Tactile feedback for configuring materials testing systems

Abstract

This invention discloses a material testing system including an output shaft configured to move via the operation of a motor, the output shaft being coupled to a specimen such that movement of the output shaft applies a mechanical force to the specimen. The material testing system includes a tactile feedback system configured to provide tactile feedback to the operator of the material testing system during setup, relating to the position or state of the output shaft relative to the specimen. This invention also discloses a testing method using tactile feedback.

Description

[0001] Related applications

[0002] This application claims the benefit of the earlier filing date of U.S. Provisional Patent Application Serial No. 63 / 055,978, entitled “Haptic Feedback for Configuring Materials Testing Systems,” filed July 24, 2021, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates generally to materials testing. More specifically, this invention relates to a materials testing system that provides feedback to aid in setup and configuration. Background Technology

[0004] Materials testing systems typically include one or more axes or other load-applying actuators extending into a clamp or retainer, within which the specimen can be placed or otherwise received prior to testing. Setting up such a materials testing machine may require the operator to follow several steps, each requiring a different position of the actuator. The operator typically adjusts the actuator's position via the instrument control panel or by manually manipulating the actuator or its output shaft. When manipulating the actuator manually, the operator's attention is required to be divided between the position and / or load gauges or GUI displays on the actuator and clamp or retainer. This distraction can lead to longer setup times, setup errors, and, in some cases, accidental damage to the system and / or the specimen.

[0005] Therefore, material testing systems that provide users with assistance in setup and configuration will be highly sought after in this field. Summary of the Invention

[0006] In one exemplary embodiment, the material testing system includes an output shaft configured to move by operation of a motor, the output shaft being coupled to a specimen such that movement of the output shaft applies a mechanical force to the specimen; and a tactile feedback system configured to provide tactile feedback to an operator of the material testing system during setup in relation to the position or state of the output shaft relative to the specimen.

[0007] Alternatively or otherwise, the output shaft is configured to provide tactile feedback to the operator via a tactile response transmitted through the output shaft.

[0008] Alternatively or in addition, the tactile response may include moving the output shaft via a motor.

[0009] Alternatively, the tactile response may be a low-energy vibration in the output shaft.

[0010] Alternatively, the output shaft can be moved via an indirect controller used by an operator, wherein the indirect controller is configured to adjust the position of the output shaft during setup, and wherein the indirect controller is configured to provide tactile feedback to the operator via a tactile response sent through the indirect controller.

[0011] Alternatively or in addition, the tactile response is configured to simulate the sample response in the test space of the material testing system by increasing the tactile response when the output shaft contacts the sample.

[0012] Alternatively, the material testing system may be at least one of an axial load system, a torsional load system, a dynamic mechanical analysis system, and a rheometer system.

[0013] Alternatively or in addition, the tactile feedback system is configured to provide a first tactile response to indicate the position of the output shaft or the load on the sample.

[0014] Alternatively or in addition, the tactile feedback system is configured to provide a second tactile response at or near the movement or force limits of the output shaft, wherein the second tactile response is different from the first tactile response.

[0015] Alternatively, the first tactile response and the second tactile response are responses selected from the group consisting of: a single pulse, a rapid continuous pulse, increased resistance to further movement of the output shaft, pulses repeated at predetermined time intervals, and resistance proportional to the position of the output shaft.

[0016] In another exemplary embodiment, the material testing system includes a first sample contact body; a second sample contact body, wherein a sample is configured to be placed between the first and second sample contact bodies; and an output shaft attached to and extending from the first sample contact body, the output shaft being configured to move by operation of a motor, wherein the output shaft is configured to provide tactile feedback to an operator touching the output shaft during the setup of a testing process.

[0017] In another exemplary embodiment, the material testing method includes: providing a material testing system including an output shaft; receiving a sample by the material testing system; setting up a testing process for the sample by moving the output shaft relative to the sample; and providing tactile feedback to an operator of the material testing system during the setting up process in relation to the position or state of the output shaft relative to the sample.

[0018] Alternatively or in addition, the method may also include providing the tactile feedback by the output shaft through low-energy vibrations transmitted via the output shaft.

[0019] In addition or alternatively, the method also includes low-energy vibrations transmitted through the output shaft controlled by a motor configured to move the output shaft during testing.

[0020] Alternatively, the method may also include moving the output shaft via an indirect controller used by an operator; adjusting the position of the output shaft using the indirect controller during setup; and providing tactile feedback to the operator via a tactile response sent through the indirect controller.

[0021] Alternatively or in addition, the method may also include simulating the sample response in the test space of the material testing system by the indirect controller by increasing the tactile response when the output shaft contacts the sample.

[0022] In addition to or alternatively, the method further includes at least one of the following steps: performing an axial load test on the specimen using the material testing system; performing a torsional load test on the specimen using the material testing system; performing a dynamic mechanical analysis on the specimen using the material testing system; and performing a rheological test on the specimen using the material testing system.

[0023] In addition to or alternatively, the method further includes providing a first tactile response to an operator; and using the first tactile response to indicate the position of the output shaft.

[0024] In addition or alternatively, the method further includes providing a second tactile response to an operator; and using the second tactile response to indicate a movement limit of the output shaft for the setting, wherein the second tactile response is different from the first tactile response.

