced by magnetic joystick 204, Figure 8 and 9 The interface device 200 shown is the same as the interface device 184. Except that the washer 150 and leaf spring 178 are replaced with the same magnetic component, the rocker arm 204 is the same as the rocker arm 188, and the magnetic component simultaneously functions as both the washer 150 and the leaf spring 178. For example, the rocker arm 204 is the same as the cup-shaped leaf spring 178, except that the circumference 180 of the rocker arm 204 is replaced by a wider circumference 210. The circumference 210 extends into the rest position to the lower surface of the magnet 130 and thus faces the lower surface of the ring 130. Furthermore, the rocker arm 204 is made entirely of a non-permanently magnetized magnetic material. Therefore, in the rest position of the rocker arm 204 (e.g., ... Figure 8 and 9 As shown), circumference 210 is adhered to the lower surface of ring 130.

[0077] Except that the joystick 204 is formed from a single piece of material, the operation of the interface device 200 is the same as that of the interface device 184.

[0078] Except that joystick 188 has been replaced by magnetic joystick 304, Figure 10 and 11 Interface device 300 is shown, identical to interface device 184. Except for omitting the leaf spring 178, rocker arm 304 is identical to rocker arm 188. Under these conditions, interface device 300 includes a helical spring 310 to return handle 120 to its released position. The upper end of spring 310 is directly abutted against shaft 172, and the lower end of spring 310 is abutted against keyway 312. Keyway 312 is attached to body 122, which has no degrees of freedom, and passes through a horizontal hole 314 that completely passes through shaft 172. In this case, spring 310 is mounted within a hollow tubular housing inside shaft 172.

[0079] Spring 310 continuously pushes handle 120 back. Figure 10 The release position is shown. The magnitude of this force is the same as the force F described in the case of interface device 184. p The amplitudes are the same.

[0080] When the user applies a force with an amplitude between F p and F r When a downward vertical force is applied between the amplitudes, the handle 120 moves to the position under the restoring force of the spring 310. Figure 11 The pressed position is shown. The remaining operations of interface device 300 are the same as those of interface device 100.

[0081] Figure 12 An interface device 400 is shown that is the same as interface device 100, except that:

[0082] - Appliance 104 was replaced by appliance 402;

[0083] - Magnetic joystick 134 has been replaced by magnetic joystick 404;

[0084] - The magnetic component attached to frame 106 is configured to continuously push the joystick 404 back as if Figure 12 The static position shown.

[0085] Except that the shaft 172 and the body 122 are made of the same material, the appliance 402 is identical to the appliance 104. Therefore, in this embodiment, the handle 120 cannot be subjected to a downward vertical force (with force F) applied to the handle 120. p The amplitude to force F r The amplitude of the amplitude moves between the release position and the press-down position.

[0086] The joystick 404 is in the form of a magnetized ring. For example, the joystick 404 is the same as ring 130. The north pole of the joystick 404 faces upward and its south pole faces downward.

[0087] The magnetic assembly is configured to push the rocker arm 404 upwards, thereby propelling it to its rest position. For this purpose, the magnetic assembly includes a magnetized ring 410 attached to a frame 106 without any degrees of freedom and located below the rocker arm 404. Similar to the rocker arm 404, the ring 410 extends primarily horizontally. The axis of rotation of the ring 410 is vertical and coincides with the axis of rotation of the rocker arm 404. For example, the ring 410 is structurally identical to the rocker arm 404, except that its south pole faces upwards. Therefore, the south pole of the ring 410 is opposite to the south pole of the rocker arm 404. Under these conditions, the ring 410 continuously pushes the rocker arm 404 to its rest position.

[0088] In this embodiment, the rocker arm 404 and the ring 410 cooperate to generate a restoring force whose amplitude increases as the appliance 102 tilts to the right or left. For example, in the case of the interface device 100, the remaining operation of the interface device 400 is derived from the explanation provided above.

[0089] Figure 13 An interface device 500 is shown, identical to the interface device 100 except that axis 116 is the axis around which the appliance 104 can pivot. For this purpose, frame 106 is replaced by frame 502. Frame 502 is identical to frame 106 except that the shape of its upper surface is designed to prevent any rotational movement of the appliance 104 other than about axis 116. For simplicity... Figure 13Only a portion of the upper surface of frame 502 and shaft 172 are shown. For this purpose, the upper surface of frame 502 includes a straight groove 504 that translatesively guides shaft 172. This groove extends in the Y direction.

