Passive haptic device

Abstract

The present invention relates to a passive tactile device comprising a mechanical component (1) movable relative to a second mechanical component (2), one of the mechanical components (1) having a plurality of magnetized regions (10) periodically spaced apart by a pitch P1, and another mechanical component (2) having a second plurality of magnetized regions (20) periodically spaced apart by a pitch P2, wherein a force that periodically varies with the relative position of the mechanical components (1, 2) is generated by magnetic interaction between the mechanical components (1, 2), the magnetic interaction varying according to a period Pt, characterized in that all magnetized regions of at least one of the mechanical components (1, 2) are magnetized in the same direction.

Description

Technical Field

[0001] This invention relates to a passive haptic device, namely a passive haptic device that can be operated by fingers or hands or even possibly by the user's feet and provides variable force feedback without consuming electrical energy.

[0002] This invention can be applied, for example, to computer control interfaces, control interfaces in motor vehicles, or control interfaces in household appliances. Background Technology

[0003] Artificial tactile devices with angularly graded using a purely magnetic method are known. These devices are based on a magnetic field source US3885560, or two magnetic field sources US3934216, unidirectionally oriented and composed of permanent magnets associated with coiled portions of soft ferromagnetic flux. These portions are arranged opposite each other and define a magnetic air gap. It is cut such that the permeability of the air gap varies according to the phase difference between the stationary and moving portions. The permeability is minimized when the teeth of the stationary component face the teeth of the moving component, and then the position is graded. These coiled portions have the same number of teeth on both the stationary and moving portions. This number equals the number of stable positions sought.

[0004] Patent application DE4035011 also describes how to achieve magnetic angular division between two components. This is achieved by means of multiple magnets of different polarities, which are fixed to a moving component relative to another moving component. The magnetic flux of these magnets is guided by a soft ferromagnetic portion, which describes a magnetic air gap with variable reluctance during the relative rotation of the two components.

[0005] Utility model application FR2935497 describes an angular indexing device based on magnetic coupling between a fixed part and a rotating part. Each of these parts has alternating magnetic poles (north and south) opposite to those of the other part. The parts have the same number of magnetic poles, equal to twice the number of the desired indexing position. The position is indexed when all magnets of a given polarity on the moving assembly are aligned with all magnets of the opposite polarity on the fixed assembly. This application does not disclose a soft ferromagnetic flux coiling material.

[0006] Disadvantages of existing technology

[0007] The disadvantages identified in the prior art are the complexity of the multipole components (when magnets alternate in a ferromagnetic structure), the complexity of generating a large number of indexing positions, and the practical difficulty of magnetizing magnetic poles with alternating polarities on a large number of individual magnets.

[0008] Furthermore, many haptic devices typically require a position sensor to control the device's operation, such as the movement of a computer pointer when the haptic interface is a mouse, or the movement of a cursor on a dashboard screen; these examples are not limiting. Existing devices often use optical, resistive, or magnetic sensors juxtaposed with the haptic device, making the solution bulky or uneconomical.

[0009] Finally, existing passive tactile devices have mechanical components made of soft ferromagnetic materials in which the magnetic induction varies greatly during the use of the device. These variations cause losses in the magnetic source (through induced current, through hysteresis, etc.), which leads to significant friction, detrimental to the quality of tactile reproduction during dynamic use of the device. Summary of the Invention

[0010] The purpose of this invention is to overcome the shortcomings of the prior art by allowing for the simplification of the moving and fixing mechanical components of the magnetized passive tactile device and more economical industrial production.

[0011] To this end, the present invention proposes to generate a certain number of cuts that are perceived by the user by combining fixed and movable parts, each part having a minimum number of alternating north / south magnetic poles, preferably less than the desired number of graduation positions, which makes it easier to achieve the same passive operation, that is, without using electric coils and without consuming electrical energy.

[0012] Another object of the present invention is to provide a simple and economical solution for integrating a position sensor into such a tactile device.

[0013] Therefore, in its most general sense, the present invention relates to a passive tactile device comprising a first mechanical member movable relative to a second mechanical member, the first mechanical member having a magnet and a first plurality of magnetized regions periodically spaced at a pitch P1, the second mechanical member having a second magnet and a second plurality of magnetized regions periodically spaced at a pitch P2, wherein a force periodically varying with the relative position of the mechanical members is generated by magnetic interaction between the mechanical members, the magnetic interaction varying according to a period Pt.