[0025] In addition to or alternatively, the provision of the first tactile response and the second tactile response further includes at least one of the following: providing at least one pulse in a single pulse; providing a rapid continuous pulse; providing increased resistance to further movement of the output shaft; providing pulses repeated at predetermined time intervals; and providing resistance proportional to the position of the output shaft. Attached Figure Description

[0026] The above and other advantages of the present invention can be better understood by referring to the following description in conjunction with the accompanying drawings, in which the same reference numerals indicate the same elements and features in each drawing. For clarity, not every element is labeled in every drawing. The drawings are not necessarily drawn to scale, but are intended to illustrate the principles of the invention.

[0027] Figure 1 A schematic diagram of a material testing system with a tactile feedback system according to one embodiment is depicted.

[0028] Figure 2A schematic diagram of another material testing system with a tactile feedback system according to one embodiment is depicted.

[0029] Figure 3 A schematic diagram of another material testing system with a tactile feedback system according to one embodiment is depicted.

[0030] Figure 4 A schematic diagram of a rheometer with a tactile feedback system according to one embodiment is depicted.

[0031] Figure 5A A side view of another material testing system with an output shaft in a retracted position, according to one embodiment, is depicted.

[0032] Figure 5B A clamping system with an output shaft in a retracted position and an attachment is described according to one embodiment. Figure 5A A side view of the material testing system.

[0033] Figure 5C A clamping system with an output shaft in an extended position and an attached clamping device is described according to one embodiment. Figure 5A and Figure 5B A side view of the material testing system.

[0034] Figure 6 The invention describes receiving haptic feedback from a haptic feedback system according to one embodiment. Figures 5A to 5C A perspective view of the operator of the material testing system.

[0035] Figure 7 The invention depicts a holding indirect controller according to one embodiment and receiving haptic feedback from a haptic feedback system. Figure 2 A perspective view of the operator of the material testing system.

[0036] Figure 8A Depicting Figures 5A to 6 A graphical representation of the tactile response of the output shaft of the material testing system as it moves to a positional level over time.

[0037] Figure 8B Depicting in relation to Figure 8A The graph represents the same time range. Figures 5A to 6 A graphical representation of the axis position of the output axis of the material testing system.

[0038] Figure 9A Describing the Figures 5A to 6 A graphical representation of the tactile response of the output shaft of the material testing system as it moves across positional limits over time.

[0039] Figure 9B Depicting in relation to Figure 9AThe graph represents the same time range. Figures 5A to 6 A graphical representation of the axis position of the output axis of the material testing system.

[0040] Figure 10A Describing the Figures 5A to 6 A graphical representation of the proportional tactile response of the output shaft of the material testing system as it moves across positional limits over time.

[0041] Figure 10B Depicting in relation to Figure 10A The graph represents the same time range. Figures 5A to 6 A graphical representation of the axis position of the output axis of the material testing system.

[0042] Figure 11 A graphical representation depicting an exemplary acceleration of a tactile impulse over time. Detailed Implementation

[0043] In this specification, references to "an embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of this teaching. References to a particular embodiment within this specification do not necessarily refer to the same embodiment.

[0044] The teachings will now be described in more detail with reference to exemplary embodiments illustrated in the accompanying drawings. While the teachings have been described in conjunction with various embodiments and examples, they are not intended to be limited to such embodiments. In contrast, the teachings encompass various alternatives, modifications, and equivalents, as will be understood by those skilled in the art. Those of ordinary skill in using the teachings herein will recognize additional implementations, modifications, and embodiments, as well as other areas of use, within the scope of this disclosure as set forth herein.

[0045] In short, the present invention relates to a testing system that provides tactile feedback to an operator when a predetermined set position or system limit is reached. For a system in which an operator manually moves the axis of an actuator, it is conceivable to configure the actuator of the system to provide various forms of tactile feedback for various conditions. For example, when the actuator axis moves to a specific point (e.g., 10 mm from the center), the actuator can be configured to provide a tactile “tap” to let the user know that the specific point has been reached.

[0046] If there are displacement or force limits that the operator has already utilized in the system settings, tactile feedback can be provided as a more continuous (e.g., higher frequency) series of taps, or as resistance that increases proportionally as the operator approaches the limit. This both conveys the limit to the operator via tactile response and helps prevent the operator from actually exceeding that limit.

[0047] Some materials testing systems are capable of operating with very high forces. Setting these systems manually while powered on may be unsafe, or the force required to move the actuators may be too great to be achieved manually. In such systems, it is envisioned that tactile feedback be applied to an indirect (e.g., handheld) controller used by an operator. Within such a controller, system analogues (e.g., rollers, touchpads, joysticks, etc.) may be present for adjusting the actuator position. It is envisioned that such analogues be configured to provide tactile feedback to the operator. This provides the user with a simulated experience that mimics the resistance of the specimen when the gripper contacts it. This simulated experience could be based on loads and displacements measured from sensors in the existing system.