[0090] Figure 14 A magnetized ring 510 is shown, capable of replacing the ring 130 in the interface device 100. The ring 510 has multiple south poles and multiple north poles on its horizontal lower surface. Figure 14 In the 510 ring, the South and North Poles are represented by the letters "S" and "N," respectively. The North and South Poles of the 510 ring are arranged side by side, one after another, along the lower surface of the 510 ring. Each South Pole is wedged in and inserted between the two North Poles.

[0091] The operation of the interface device 100, which replaces ring 130 with ring 510, is the same as when using ring 130. However, due to the gasket 150, the field lines of ring 510 circulate back more quickly. Therefore, these field lines are shorter than when using ring 130. This reduces the risk of interrupting the operation of electronic components located near ring 510.

[0092] Figure 15 An interface device 600 is shown that is the same as interface device 100, except that:

[0093] - Appliance 104 was replaced by appliance 604;

[0094] -Frame 106 was replaced by frame 606; and

[0095] - Magnetic joystick 134 has been replaced by two magnetic joysticks 608 and 610;

[0096] Except that the hemispherical body 122 is replaced by a basic spherical body 612, the appliance 604 is identical to the appliance 104. The body 612 forms a convex portion that provides a ball-bearing connection between the appliance 604 and the frame 606. Furthermore, the body 612 includes a circular shoulder 614 that completely surrounds its spherical portion. In the neutral position, the shoulder 614 extends in a horizontal plane. In the neutral position, the shoulder 614 is symmetrical with respect to a horizontal plane passing through the center of rotation 108. Furthermore, in this embodiment, the rocker arms 608 and 610 are symmetrical with respect to this same horizontal plane. Therefore, only the elements of the shoulder 614 located in this plane will be described in detail below, and only the rocker arm 608 will be described in detail below. The elements of the interface device 600 located above this horizontal plane are derived through symmetry.

[0097] The shoulder 614 includes the lower edges of sliders 162 and 168 that form a sliding connection between the device 604 and the rocker arm 608.

[0098] In this configuration, the handle 120 is attached to the body 612, which has no degrees of freedom. Therefore, the handle 120 cannot be freed by applying a downward vertical force (with force F) to the handle 120. p The amplitude to force F r The amplitude of the amplitude moves between the release position and the press-down position.

[0099] Joystick 608 is the same as joystick 134. As described in the case of joystick 134, joystick 608 moves between right and left tilt positions. Joystick 610 is the same as joystick 608 except that it is located on the other side of ring 130.

[0100] Except for the additional groove 620, frame 606 is the same as frame 106, the additional groove 620 causing the rocker arm 610 to... Figure 15 The joystick 610 moves between the stationary position and the left and right tilt positions shown. The left tilt position of the joystick 610 is a mirror image of the left tilt position of the joystick 608 relative to the center 108. Similarly, the right tilt position of the joystick 608 is a mirror image of the right tilt position of the joystick 610 relative to the center 108.

[0101] In this embodiment, the function and movement of the rocker 610 are similar to those of the rocker 608, except that the rocker 610 rotates about an axis that is located opposite to the axis around which the rocker 608 rotates, relative to the vertical plane passing through the center 108. For illustration, in Figure 15 In the figure, axes 136 and 138 are designated as axes of symmetry with respect to center 108 by reference numerals 628 and 626, respectively. In practice, when the device 604 moves to its left tilt position, the shoulder 614 simultaneously moves rockers 608 and 610 to their left tilt position. Therefore, in this embodiment, without any external pushing, a restoring force F is generated by the ring 130 engaging with the two rockers 608 and 610, causing the device 604 to return to the neutral position. r Therefore, this doubles the amplitude of the restoring force.

[0102] Chapter 2: Alternative Implementation Examples

[0103] Alternative implementation of the return mechanism:

[0104] As an alternative embodiment, the rocker arm 134 or washer 150 is replaced by a magnetized ring of the same shape with an upward-facing north pole. Similarly, in the interface device 200, the rocker arm 204 can be replaced by a cup of the same structure but permanently magnetized and with an upward-facing north pole. In these alternative embodiments, both the magnetic components and the magnetic rocker arm comprise permanent magnets.

[0105] Regardless of the embodiment, the positions of the permanent magnet and the non-permanently magnetized magnetic components can be reversed. For example, ring 130 can be replaced by a non-permanently magnetized metal washer and washer 150 can be replaced by a magnetized ring.