[0014] The feature is that all magnetized regions of at least one of the mechanical components are magnetized in the same direction (sens).

[0015] According to a variant, the invention also relates to a tactile interface that additionally has one or more of the following features, which are employed individually or in any technically compatible combination:

[0016] - The first and second plurality of magnetization regions are integral parts of the first magnet and the second magnet, respectively.

[0017] - At least one of the plurality of magnetized regions is made of a soft ferromagnetic material and is magnetized by a magnet integrated into its mechanical components.

[0018] - The mechanical components can be translated relative to each other.

[0019] - The mechanical component has a ring shape and is capable of relative rotational movement.

[0020] - The magnetized region of the annular mechanical component is radially magnetized in either the centrifugal or centripetal direction.

[0021] - At least one of the ring-shaped mechanical components has a magnetized region that is diametrically magnetized. The diametrically magnetized ring has two sets of teeth with the same pitch, these sets being separated by a non-integer number of pitches, preferably x + 0.5 pitches, where x is a positive integer. The sets of teeth are preferably radially centered in the diametrically magnetized direction.

[0022] - The mechanical component has a disk shape and is capable of relative rotational movement.

[0023] - The first movable mechanical component includes a ball joint that can rotate about three orthogonal axes.

[0024] - The pitch P1 is the same as the pitch P2.

[0025] - The mechanical air gap located between mechanical components does not contain soft ferromagnetic material.

[0026] - The moving mechanical component has protrusions in the form of magnets, the magnetic field of which is intended to be measured by a magnetically sensitive probe to provide information about the position of the moving component.

[0027] - The magnet protrusion and the magnet body are formed as a single component.

[0028] - The protrusion and the magnet are magnetized in the same direction and in the same orientation.

[0029] - At least one of the magnets is manufactured by injecting a plastic material filled with magnet powder.

[0030] - At least one of the magnets is made of sintered magnet.

[0031] The mechanical component has relative displacement in at least two directions. The relative displacement in the first direction generates the periodically varying force, while the relative displacement in the second direction generates a continuously varying force similar to magnetic stiffness.

[0032] - The first mechanical component has two sets of multiple magnetized regions periodically spaced apart at the same pitch P1, and the multiple magnetized regions can be mechanically phase-shifted to modulate the amplitude of the periodically changing force with the relative position of the mechanical component.

[0033] In this application, the terms “annular” or “ring-shaped” have the same meaning and refer to the geometry of a shell of a generally tubular portion whose height is typically less than its diameter.

[0034] "Soft ferromagnetic materials" refer to ferromagnetic materials with low coercivity (typically less than 1000 A / m) and relative permeability greater than 100.

[0035] More specifically, the subject of this invention is a passive tactile device comprising a mechanical component that can be moved relative to a second mechanical component by a user's action (e.g., by rotation driven by a finger). The object of this invention is characterized in that multiple magnetized regions of at least one of the mechanical components are all magnetized in the same direction. The term "same direction" means that for each point of the magnetized region, magnetization is determined by a vector of coordinates (m1, m2, m3). These coordinates are identical in a local coordinate system associated with each point under consideration, which may be expressed in Cartesian, cylindrical, or spherical coordinates. In other words, the plurality of magnetized regions of at least one of the mechanical components do not have an alternation of north and south poles.

[0036] In the most general case, since mechanical components have multiple magnetization regions all pointing in the same direction, the magnetization vector... In the direction of the magnetic field and along a path traversing multiple magnetized regions, the measurement of magnetic induction in the mechanical air gap presents a periodic function corresponding to the fundamental period of the pitches of the multiple magnetized regions, and this periodic function can represent the harmonics of the fundamental period. During the activation of the tactile device, the magnetic pole pitches P1 and P2 do not necessarily have to be equal, and the period Pt of the variable magnetic force preferably corresponds to the lowest common harmonic of the periodic functions of the fundamental period P1 and the fundamental period P2.