[0048] As described herein, "material testing system" includes any type of system used to perform material testing by applying force to any specimen or sample. A material testing system can be a load frame using an electromagnetic linear motor. Examples of such devices include those from TA Instruments. TM ElectroForce TM A series of testing instruments. Materials testing systems may include multi-sample fatigue testing systems, cardiovascular testing instruments, and / or tissue engineering instruments. Both vertical axis actuator systems and horizontal axis actuator systems are also conceivable. In addition, rheological instruments, such as rheometers, are conceivable for applying stress or strain to deformable materials.

[0049] As described herein, a “haptic feedback system” is a system configured to provide communication to an operator, which is received by the operator through tactile sensation. The haptic feedback system described herein can be configured to provide tactile feedback to an operator of a materials testing system, such as force, vibration, motion, or one or more other tactile responses. The tactile response can be provided to the operator by the haptic feedback system in response to the operator's input (e.g., when the operator moves an actuator or clamps a specimen or sample into the materials testing system).

[0050] Now refer to the attached diagram, Figure 1 A schematic diagram of a material testing system 10 with a haptic feedback system 12 according to one embodiment is depicted. The material testing system includes a base 14 from which two frame columns 16a, 16b extend. Columns 16a, 16b extend to a linear motor housing unit 18, within which a linear motor 20 is located. Extending downward from the linear motor 20 and housing unit 18 is a vertically aligned output shaft 22. The output shaft 22 extends to an upper clamping mechanism 24 configured to dock, hold, or otherwise clamp a specimen 26, representing any sample that can be tested by the material testing system 10. The specimen 26 is held between the upper clamping mechanism 24 and a lower clamping mechanism 28 extending from a lower shaft 30 attached to and extending upward from the base 14.

[0051] The material testing system 10 is shown as a single-motor system, wherein a single axis (i.e., the vertical output shaft 22) is configured to move vertically during a test sequence. However, other embodiments of the vertically aligned material testing system are contemplated, in which the tactile feedback system described herein may be available. For example, the vertically aligned material testing system may include two linear motors: one for moving the vertical output shaft 22 and the other for moving the vertical output shaft extending from below to the lower clamp 28.

[0052] Force sensors may be located within and / or mounted above base 14 to detect the force transmitted to lower shaft 30 by the force applied to specimen 26 by the movement of output shaft 22, and the resulting force transmitted to lower clamp 28. Additionally, force sensors and / or displacement sensors may be mounted within unit 18, which is configured to detect force and / or displacement on output shaft 22. Material testing system 10 may include various sensors to test the physical properties of specimens, such as specimen 26.

[0053] Control system 32 can be connected to material testing system 10. Control system 32 can be connected to the linear motor 20 unit and the sensor system of material testing system 10 via a wired or wireless connection. Control system 32 may include one or more external computing devices running control software configured to control material testing system 10. An operator can use the software of control system 32 to view and interpret information collected by material testing system 10 during a test sequence. Furthermore, an operator can use the software of control system 32 to program or control material testing system 10 before and / or during a test procedure. Control system 32 can also be connected to haptic feedback system 12. Control system 32 is capable of programming haptic feedback system 12 to customize haptic responses and the conditions under which haptic feedback system 12 provides haptic responses to the operator.

[0054] In operation, the material testing system 10 can be configured to receive a specimen 26 positioned between a clamping system comprising two clamps 24, 28. The clamps 24, 28 can be removably attached to the output shaft 22 and the lower shaft 30, respectively. During the setup process, before or after the specimen 26 is properly positioned between the clamps 24, 28, an operator (not shown) may need to manually move the output shaft 22. The tactile feedback system 12 can be configured to provide tactile feedback and / or tactile response to the operator when the operator reaches a predetermined setup position and / or system limits. For example, when the output shaft 22 moves to a point (e.g., 10 mm from the center), the output shaft 22 may provide a tactile “tap” to the operator to let the operator know that a point has been reached. This avoids the operator having to look at a screen while interacting with the output shaft 22 and / or the specimen 26.

[0055] The material testing system 10 can represent any material testing system or load frame used for testing materials. For example, the material testing system 10 can be a floor-standing instrument or an instrument placed on a workbench or table. The material testing system 10 can represent a system having any output shaft range of motion, force range, frequency range, etc. The material testing system 10 is capable of attaching to a test chamber instrument, within which shafts 22, 30 and clamps 24, 28 extend, and within which the specimen is contained under specific environmental conditions during testing. The material testing system 10 may include adjustable features or any features known in the art. Furthermore, the linear motor 20 can be replaced by a rotary motor or a torsional motor. In a dual-motor system where the motor is housed in the base 14, both motors can be linear motors, or one motor can be a torsional motor for applying rotation to the output shaft, thereby applying rotation to the specimen via a rotating clamp. Any test configuration is possible, and tactile feedback can be applied to any output shaft that the operator needs to manually manipulate, move, or configure during the setup or configuration phase of the test sequence.

[0056] The material testing system 10 may also represent an instrument configured to test biomaterials by providing a test chamber that simulates in vivo conditions. Furthermore, the material testing system 10 is shown having a single output shaft and a single motor. In other embodiments, multiple output shafts and / or motors may be used with corresponding lower shafts and fixtures to test multiple specimens simultaneously. In such embodiments, the tactile feedback system 12 may be configured to provide feedback to any shaft or actuator touched by the operator during manual setup.