[0106] In the embodiments described so far, the magnetic assembly and magnetic rocker contain only permanent magnets or only non-permanently magnetized magnetic components. However, as an alternative embodiment, each of the magnetic assembly and magnetic rocker can include both permanent magnets and non-permanently magnetized magnetic components.

[0107] As an alternative embodiment, the magnetic assembly and / or magnetic rocker includes a non-magnetic shim inserted into a neutral position between the magnetic assembly and the magnetic rocker. Thus, in the neutral position, the shim introduces space between the magnetic assembly and the magnetic rocker. The larger this space, the smaller the minimum torque required to move the appliance from the neutral position to one of its tending positions. Therefore, the thickness of the shim allows for adjustment of the magnitude of this minimum torque. The shim can be attached to the frame or the magnetic rocker, or the shim can be attached to the frame and another shim can be attached to the magnetic rocker. Furthermore, if the shim is made of an elastic material (e.g., synthetic rubber), it can also suppress clicking noise that may occur when the magnetic rocker returns to its rest position.

[0108] Other alternative embodiments:

[0109] The device can take on a variety of different shapes. For example, device 4 can be replaced with a finger wheel that pivots about axis 10. The device can also include one or more buttons, each of which can move between an extended and a pressed position when the user holds the device.

[0110] In a simplified alternative embodiment, the appliance can only move between a neutral position and a left-leaning position. For example, for this purpose, the frame includes a stop to prevent any movement of the appliance to the right-leaning position. In this case, the rocker arm rotates only about the axis of rotation located on the right side. The same interface device allows all elements for the rocker arm to rotate about the axis located on the left side to be omitted. Furthermore, the adjacent point on the right side is then systematically positioned in its active position. Then, the adjacent point no longer needs to be moved to its remote position.

[0111] The number of horizontal axes around which an instrument can pivot can be equal to 1 (e.g., Figure 1 , 2 As shown in Figure 13), it can also be infinite (as shown in Figure 13). Figures 3 to 12(as shown in Figure 15). This number can also fall between these two extremes. Therefore, the number of horizontal axes around which the appliance pivots can be greater than or equal to 2 and less than or equal to 6 or 4. For example, for this purpose, the frame is configured to limit the number of horizontal axes of rotation (as shown in the reference). Figure 13 (The special case of a single axis of rotation is shown).

[0112] The device can also be adjusted in shape to allow it to be moved in ways other than by hand. For example, as an alternative embodiment, the device can be adjusted in shape by the user's foot for movement. The device can also be moved by a robot or the like. Therefore, the human-machine interface device described herein can also be used in fields beyond human-machine interface devices. For example, it can be used as a travel end detector or as a sensor for the movement of mechanical targets.

[0113] Other embodiments of the sliding connection are also possible. For example, in a particular embodiment, the positions of the slider and the flat portion are reversed. One is located between the slider and the flat portion and then attached to the rocker arm, while the other is located between the slide plate and the flat portion and attached to the appliance. In another embodiment, the right and left portions of the sliding connection are asymmetrical. For example, the positions of the slider and the flat portion are reversed only on the right side of the sliding connection.

[0114] The blade 64 can be replaced by a torsion spring comprising two ends and a central portion extending between these ends. For example, the central portion is wound around axis 10. In the neutral position, the ends of the torsion spring are abutted against flat portions 60 and 66, respectively. When the appliance 4 tilts, these ends slide on these flat portions. Thus, these ends form a slider for a sliding connection between the appliance and the rocker arm.

[0115] As an alternative embodiment, the magnetic restoring force generated by continuously pushing the magnetic rocker to its resting position without any external force is insufficient to return the appliance from its inclined position to its neutral position. In this case, in addition to the restoring force generated by the magnetic interaction between the magnetic rocker and the magnetic components, one or more springs can be used to continuously push the appliance to its neutral position. For example, for this purpose, the blade 64 is replaced by two torsion springs. Each of these torsion springs includes one end attached to the frame 6 and another end sliding on its respective flat portions 60, 66. Between these two ends, each of these torsion springs includes a central portion wound around the axis 10, which is moved by the appliance 4 when the axis is inclined.

[0116] As an alternative embodiment, the sensor for the angular position of the device includes a magnetic field sensor that measures the direction of the magnetic moment of the magnetic rocker arm. In this embodiment, the permanent magnet 176 can be omitted, allowing the device to be completely free of magnetic components.

[0117] In another embodiment, the magnetic field sensor is replaced by a mechanical sensor (such as a button) that is pressed when the joystick is tilted to either side. In this case, the appliance may also lack magnetic components.