[0037] Variations in magnetization implementation methods

[0038] In a variation, to obtain the periodic function of the magnetic induction, the mechanical component having multiple regions magnetized in the same direction is constructed by the shape of teeth at the surface defining the mechanical air gap. The shape of the teeth is taken in the sense of tooth structure; therefore, it does not necessarily have protruding edges, but can have a rounded involute shape. Thus, the measurement of the magnetic induction near this surface presents a high-amplitude continuous component modulated by a periodic function corresponding to the fundamental period of the pitch of the multiple magnetized regions. This surface can be constructed in different ways by the tooth shape, for example, directly by constructing a magnet or by injection molding using plastic filled with sintered magnetic particles or powder, and also by adding ferromagnetic sheets having these tooth shapes (produced by stamping or machining). These manufacturing techniques are not limiting to the invention.

[0039] In a variant with cylindrical geometry, the mechanical components are based on a previously taught ring to obtain the periodic function of magnetic induction. The mechanical components, having multiple regions magnetized in the same direction, are magnetized in the same direction according to the transverse diameter direction, that is, according to the Cartesian coordinate system. The mechanical components are composed of two sets of teeth on their surfaces facing the air gap. These sets of teeth have the same pole pitch corresponding to the pitch of the magnetized region and are spaced apart by a distance equal to an integer number of pitches plus half a pitch of the magnetized region. Therefore, measurements of magnetic induction along a circular profile concentric with the ring near the surface exhibit a high-amplitude, period-1 sinusoidal component modulated by two pseudo-periodic functions with a lower amplitude and a fundamental period corresponding to the pitch of the multiple magnetized regions, the pseudo-periodic functions being phase-shifted by half a period.

[0040] Other variations of the implementation

[0041] In another variation, the space near the surface contains no components made of soft ferromagnetic material. This space exhibits the greatest variation in magnetic induction, and this configuration is advantageous for limiting losses caused by induced currents, which slow down the device when used in a pulsed manner.

[0042] In another variation, these mechanical components have magnetic supports that can perform various functions, such as for mechanical docking of the mechanical components, for increasing the inertia of the mechanical components, or even for purely aesthetic reasons. Attached Figure Description

[0043] Other features and advantages of the invention will become apparent when reading the following detailed description with reference to the accompanying drawings, which illustrate the invention in various ways:

[0044] [ Figure 1A ] Figure 1A This is a cross-sectional view of the device according to the first rotating embodiment of the present invention;

[0045] [ Figure 1B ] Figure 1B yes Figure 1A Simulation of magnetic induction in the mechanical air gap of the mechanical components of the device shown;

[0046] [ Figure 2A ] Figure 2A This is a cross-sectional view of the device according to the second rotating embodiment of the present invention;

[0047] [ Figure 2B ] Figure 2B yes Figure 2B Simulation of magnetic induction in the mechanical air gap of the external component shown;

[0048] [ Figure 3 ] Figure 3 This is a partial cross-sectional view of the device according to the third rotating embodiment of the present invention;

[0049] [ Figure 4 ] Figure 4 This is a perspective view of a device with an axial connection according to a rotational embodiment of the present invention;

[0050] [ Figure 5 ] Figure 5 This is a rear perspective view of the position detection system of the device according to a rotational embodiment of the present invention;

[0051] [ Figure 6 ] Figure 6 This is a perspective view of the apparatus according to a linear embodiment of the present invention;

[0052] [ Figure 7 ] Figure 7 This is a perspective view of the device according to a spherical embodiment of the present invention;

[0053] [ Figure 8 ] Figure 8 The diagram is a cross-sectional view of the device according to the fourth rotating embodiment of the present invention;

[0054] [ Figure 9 ] Figure 9 This is a cross-sectional view of the device according to the fifth rotating embodiment of the present invention;

[0055] [ Figure 10 ] Figure 10 This is a partial cross-sectional view of the device according to the sixth rotating embodiment of the present invention;

[0056] [ Figures 11A to 11B ] Figure 11A and Figure 11B This is a perspective view of the device according to the seventh rotational embodiment of the present invention, and shows different functional positions;

[0057] [ Figure 12A and Figure 12B ] Figure 12A and Figure 12B This is a perspective view of the device according to the eighth rotating embodiment of the present invention, and shows different functional positions;

[0058] [ Figure 13 ] Figure 13 This is a partial cross-sectional view of the device according to the ninth rotating embodiment of the present invention;

[0059] [ Figure 14 ] Figure 14 This is a partial cross-sectional view of the device according to the tenth rotating embodiment of the present invention. Detailed Implementation