[0057] It should be understood that haptic feedback systems (such as haptic feedback system 12) can be applied to various types of material testing systems. Although Figure 1 A schematic diagram of a material testing system 10, which is an exemplary dynamic mechanical analysis (DMA) system in which the operator directly engages with the output shaft, is shown. Figure 2 A schematic diagram of another material testing system 100 with another haptic feedback system 112 according to one embodiment is depicted, wherein the operator does not directly engage with the machine during setup. Instead, the material testing system 100 includes a machine with a controller 140 that allows indirect interaction between the operator and the material testing system 100.

[0058] A material testing system configured to have a controller that allows indirect interaction with a system (such as material testing system 100) may be particularly necessary in high-force applications. In such applications, it may be unsafe for an operator to touch the machine or output shaft by hand. Instead, controller 140 may include system analogues (e.g., rollers, touchpads, joysticks, etc.) for indirectly adjusting the position of the output shaft.

[0059] Similar to material testing system 10, material testing system 100 includes a base 114 from which two frame columns 116a and 116b extend. Columns 116a and 116b extend to a linear motor housing unit 118, within which a linear motor 120 is located. Extending downward from the linear motor 120 and housing unit 118 is a vertically aligned output shaft 122. Output shaft 122 extends to an upper clamping mechanism 124 configured to dock, hold, or otherwise clamp a specimen 126, representing any sample that can be tested by material testing system 100. Specimen 126 is held between the upper clamping mechanism 124 and a lower clamping mechanism 128 extending from a lower shaft 130 attached to and extending upward from the base 14.

[0060] The tactile feedback system 112 of the material testing system 100 is shown as surrounding each of the linear motor 120, the force sensor and / or displacement sensor, and the indirect controller 140. The tactile feedback system 112 may also include some or all of the sensors in the material testing system 100, which may be the same as those in the material testing system 10 described above. The tactile feedback system 112 may be configured to provide a tactile response to the controller 140 (and specifically its analogues). In some embodiments, the tactile feedback or tactile response may be configured to provide an operator with a simulated experience to mimic or otherwise simulate the resistance of the specimen 126 upon contact of the grips 124, 128. This tactile feedback may be based on measured loads and displacements from the force sensor and / or displacement sensor of the material testing system 100.

[0061] Figure 3 A schematic diagram of another material testing system 200 with a haptic feedback system 212 according to one embodiment is depicted. The material testing system 200 may be a horizontal testing system, rather than a vertical testing system as described above for the material testing systems 10, 100. The material testing system 200 includes a first motor 220a and a second motor 220b, each located on a table or workbench 214. Motors 220a, 220b may be adjustablely moved or repositioned along the workbench 214 to accommodate different tests. In the illustrated embodiment, the two motors 220a, 220b may each be linear motors of the same type. In other embodiments, motors 220a, 220b may be different. For example, one motor may be a linear motor, while the other may be a torsional motor capable of applying rotation on a fixture and thereby rotating the attached specimen. In other embodiments, only a single motor may be necessary. In these embodiments, one of the motors 220a, 220b may be replaced by a fixed base mounted to a fixed axis.

[0062] The material testing system 200 includes a tactile feedback system 212, which includes each of tactile feedback systems 212a and 212b. Tactile feedback system 212a is configured to provide tactile feedback or tactile response along output shaft 222a and / or its clamps, while tactile feedback system 212b is configured to provide tactile feedback or tactile response along output shaft 222b and / or its clamps. This tactile feedback can be controlled by a control system 240, which can be configured to control each of the two motors 220a, 220b and the tactile feedback in tactile feedback system 212. The tactile feedback and tactile response in output shafts 222a, 222b can be provided in a manner similar to that described above in previous embodiments.

[0063] Figure 4 A schematic diagram of a rheometer 300 with a haptic feedback system 312 according to one embodiment is depicted. The rheometer 300 may include a drive motor 354 driving an output shaft 356 and a transducer 320 having an output shaft 322. The transducer 320 may include one or both of a torque rebalancing transducer and a normal force rebalancing transducer. The surrounding body 350 of the sample chamber 352 is shown attached to the output shaft 356 of the drive motor 354, while the rotor 324 located within the sample chamber 352 is shown attached to the output shaft 322 of the transducer 320. A control system 340 is shown operatively connected to each of the drive motor 354, the transducer 320, and the haptic feedback system 312.

[0064] The drive motor 354 can be configured to deliver accurate rotary motion of the output shaft 356 over a wide range of angular displacements and speeds. For example, the drive motor 354 may include an air bearing system, a high-torque frictionless brushless DC motor, an optical encoder, and a temperature sensing system. The drive motor 354 and its features can be controlled by the control system 340 based on operator input.

[0065] Transducer 320 may include a torque rebalancing transducer configured to measure accurate sample stress based on the torque required to maintain zero position on output shaft 322. The torque rebalancing transducer may include an air bearing, a high-resolution capacitive angle sensor, and a temperature sensing system. Like drive motor 354, the torque rebalancing transducer and its features may be controlled by control system 340 and guided by operator input. Transducer 320 may include a normal force rebalancing transducer configured to measure accurate normal force on output shaft 322 from the sample within sample chamber 352. The normal force rebalancing transducer may utilize position feedback to maintain the axis of output shaft 322 at zero position. The normal force rebalancing transducer and its features may be controlled by control system 340 and guided by operator input. Additionally, the normal force rebalancing transducer may be equipped with a pressure sensing system for measuring pressure in sample chamber 352.