[0118] As an alternative embodiment, the electronic board 190 does not include a computer, but rather includes, for example, only a magnetic field sensor. Typically, in this case, the computer is moved outside the human-machine interface device.

[0119] As an alternative embodiment, the magnetic components of the frame used to generate the restoring force of the appliance 4 to the neutral position do not allow for the generation of an attractive force that holds points 40 and 44 in their active positions. For example, to hold points 40 and 44 in their active positions, the frame and magnetic rocker include magnetic components specifically designed for this function. These magnetic components differ from the magnetic components used to generate the restoring force. For example, the frame or magnetic rocker includes an additional permanent magnet that generates an attractive force in a horizontal direction parallel to the Y direction, which is capable of holding one of the adjacent points of the rocker in its active position.

[0120] As an alternative embodiment, the left and right tilt positions are asymmetrical. Similarly, the left and right tilt positions of the joystick are not necessarily symmetrical.

[0121] Chapter 3: Advantages of the embodiments described:

[0122] Compared to the same human-machine interface device, using permanent magnets to generate restoring force can reduce the space requirements of the human-machine interface device, but the restoring force is generated using springs (such as helical springs).

[0123] Using a magnetic rocker arm independent of the appliance limits the number of magnetic components directly attached to the appliance. This simplifies appliance manufacturing. Furthermore, since this has no significant impact on the amplitude of the restoring force, the positioning tolerance of the appliance relative to the frame can be increased.

[0124] Because the slider of the sliding connection is offset relative to the rotation axis of the appliance, a non-zero torque needs to be overcome before the appliance can be successfully moved to one of its inclined positions. Therefore, the sensitivity of the human-machine interface device to vibration is reduced.

[0125] By holding adjacent points in their active positions solely by applying magnetic attraction between the magnetic components and the magnetic rocker, the structure and assembly of human-machine interface devices are simplified.

[0126] The fact that magnetic restoring force is generated using permanent magnets and non-permanently magnetized magnetic components concentrates the field lines of the permanent magnet within the magnetic component. This limits the field lines that can loop outside the magnetic component. Consequently, the risk of the field lines of such a permanent magnet damaging electronic components near the permanent magnet is reduced.

[0127] Using pairs of permanent magnets arranged side-by-side, with each south pole of one magnet bonded to the north pole of the other, allows for faster loop closure and thus shorter field lines. This also limits the risk that the field lines of this set of permanent magnets might interfere with the operation of nearby electronic components.

[0128] The magnetic poles facing the magnetic components and the magnetic rocker have opposite polarities, causing the resulting restoring force to decrease as the appliance moves to either of its inclined positions.

[0129] Conversely, the magnetic poles facing the magnetic components and the magnetic rocker have the same polarity, which causes the resulting restoring force to increase as the appliance moves to either of its inclined positions.

Claims

1. A human-machine interface device, comprising: -Fixed frame; - An appliance that can be rotatably moved by a user about a first axis in a first direction from a neutral position to a first inclined position, the neutral position being the position of the appliance without any external pushing of the appliance; - A return mechanism that continuously pushes the appliance to its neutral position, the return mechanism including a magnetic assembly comprising one or more magnetic components, each magnetic component being attached to the frame. in: The return mechanism includes: - A magnetic rocker arm capable of being rotatably moved from a rest position to a first tilted position in a first direction about a second axis, in which the magnetic rocker arm holds the appliance in a neutral position, and in the first tilted position, the appliance is in its first inclined position, the second axis being separate from and parallel to the first axis, one of the magnetic components and the magnetic rocker arm including a group of one or more permanent magnets, the group of permanent magnets being capable of cooperating with the other of the magnetic components and the magnetic rocker arm to generate a magnetic restoring force that continuously pushes the magnetic rocker arm to its rest position; - A sliding connection capable of converting rotational movement of an appliance in a first direction into rotational movement of a rocker arm in the first direction, wherein the sliding connection comprises: - A first flat portion, which lies entirely on one side of the intermediate plane containing the first axis; and - A first slider, located at a distance of at least 1 mm from the first axis and adjacent to the first flat portion, slides along the first flat portion when the device moves between a neutral position and a first inclined position; The device includes one of a first slider and a first flat portion, and the magnetic rocker includes the other of a first slider and a first flat portion, such that the sliding connection is capable of converting movement of the device to a first inclined position into movement of the magnetic rocker to its first tilted position, and movement of the magnetic rocker to its rest position into movement of the device to its neutral position. in: -The frame includes a first stop located at the position of the second axis; - The magnetic rocker includes a first adjoint point, which is movable between the following positions: - Active position, in which the first abutment abuts against the first stop to form a first hinge by fitting the shape of the first stop, the first hinge causing the rocker arm to rotate about a second axis as the device moves between its neutral position and its first inclined position; and - A remote position, in which the first adjacent point is remote from the first stop; -As long as the magnetic rocker moves between its rest position and its first tilt position, the group of permanent magnets or another group of one or more permanent magnets is able to generate a magnetic attraction that holds the first adjacent point in its active position.