[0060] Figure 1A A partial cross-sectional view of a first embodiment of a tactile device according to the present invention is shown, the tactile device having rotational actuation including mechanical components 1 and 2. In this embodiment, the annular first mechanical component 1 is concentrically housed within the also annular second mechanical component 2. The mechanical components 1 and 2 are characterized in that each includes annular magnets 11 and 21, each magnet having a plurality of magnetized regions 10 and 20 periodically spaced according to their respective angular pitches P1 and P2. The magnetized regions 10 and 20 interact to generate a variable force with a period Pt that varies with the relative positions of the mechanical components 1 and 2. In this embodiment, the angular pitches P1 and P2 are equal, generating a variable force with a period Pt = P1 = P2. This embodiment is further characterized in that the respective magnetized regions 10 and 20 do not have alternating north and south magnets, but rather have the same radial magnetization direction and the same orientation. Therefore, for any point of the plurality of magnetized regions 10 and 20 of the magnets 11 and 21... P Vector Always with magnetization vector Collinear, points O It is the center of the ring-shaped mechanical components 1 and 2, and the magnetization vector. Then it will always be specific to that point. P In the local coordinate system Cylindrical coordinates in m 1 , m 2 = 0, m 3 = 0) to express, m 1It can be changed but always has the same sign or is equal to zero. For this type of magnetization, all the inner cylindrical surfaces of one side of each toroidal magnet 11, 21 and the outer cylindrical surface of the other side constitute magnetic poles of opposite polarity, and the magnetic field loops between these two magnetic poles in the axial "out-of-plane" direction. Advantageously, the outer periphery of magnet 11 and the inner periphery of magnet 21 are toothed to form the magnetization regions 10, 20. Thus, as Figure 1B As illustrated, for mechanical components 1 and 2 individually, the induction measured radially along the circular contours near the magnetized regions 10 and 20 presents a DC component modulated by a periodic function corresponding to the fundamental period of the angular pitches P1 and P2 of the magnetized regions 10 and 20. When mechanical components 1 and 2 are assembled, the measurement results of the radial induction along the circular contours located in the mechanical air gap 40 present continuous components modulated by periodic functions of the fundamental periods P1 and P2, respectively, which are out of phase due to the relative rotational displacement of mechanical components 1 and 2.

[0061] Detailed description of optional implementation methods

[0062] Detailed description of optional implementation methods

[0063] Figure 2A A partial cross-sectional view of the second embodiment is shown, in which the rotationally actuated approach is shown. Figure 1A The preceding embodiment is shown. Its difference from the first embodiment lies in that the mechanical component 2, i.e., the magnet 21 of the outer ring, has a transverse diameter magnetization direction. Therefore, for any point of the plurality of magnetization regions 20 of the magnet 21... P Vector Always with magnetization vector Collinear, points O It is the center of the ring-shaped mechanical components 1 and 2, and the magnetization vector. The global coordinate system is always used. Cartesian coordinates in ( m 1 , m 2 = a × m 1 , m 3 = 0) is used to express that a is a constant. m 1 It can be changed but always has the same sign or is equal to zero. Advantageously, the inner periphery of the magnet 21 is formed by a tooth shape divided into two groups of teeth, which are separated from the region 50 where no teeth form the magnetized region 20, and are separated by an integer number of pitches P1 plus half a pitch. In each group of teeth, the tooth pitch between the two teeth is the same and equal to the angular pitch P2, and the two groups of teeth are preferably out of phase by half an angular pitch P2. Therefore, as Figure 2BAs shown, for the diameter-magnetized mechanical component 2, the induction measured radially along the circular profile near the magnetized region 20 has a high-amplitude sinusoidal component of period 1 modulated by two pseudo-periodic functions with lower amplitude and the same fundamental frequency corresponding to the angular pitch P2. One pseudo-periodic function modulates the positive alternation of the sinusoidal component of period 1, and the other pseudo-periodic function modulates the negative alternation of the sinusoidal component of period 1. The two pseudo-periodic functions are out of phase for half a period. The phase shift of the half-angular pitch P2 of the gear set is not restrictive; this allows the magnetic force to be maximized when the device is actuated in rotation, and the force to be zero when the gear set is completely in phase.

[0064] Figure 3 It shows something similar to Figure 2A The embodiment shown differs in that the properties of the inner and outer ring magnets are opposite.