[0066] The surrounding body 350, sample chamber 352, and rotor 324 may be integral components of the rheometer 100. The rheometer may also include a compressed air system (not shown) for supplying compressed air to the sample chamber 352. Alternatively, these components are contemplated as separately attachable additional features of a pressure unit that can be attached to and detached from the output shafts 322, 356. Regardless of the embodiment, the surrounding body 350 defining the sample chamber 352 can be attached to a drive motor 354 and its output shaft 356 to rotate with the rotation of the output shaft 356. Similarly, the rotor 324 can be attached to the output shaft 322 of the transducer 320 and can be configured to move with the movement of the output shaft 322. The rotor 324 can be configured to rotate relative to the surrounding body 350 defining the sample chamber 352.

[0067] The control system 340 can be configured to control and monitor stress, strain, force, velocity, etc., on components of the system. The control system 340 can be configured to provide output information related to measurements performed during testing of the material or sample within the sample chamber 352. The control system 340 can be configured to control the movement of output shafts 322, 356, and further control the pressure within the sample chamber 352 by controlling a compressed air system (not shown).

[0068] The control system 340 can also be operatively communicated with the haptic feedback system 312. The control system 340 can be configured to receive information from the system to determine, for example, when the rotor 324, attached to the output shaft 322, is sufficiently immersed in the sample within the sample chamber 352. For example, in many embodiments, the sample chamber 352 may be completely closed after the sample has been deposited therein. In this case, it may be desirable to lower the output shaft to a specific position below the sample depth. The control system 340 can be configured to receive sensing information from within the sample chamber 352 and can thereby provide haptic feedback when the output shaft 322 is lowered to a desired position relative to the sample depth. In some cases, for example, it may be desirable for the top of the rotor 324 to be flush with the sample depth. In other cases, it may be desirable to immerse the top of the rotor 324 by a predetermined amount before the test begins. The haptic feedback system 312 can be configured to provide a haptic response to an operator manually lowering the output shaft when the appropriate position is achieved. While this is one exemplary use of tactile feedback 312 on rheometer 300, any use that would be desirable to provide a signal to an operator touching output shaft 322 or output shaft 356 is conceivable.

[0069] Figure 5A A side view of another material testing system 400 with an output shaft 422 in a retracted position, according to one embodiment, is depicted. The material testing system 400 may be an embodiment similar to the material testing system 10 schematically described above, which has the described control system 32 and haptic feedback system 12.

[0070] The material testing system 400 may include a single motor (not shown) housed within a linear motor housing unit 418, which operates an output shaft 422. The upper housing 418 may also include suitable sensors for providing information collected from the test back to a control system (not shown). The material testing system 400 is shown with a specific fixture system attached to each end of the output shaft 422 and prior to a lower shaft 430. The lower shaft 430 is shown attached to an adjustable test base 415 using a fixing mechanism 472. One or more force sensors 470 are shown located at the base of the lower shaft 430, which is in communication with the control system 32.

[0071] The material testing system 400 includes a lower base 414 from which two side frame posts 416a, 416b and a rear frame post 416c extend. Posts 416a, 416b, 416c extend into a linear motor housing unit 418, within which a linear motor (not shown) is located. Attached to each of the side posts 416a, 416b and extending between them is an adjustable test base 415 for changing the height of the lower shaft 430 relative to the upper output shaft 422. The adjustable test base 415 includes bearing systems 460a, 460b for allowing slidable movement between the adjustable test base 415 and the side posts 416a, 416b. The rear frame post 416c is positioned behind the adjustable test base 415 with sufficient clearance to avoid touching or otherwise interfering with the movement of the adjustable test base 415 along the side posts 416a, 416b. Locking mechanisms 462a, 462b may be provided below the adjustable test base 415 on each of the bearing systems 460a, 460b for locking the adjustable test base 415 into the appropriate position along the side frame columns 416a, 416b.

[0072] The materials testing system 400 may include the above-mentioned... Figure 1 A haptic feedback system 12 is schematically shown and described. The haptic feedback system 12 can be configured as described above. Figure 1 The described method provides tactile feedback to the output shaft 422. In some embodiments, it is conceivable that the tactile feedback system 12 may also provide a tactile response to the operator when adjusting the height of the adjustable test base 415 along the side posts 416a, 416b or when attaching and adjusting the lower shaft 430.