2. The interface device according to claim 1, wherein, Only one of the magnetic components and the magnetic rocker arm includes the group of the permanent magnets, and the other of the magnetic components and the magnetic rocker arm includes only one group of one or more magnetic parts that can generate a magnetic restoring force by cooperating with the group of the permanent magnets.

3. The interface device according to claim 2, wherein: - The group of permanent magnets includes a south pole and a north pole that are directly adjacent to each other; and - The parallel South and North Poles both face one of the magnetic components in the group of magnetic components.

4. The interface device according to claim 1, wherein: The apparatus includes: - A main body, rotatably mounted about a first axis, the main body comprising: - Including one of the first flat portion and the first slider in the device; and -case; - A push rod that can be moved between a release position and a press-down position by the user by sliding it inside the housing; The magnetic rocker includes a leaf spring that continuously applies a force to the push rod to push it to its release position. The magnitude of this force is less than the magnitude of the magnetic restoring force generated when the magnetic rocker is in its rest position.

5. The interface device according to claim 4, wherein, The leaf spring is made of magnetic material and also cooperates with the magnetic components of the frame to generate a magnetic restoring force.

6. The interface device according to claim 1, wherein: - The magnetic component includes a first magnetic pole facing the magnetic rocker; and - The magnetic rocker includes a second magnetic pole, which is opposite to the first magnetic pole and has the same polarity as the first magnetic pole, such that the first magnetic pole and the second magnetic pole repel each other.

7. The interface device according to claim 1, wherein: - The magnetic component includes a first magnetic pole facing the magnetic rocker; and - The magnetic rocker includes a second magnetic pole facing the first magnetic pole and having a polarity opposite to that of the first magnetic pole, such that the second magnetic pole is attracted by the first magnetic pole.

8. The interface device according to any one of the preceding claims, wherein: -The device can be rotatably moved by the user from a neutral position to a second inclined position in a second direction opposite to the first direction around a first axis; - The magnetic rocker arm is rotatably movable from its rest position to a second tilt position in a second direction about a third axis of rotation. In the second tilt position, the device is located in its second inclined position, the third axis is separate from and parallel to the first axis, and is located on the side opposite to the side where the second axis is located relative to the intermediate plane. The sliding connection includes: - The second flat portion is located entirely on the side of the middle plane opposite to the side where the first flat portion is located; and - A second slider, which is located at a distance of more than 1 mm from the first axis and can be adjacent to the second flat portion, so as to slide along the second flat portion when the device moves between its neutral position and its second inclined position; The device includes one of a second slider and a second flat portion, and the magnetic rocker includes the other of a second slider and a second flat portion, such that the sliding connection is capable of converting movement of the device to a second inclined position into movement of the magnetic rocker to its second tilted position, and converting movement of the magnetic rocker from its second tilted position to its rest position into movement of the device from its second inclined position to its neutral position.

9. The interface device according to claim 8, wherein: -The frame includes a second stop located at the position of the third axis; - The magnetic rocker includes a second adjacent point, which is movable between the following positions: -Active position, in which the second abutment is adjacent to the second stop to form a second hinge by fitting with the shape of the second stop, the second hinge causing the magnetic rocker arm to rotate about a third axis when the appliance moves from its neutral position to its second inclined position; and - A distanced position, in which the second adjacent point moves away from the second stop when the appliance moves from its neutral position to its first inclined position; -As long as the magnetic rocker moves between its stationary position and its second tilted position, the group of permanent magnets or another group of one or more permanent magnets can generate a magnetic attraction that holds the second adjacent point in its active position.

10. The interface device according to claim 1, wherein, The distance between the first axis and the first slider is greater than 3mm.

11. The interface device according to claim 1, wherein, The device can only rotate about one or more axes that pass through the same fixed point relative to the frame.

12. The interface device according to claim 1, wherein, Without any external force, the magnetic restoring force is sufficient to return the device from its first inclined position to its neutral position.

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