[0065] Detailed description of optional implementation methods

[0066] Figure 4 It shows close Figure 2A The illustrated implementation is an implementation method. Figure 2A The radial rotation type shown is transformed into an axial type. The difference in this embodiment is that mechanical components 1 and 2 are disks that rotate relative to each other and are axially separated by a mechanical air gap 40. Mechanical component 2 has a magnet 21 comprising a plurality of magnetized regions 20, all of which are magnetized in the same axial direction and in the same orientation 200. Therefore, for any point of the plurality of magnetized regions 20 of the magnet 21... P Magnetization vector Always with vector Collinear. The mechanical component 2 is characterized in that the surfaces of the plurality of magnetized regions facing the mechanical air gap 40 are formed by teeth spaced at equal pitches P2, and are opposite to the second mechanical component 1. The second mechanical component 1 also has a magnet 11 comprising a plurality of magnetized regions 10 all in the same direction, and its surface facing the mechanical air gap 40 is formed by two sets of teeth with equal pitches P1, these sets of teeth ideally separated from the toothless regions 50, and separated by an integer number of pitches P1 plus a half pitch. The plurality of magnetized regions within one set of teeth have the same magnetization direction 101 opposite to the magnetization direction 102 of the plurality of magnetized regions within the second set of teeth. Therefore, the two sets of teeth are magnetically separated by half a cycle, forming two pseudo-magnetic cycles, the importance of which is... Figure 2AAs described in the description, the magnetic protrusion 15 located in the upper part of the moving part can advantageously be a sub-part of the magnet 11 and have the same magnetization as the tooth set located below. This magnetic alternation generated on the magnetic protrusion 15 can be used as a field source for a magnetically sensitive position sensor to be positioned near the moving part 1, which constitutes a cost-effective integrated solution in which the magnet 11 can be fully magnetized in a single operation to provide dual functions: both tactile effects from interaction with the magnet 21 and positional information of the moving mechanical component 1.

[0067] Detailed description of optional implementation methods

[0068] Figure 5 An integrated configuration of a magnetic sensor for measuring the absolute angular position of a movable mechanical component 2 in an embodiment with rotational actuation is shown. This integrated configuration is compatible with all previous embodiments, but according to... Figure 2A The second embodiment shown is illustrated, but the magnet support 22 is not shown. In this embodiment, the mechanical component 2 is movable, and the magnet 21 is closed at one axial end and has a cylindrical protrusion 25 magnetized in the transverse diameter direction 200. The absolute angular position of the mechanical component 2 is obtained by measuring the magnetic field of the protrusion 25 using a magnetic probe 30.

[0069] This implementation is particularly advantageous when multiple magnetization regions 20 have a transverse diameter magnetization direction. In this case, the entire magnet 21 has a single magnetization direction 200, which makes the structure of the magnetization tool particularly simple and enhances the magnetic field measured by the magnetic probe 30.

[0070] Detailed description of optional implementation methods

[0071] Figure 6 An embodiment with linear actuation according to the present invention is shown. This is in Figure 2A In the radial rotation type or in Figure 4 The linear transformation of the form explained in the axial rotation type. In this case, mechanical components 1 and 2 can move relative to each other by linear displacement and are separated by a planar mechanical air gap 40. Mechanical component 2 has a magnet 21, which includes multiple magnetized regions 20, all of which are magnetized in the same vertical direction and in the same orientation 200. Therefore, for any point of the multiple magnetized regions 20 of the magnet 21... P Magnetization vector Always with vector Collinear. The mechanical component 2 is characterized in that the surfaces of the plurality of magnetized regions facing the mechanical air gap 40 are formed by teeth spaced at equal pitches P2, and are opposite to the second mechanical component 1. The second mechanical component 1 also has a magnet 11, which includes a plurality of magnetized regions 10 all in the same direction, and the surface of the magnet 11 facing the mechanical air gap 40 is formed by two sets of teeth at equal pitches P1, ideally separated by an integer number of pitches P1 plus a half pitch. The plurality of magnetized regions within one set of teeth have the same magnetization direction 101 opposite to the magnetization direction 102 of the plurality of magnetized regions within the second set of teeth. Therefore, the two sets of teeth are magnetically separated by half a cycle, forming two pseudo-magnetic cycles, the importance of which lies in… Figure 2A As described in the description, the magnetic protrusion 15 located in the upper part of the moving part can advantageously be a sub-part of the magnet 11 and has the same magnetization as the tooth set located below. This magnetic alternation generated on the magnetic protrusion 15 can be used as a field source for a magnetically sensitive position sensor to be positioned near the mechanical component 1. This constitutes a cost-effective integrated solution in which the magnet 11 can be fully magnetized in a single operation to provide dual functionality: both tactile effects from interaction with the magnet 21 and positional information of the moving mechanical component 1.