[0073] Figure 5B A clamping system with an output shaft 422 in a retracted position and an attached clamping system is depicted according to one embodiment. Figure 5A A side view of the material testing system 400. The attached fixture system includes an upper fixture 424 attached to an output shaft 422 and includes an elongated shaft extending to the specimen interface. Similarly, the attached fixture system includes a lower fixture 428 attached to a lower shaft 430 and includes an elongated shaft extending to the specimen interface. The fixture system can be configured to receive tactile responses from a tactile feedback system 12 by any tactile responses sent to its output shaft 422 and / or lower shaft 430. It should be understood that the illustrated fixture system is exemplary, and the material testing system may include any type of specimen interface known in the art. Figure 5C The image depicts an output shaft 422 in an extended or retracted position, according to one embodiment, and an attached clamping system. Figure 5A and Figure 5BA side view of the material testing system 400. As shown, the output shaft 422 can be manually moved up or down or adjusted to move the upper clamp 424 closer to the lower clamp 428 to configure the material testing system before testing.

[0074] Figure 6 The invention describes receiving tactile feedback or tactile response from a tactile feedback system 12 according to one embodiment. Figures 5A to 5C A perspective view of the operator 11 of the material testing system. In this embodiment, the operator 11 is shown touching an upper clamp 424 attached to an output shaft 422. Tactile responses can be provided to the operator via the output shaft 422 and to the upper clamp 424 attached thereto in the form of a single “tap,” multiple rapid “taps,” proportional resistance, etc. Various examples of tactile responses will be provided below. Tactile feedback can indicate various things. For example, a single “tap” can indicate that a certain position in the output shaft or actuator has been met. Multiple taps can indicate that the limit of displacement or load has been reached (or nearly reached) to warn the operator 11 before overtravel or overload. Proportional resistance can provide increased feedback or resistance to prevent the operator 11 from lowering the upper clamp 424 too far, i.e., too close to a known limit. The tactile feedback system 12 can apply various tactile responses and corresponding meanings to communicate with the operator 11.

[0075] Figure 7 A holding indirect controller 140 according to one embodiment is depicted receiving haptic feedback from a haptic feedback system 112. Figure 2 The diagram shows a perspective view of the material testing system operated by the user. The indirect controller 140 is shown as a system analogue 142 in the form of a movable toggle or dial. Furthermore, the indirect controller 140 includes an emergency stop button 143. The indirect controller 140 includes a line 144 communicating to and from the control system 132 and the tactile feedback system 112. In material testing situations where manual actuation of the system is impractical or unsafe (e.g., high-force systems), the tactile feedback system 112 can be configured to provide tactile communication (i.e., tactile response) to the operator 11 via the indirect controller 140. In addition to the taps or resistance provided by the output shaft as described above in the direct tactile feedback system, the controller 140 can also be configured to simulate conditions occurring in the test space. For example, when the output shaft contacts the specimen in the test space, the resistance to movement of the controller analogue 142 may have a step increase.

[0076] Figure 8A Depicting Figures 5A to 6 The material testing system 400 outputs a graphical representation 500 of the tactile response 510 as the output axis 422 reaches a positional level over time. Specifically, the horizontal axis 501 indicates time in seconds, while the vertical axis 502 indicates the tactile level measured in volts. Figure 8B Depicting in relation to Figure 8A The graph represents the same time range. Figures 5A to 6 A graphical representation 550 of the axis position of the output axis 422 of the material testing system 400. Specifically, the horizontal axis 551 indicates time in seconds within the same time period as the horizontal axis 501. The vertical axis 552 indicates the axis position of the output axis 422 relative to the fully retracted position. Figure 8A As shown, it illustrates the representation Figure 8B A curve of tactile response 510 within the time range of central axis movement, the curve having a first voltage "tap" 512 and a second voltage "tap" 514. See also Figure 8B The first voltage "tap" 512 occurs at a time 562 when the curve 560 of the axis position crosses the 10mm point. This axis position (10mm) can be a threshold axis position, and the haptic feedback system 12 can be configured to provide haptic "tap" 512, 514 above this threshold axis position. The second haptic "tap" 514 can be provided after a specific predetermined time interval while the axis position remains above the threshold. Therefore, a single "tap" 512, 514 can indicate a position (e.g., 10mm) satisfied in the output axis 422. While the axis remains above the 10mm threshold, the "tap" is shown as a slow repetition.

[0077] Figure 9A Describing the Figures 5A to 6 The output axis of the material testing system is graphically represented 600 as it moves across positional limits over time. Specifically, the horizontal axis 601 indicates time in seconds, while the vertical axis 602 indicates the tactile level measured in volts. Figure 9B Depicting in relation to Figure 9A The graph represents the same time range. Figures 5A to 6 A graphical representation 650 of the axis position of the output axis 422 of the material testing system 400. Specifically, the horizontal axis 651 indicates time in seconds within the same time period as the horizontal axis 501. The vertical axis 652 indicates the axis position of the output axis 422 relative to the fully retracted position. Figure 9A As shown, it illustrates the representation in Figure 9B A curve of tactile response 610 within the time range of central axis movement, which has multiple rapid “taps” 612 starting exactly 3 seconds later and lasting up to 10 seconds. See also Figure 9BThe first voltage "tap" of the multiple rapid "tap" 612 occurs at a time 662 when the curve 660 of the axis position crosses the 10mm point. This axis position (10mm) can be a threshold axis position, and the tactile feedback system 12 can be configured to provide the tactile "tap" 612 above this threshold axis position. These multiple rapid "tap" 612 can indicate to the operator 11 that the limit of displacement or load has been reached (or nearly reached), thus warning the operator 11 before overtravel or overload.