[0072] Detailed description of optional implementation methods

[0073] Figure 7 An embodiment of the invention, involving rotational actuation in three orthogonal directions, is shown. This embodiment can be viewed as follows: Figure 1A The diagram shows a combination of three tactile devices. Each of these three devices is composed, on the one hand, of tracks respectively fixed to a fixed mechanical component 2, and on the other hand, of a movable mechanical component 1 attached to a control device actuated by a user. The first tactile device, acting in a first direction, includes, according to... Figure 1A The characteristic magnetized tracks 13a and 23a. The second device includes tracks 13b and 23b in the second actuation direction. The last pair of toothed magnets 13c and 23c produce a tactile effect in the third direction. Tracks 13a, 13b, and 13c pass through multiple magnetized regions 10 of magnet 11, and tracks 23a, 23b, and 23c pass through multiple magnetized regions 20 of magnet 21, at least one of the magnetized regions 10 and 20 being magnetized in the same direction. Therefore, similar to the aforementioned embodiment, for any point of the multiple magnetized regions 10 and 20 all in the same direction of magnets 11 and 21... P Vector Always with magnetization vector Collinear, points O It is the center of spherical mechanical components 1 and 2, and the magnetization vector. Always use point-specific P In the local coordinate system spherical coordinates in m 1 , m 2 = 0, m 3 = 0) to express, m 1 It can change, but it always has the same sign or is equal to zero.

[0074] Figure 8 It shows something similar to Figure 1A and Figure 2A The illustrated embodiment differs in that the mechanical component 1 (i.e., the inner ring) has multiple magnetized regions 10 with alternating north and south poles, and also differs in that the angular pitches P1 and P2 are different. Therefore, the period Pt corresponds to the common harmonic of the periodic magnetization functions of the inner and outer rings with periods P1 and P2. One way to control the amplitude of the tactile effect is to act on the amplitude of the harmonics of the magnetization function. In the illustrated case, the multiple magnetized regions 10 have alternating north and south poles of different widths; this has the effect of increasing the amplitude of even-order magnetization harmonics. Of course, any other way of controlling magnetization harmonics that can be conceived by those skilled in the art is possible, such as specific design of the inductor or structuring of the magnetized regions.

[0075] Figure 9 It shows something similar to Figure 1A The embodiment shown differs in that the plurality of magnetized regions 10 of the mechanical component 1 have alternating north and south poles. This embodiment is not limiting; a construction having an outer ring composed of alternating north / south poles and an inner ring with toothed monopole magnets is also possible.

[0076] Figure 10 It shows something similar to Figure 2A The embodiment shown differs in that the plurality of magnetized regions 10 of the mechanical component 1 are generated by cutting teeth in two semi-cylindrical portions 16, 17, which are spaced apart by a pitch P1 and have arc-shaped cross sections made of soft magnetic material, which are connected to a parallelepiped-shaped magnet 11. The magnet 11 is magnetized in a direction 100 defined by the plane of symmetry of two magnetic poles made of soft ferromagnetic material. To generate the desired tactile period Pt, the plurality of magnetized regions 20 of the movable mechanical component 2 are generated by structuring in the form of teeth of a magnet 21 spaced apart by a pitch P2 and magnetized in the same radial direction 200, where Pt=P1=P2. A configuration in which the characteristics of the inner and outer rings are interchanged is also envisioned.

[0077] Detailed description of optional implementation methods

[0078] Figure 11A and Figure 11B An alternative embodiment with rotational actuation according to the present invention is shown. This embodiment is related to... Figure 2A The difference in the illustrated embodiment lies in that the mechanical component 1, in the form of an inner ring, has two axially stacked wafers, each having a plurality of radially magnetized regions 10a and 10b. Advantageously, the two wafers can be temporarily separated, and the plurality of magnetized regions 10a of the first wafer can be out of phase with the plurality of magnetic regions 10b of the second wafer of the mechanical component 1. Therefore, Figure 11A A configuration of multiple magnetized regions 10a and 10b in opposite phases is shown. When the mechanical components 1 and 2 are set to move relative to each other, this configuration minimizes the nicking effect through the magnetic interaction between the multiple magnetized regions 10a and 10b and the multiple magnetized regions 20 of the mechanical component 2. In the presented embodiment, the magnetized regions 10a and 10b are mounted on the same axis. Their phase shift is achieved by an arm 14 fixed to a first wafer including the multiple magnetized regions 10a. When the locking device 19 is released, the phase shift can be adjusted, the arm 14 can move at an angle, and the second wafer including the multiple magnetized regions 10b is held fixed relative to the tactile device by means of the locking device 19.

[0079] The proposed phase-shifting device is entirely mechanical; however, it is conceivable that it could be implemented using an electromagnetic actuator integrated into mechanical component 1.

[0080] Detailed description of optional implementation methods

[0081] Figure 12A and Figure 12B A variant embodiment with rotational and axial actuation according to the present invention is shown. This embodiment is similar to... Figure 1A The difference in the illustrated embodiment is that mechanical component 1 has an additional degree of freedom in the axial direction. The cooperation of the plurality of magnetized regions 10 of mechanical component 1 and the plurality of magnetized regions 20 of the second mechanical component 2 generates a stiffness effect during the relative movement of the two mechanical components 1 and 2 in the axial direction. Therefore, Figure 12A The diagram shows the axial position of mechanical component 1 when the axial return force between the two mechanical components 1 and 2 is at its maximum. Figure 12BThe stable position with zero return force is shown. In the presented variant, the second mechanical component 2 is fixed and the first mechanical component 1 can be moved axially and rotationally using an actuation interface 105, which is fixed to the mechanical component 1 and has an axially cylindrical protrusion. On the side opposite to the actuation interface 105, the mechanical component 1 has two magnetic protrusions 15, 25, the first magnetic protrusion being annular and the second magnetic protrusion being cylindrical and housed within the first magnetic protrusion. Each of these protrusions cooperates with magnetic probes 30, 31, the first magnetic probe 30 being able to cooperate with the magnetic protrusion 15 having diameter or rotational magnetization to measure the relative rotational displacement of the two mechanical components 1, 2. The second magnetic probe, cooperating with the magnetic protrusion 25 having axial magnetization, is able to measure the relative axial displacement between the two mechanical components 1, 2. The axial displacement with elastic recovery associated with the detection of said displacement enables the execution of a selection button function.

[0082] Of course, this variation with axial displacement is not limited to... Figure 1A The embodiments shown are not limited to those described above, but extend to all forms of cutting devices compatible with those skilled in the art.

[0083] Therefore, axial position detection does not necessarily require the addition of a second magnet and a second probe, as those skilled in the art can specifically configure the magnetic probe 30 and select appropriate magnetization of the magnet protrusion 15 to obtain angular and axial displacement information using this single sensor. The version with two sensors only provides an improvement in the resolution of the displacement measurement.

[0084] Finally, the same mechanical component does not necessarily have both rotational and axial translational degrees of freedom. Those skilled in the art can imagine that one mechanical component has only axial motion while another mechanical component has only rotational motion. In such cases, those skilled in the art will know how to properly set up the magnet that cooperates with the magnetic probe to measure various displacements.

[0085] Note that the cut effect decreases as the two mechanical components 1 and 2 are misaligned axially; this configuration can then be used to produce different tactile sensations, producing a cut pattern when mechanical components 1 and 2 are axially aligned, and a non-cut pattern called a freewheel when mechanical components 1 and 2 are misaligned.

[0086] Detailed description of optional implementation methods

[0087] Figure 13 A variant embodiment with rotational actuation according to the present invention is shown. This embodiment is similar to... Figure 1AThe difference in the illustrated embodiment is that the plurality of magnetized regions 10 of the mechanical component 1 have magnetization directions 100 opposite to those of the plurality of magnetized regions 20 of the second mechanical component 2. This means that when the plurality of magnetized regions 10, 20 are out of phase, a position of angular magnetic equilibrium is achieved between the two mechanical components 1, 2. This structure also exhibits axial magnetic instability. This effect can be used to obtain Figure 12A and Figure 12B Alternative repulsion forms of the device shown.