[0078] Figure 10A Describing the Figures 5A to 6 The output axis 422 of the material testing system 400 is a graphical representation of the proportional tactile response as it moves across positional limit levels over time. As in the previous example, the horizontal axis 701 indicates time in seconds, while the vertical axis 702 indicates the tactile level measured in volts. Figure 10B Depicting in relation to Figure 10A The graph represents the same time range. Figures 5A to 6 A graphical representation of the axis position of the output axis 422 of the material testing system 400. As in the previous example, the horizontal axis 751 indicates time in seconds within the same time period as the horizontal axis 701, and the vertical axis 752 indicates the axis position of the output axis 422 relative to its fully retracted position. Figure 10A As shown, it illustrates the representation in Figure 10B The tactile response curve 710 is a tactile response within the time range of the central axis movement, which has a proportional resistance feedback at time 762, after the axis position has passed 10mm.

[0079] During the response time period 712, as the axial position continues to increase by more than 10 mm, the resistance increases with the increase of the negative voltage applied to the output shaft 422. This negative voltage is applicable to tensile sample conditions, whereby a negative voltage lowers the shaft, while a positive voltage raises the shaft. Therefore, Figure 10A The negative voltage shown can actually be configured to lower the axis to reduce tension on the sample. Exactly after 6 seconds, the axis position stops increasing, as shown in portion 764 of curve 760 of the axis position over time. During this time, at portion 714 of response 710, the tactile response level remains at its negative maximum without change. Increasing resistance in this way as the position approaches its maximum value can provide increased protection for the operator.

[0080] It should be understood that Figure 8A , Figure 9A and Figure 10A The voltage shown can be a relative voltage related to an increase or decrease in the voltage required to maintain the shaft "floating" at its intended current position. Depending on the shaft's position, such shaft "floating" may require a known predetermined voltage. (Source: ...) Figure 8A , Figure 9A , Figure 10A The voltage of the haptic feedback shown is configured to temporarily change the voltage by an amount that will provide a haptic response to the operator. Although Figures 8A to 10B The above graphic example involves axis position, but tactile feedback can be applied in a similar response to force information received by the control system of the material testing system or any other sensing information received by the control system.

[0081] Figure 11 A graphical representation 800 depicts an exemplary acceleration curve 810 of a tactile impulse over time. The graphical representation 800 includes time along the horizontal axis 801 and tactile impulse acceleration measured in gravitational force (g) along the vertical axis 802. Curve 810 includes a positive peak 812 at 0.6g and a negative peak 814 at -0.3g. The acceleration curve 810 is modulated over a period of approximately 0.05 to 0.1 seconds. This can be considered a “low-energy” feedback. Due to the short duration, only 0.003 J of mechanical energy can be output during the tactile response of a single low-energy tap. Providing a low-energy (e.g., less than 0.01 J) tactile response for a mechanical testing system can be particularly advantageous when the specimen is already in contact with or tensioned by the system and the tactile response is not intended to manipulate the specimen or testing system prior to testing.

[0082] As described above, methods for testing materials, including setting up and configuring a material testing system and / or a test sequence, are described. Methods for using tactile feedback in material testing may include providing a material testing system, such as one of systems 10, 100, 200, 300, and 400, including an output shaft, such as one of output shafts 22, 122, 222a, 222b, 322, and 422. The method includes receiving a specimen through the material testing system and setting up a test procedure for the specimen by moving the output shaft relative to the specimen. The method includes providing tactile feedback during setup to an operator of the material testing system (such as operator 11) related to the position or state of the output shaft relative to the specimen.

[0083] The method also includes providing the tactile feedback by the output shaft through low-energy vibrations transmitted via the output shaft, such as in Figure 11 The tactile feedback is shown in the diagram and described above. The method may also include low-energy vibrations transmitted through an output shaft controlled by a motor (such as one of motors 20, 120, 220a, 220b, 320, 354), which is configured to move the output shaft during testing.

[0084] The method may also include moving the output shaft via an indirect controller (such as controller 140 used by an operator) and adjusting the position of the output shaft during setup using the indirect controller. The method may include providing tactile feedback to the operator via a tactile response sent through the indirect controller. The method may also include simulating the sample response in the test space of the material testing system by increasing the tactile response when the output shaft contacts the sample using the indirect controller.

[0085] The method may include at least one of the following steps: performing an axial load test on the specimen using the material testing system; performing a torsional load test on the specimen using the material testing system; performing a dynamic mechanical analysis on the specimen using the material testing system; and performing a rheological test on the specimen using the material testing system.

[0086] The method may also include providing a first tactile response to an operator; and having the first tactile response indicate a position satisfying the output shaft, such as... Figure 8A and Figure 8B The method may further include providing a second tactile response to an operator; and the second tactile response indicating the limits of movement of the output shaft for the setting. The second tactile response differs from the first tactile response, such as... Figure 9A and Figure 9B The tactile response is shown in the figure.

[0087] The method may also include providing at least one of the single pulses (such as...) Figure 8A and Figure 8B The response shown), providing fast continuous pulses (such as Figure 9A and Figure 9B The response shown), provides increased resistance (such as) to further movement of the output shaft. Figure 10A and Figure 10B The response shown), provides pulses that repeat at predetermined time intervals (such as... Figure 8A and Figure 8B The response shown), and providing resistance proportional to the position of the output shaft (such as... Figure 10A and Figure 10B (The response shown).