[0088] Detailed description of optional implementation methods

[0089] Figure 14 A variant embodiment with rotational and axial actuation according to the present invention is shown. This embodiment is similar to... Figure 1A The difference in the illustrated implementation is that the multiple magnetized regions 10, 20 are made in the form of non-protruding teeth, that is, the angular ends 18, 28 of the teeth are not sharp edges, but gradually taper in the radial direction, for example, forming rounded corners or chamfers. The shape of these angular ends 18, 28 allows for shaping the torque distribution obtained during the relative movement of the two mechanical components 1, 2, and thus personalizing the tactile rendering.

Claims

1. A passive tactile device comprising a first mechanical member (1) movable relative to a second mechanical member (2), the first mechanical member (1) having a first magnet (11) including a first plurality of magnetized regions (10) periodically spaced at a pitch P1, the second mechanical member (2) having a second magnet (21) including a second plurality of magnetized regions (20) periodically spaced at a pitch P2, wherein a force periodically varying with the relative position of the mechanical members (1, 2) is generated by magnetic interaction between the mechanical members (1, 2), the magnetic interaction varying according to a period Pt, characterized in that, All magnetized regions of at least one of the mechanical components (1, 2) are magnetized in the same direction.

2. The passive tactile device according to claim 1, characterized in that, The first plurality of magnetization regions (10) and the second plurality of magnetization regions (20) are integral parts of the first magnet (11) and the second magnet (21), respectively.

3. The passive tactile device according to claim 1, characterized in that, At least one of the plurality of magnetized regions (10, 20) is made of a soft ferromagnetic material and is magnetized by magnets (11, 21) integrated into its mechanical components (1, 2).

4. The passive tactile device according to claim 1, characterized in that, The mechanical components (1, 2) are capable of relative translational movement.

5. The passive tactile device according to claim 1, characterized in that, The mechanical components (1, 2) are annular mechanical components (1, 2) having annular shape and capable of relative rotational movement.

6. The passive tactile device according to claim 5, characterized in that, The magnetized regions (10, 20) of the annular mechanical components (1, 2) are radially magnetized in the centrifugal or centripetal direction.

7. The passive tactile device according to claim 5, characterized in that, At least one of the annular mechanical components (1, 2) has a magnetized region (10, 20) that is diametrically magnetized. The diametrically magnetized ring has two sets of teeth with the same pitch, which are separated by a non-integer number of pitches.

8. The passive tactile device according to claim 7, characterized in that, This number is x + 0.5 pitches, where x is a positive integer.

9. The passive tactile device according to claim 7, characterized in that, The set of teeth is radially centered in the direction of diameter magnetization.

10. The passive tactile device according to claim 1, characterized in that, The mechanical components (1, 2) have a disc shape and are capable of relative rotational movement.

11. The passive tactile device according to claim 1, characterized in that, The first mechanical component (1) includes a ball joint (22) capable of rotating about three orthogonal axes.

12. The passive tactile device according to claim 1, characterized in that, The pitch P1 is the same as the pitch P2.

13. The passive tactile device according to claim 1, characterized in that, The mechanical air gap (40) located between the first mechanical component (1) and the second mechanical component (2) does not have soft ferromagnetic material.

14. The passive tactile device according to claim 1, characterized in that, The mechanical components (1, 2) have protrusions in the form of magnets (15, 25), the magnetic field of which is intended to be measured by a magnetic probe (30) to provide information about the position of the mechanical components (1, 2).

15. The passive tactile device according to claim 14, characterized in that, The protrusions (15, 25) and the magnets (11, 21) are made into the same component.

16. The passive tactile device according to claim 14 or 15, characterized in that, The protrusions (15, 25) and the magnets (11, 21) are magnetized in the same direction and in the same orientation.

17. The passive tactile device according to claim 1, characterized in that, At least one of the magnets (11, 21) is manufactured by injecting a plastic material filled with magnet powder.

18. The passive tactile device according to claim 1, characterized in that, At least one of the magnets (11, 21) is made of sintered magnet.

19. The passive tactile device according to claim 1, characterized in that, The mechanical components (1, 2) have relative displacement in at least two directions. The relative displacement in the first direction generates the periodically varying force, while the relative displacement in the second direction generates a continuously varying force similar to magnetic stiffness.

20. The passive tactile device according to claim 1, characterized in that, The first mechanical component (1) has two sets of multiple magnetized regions (10a, 10b) periodically spaced apart at the same distance P1, and the multiple magnetized regions can be mechanically phase-shifted to modulate the amplitude of the periodically changing force with the relative position of the mechanical components (1, 2).

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