[0088] While the invention has been shown and described with reference to specific embodiments, those skilled in the art will understand that various changes in form and detail may be made without departing from the spirit and scope of the invention as set forth in the appended claims. For example, in some embodiments, the removable sealing device may not include a support sleeve, or may include a support sleeve not made of a metallic material. Other variations are contemplated without departing from the scope of the invention as described herein.

Claims

1. A material testing system, comprising: motor; A control system connected to the motor and configured to control the material testing system before and during the test sequence; An output shaft is configured to move by operation of the motor, the output shaft being coupled to a sample such that the movement of the output shaft applies a mechanical force to the sample, wherein the motor is configured to operate the output shaft to move the output shaft within a range of motion, a range of force, and a range of frequency, such that the output shaft applies force and movement to the sample at a frequency under the control of the control system. and A tactile feedback system configured to provide tactile feedback to the operator of the material testing system during setup, relating to the position or state of the output shaft relative to the specimen.

2. The material testing system of claim 1, wherein the output shaft is configured to provide the tactile feedback to the operator via a tactile response transmitted through the output shaft.

3. The material testing system of claim 2, wherein the tactile response includes moving the output shaft via the motor.

4. The material testing system according to claim 2, wherein the tactile response is a low-energy vibration in the output shaft.

5. The material testing system of claim 1, wherein the output shaft is movable by an indirect controller used by the operator, wherein the indirect controller is configured to adjust the position of the output shaft during setup, and wherein the indirect controller is configured to provide the tactile feedback to the operator via a tactile response sent via the indirect controller.

6. The material testing system of claim 5, wherein the tactile response is configured to simulate the sample response in the test space of the material testing system by increasing the tactile response when the output shaft contacts the sample.

7. The material testing system according to claim 1, wherein the material testing system is at least one of an axial load system, a torsional load system, a dynamic mechanical analysis system, and a rheometer system.

8. The material testing system of claim 1, wherein the tactile feedback system is configured to provide a first tactile response to indicate a position satisfying the output shaft or a load on the sample.

9. The material testing system of claim 8, wherein the tactile feedback system is configured to provide a second tactile response at or near the movement or force limit of the output shaft, wherein the second tactile response is different from the first tactile response.

10. The material testing system of claim 9, wherein the first tactile response and the second tactile response are responses selected from the group consisting of: a single pulse, a rapid continuous pulse, increased resistance to further movement of the output shaft, pulses repeated at predetermined time intervals, and resistance proportional to the position of the output shaft.

11. A material testing system, comprising: First sample contact body; The second sample contact body, wherein the sample is configured to be placed between the first sample contact body and the second sample contact body; and An output shaft is attached to and extends from the first sample contact body, the output shaft being configured to move by operation of a motor, wherein the output shaft is configured to provide tactile feedback to an operator who touches the output shaft during the setup of a test process.

12. A method for testing materials, comprising: Provide a material testing system according to any one of claims 1 to 10; The sample is received by the material testing system; The control system is used to set up the testing process for the sample by moving the output shaft relative to the sample. as well as During the setup, tactile feedback is provided to the operator of the material testing system in relation to the position or state of the output shaft relative to the specimen; The motor causes the output shaft to move within a range of motion, a range of force, and a range of frequency. as well as Through the output shaft, under the control of the control system, force and motion are applied to the sample at a frequency.

13. The method of claim 12, further comprising: The tactile feedback is provided by the output shaft through low-energy vibrations transmitted via the output shaft.

14. The method of claim 13, further comprising: The low-energy vibrations transmitted through the output shaft are controlled by the motor, which is configured to move the output shaft during the test.

15. The method of claim 12, further comprising: The output shaft is moved by an indirect controller used by the operator. The position of the output shaft is adjusted using the indirect controller during setup; as well as The tactile feedback is provided to the operator via a tactile response sent through the indirect controller.

16. The method of claim 15, further comprising: The tactile response is enhanced by the indirect controller when the output shaft contacts the sample, thus simulating the sample response in the test space of the material testing system.

17. The method of claim 12, further comprising at least one of the following steps: The axial load test was performed on the sample using the material testing system. The sample was subjected to torsional load testing using the material testing system. Dynamic mechanical analysis of the sample is performed using the material testing system; and The sample was subjected to rheological testing using the material testing system.

18. The method of claim 12, further comprising: Provide the operator with a first tactile response; as well as The first tactile response is used to indicate the position of the output shaft.

19. The method of claim 18, further comprising: Provide a second tactile response to the operator; as well as The second tactile response is used to indicate the movement limit of the output shaft for the setting, wherein the second tactile response is different from the first tactile response.

20. The method of claim 19, wherein providing the first tactile response and the second tactile response further comprises at least one of the following steps: Provide at least one pulse in a single pulse; Provides fast, continuous pulses; Provides increased resistance to further movement of the output shaft; Provide pulses that repeat at predetermined time intervals; and Provides resistance proportional to the position of the output shaft.

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