Motorized haptic peripheral device

Abstract

This invention relates to a human-machine interface tactile peripheral device, which includes a rotating finger wheel (250) comprising a human-machine interaction element directly driven by a rotating electromagnetic interaction component (10). The rotating electromagnetic interaction component includes a stator assembly (100) and a rotor assembly (200). The stator assembly has a plurality of coils (122, 123, 124) arranged on ferromagnetic teeth forming coil supports (132, 133, 134). The rotor assembly includes a magnet (210) having a plurality of axial magnetization poles (211). The position of the rotor assembly is determined by an angle sensor (300). The peripheral device also includes an electronic control circuit (430) that controls the amplitude of the current supplied to the coil based on the angular signal transmitted by the sensor and the tactile profile recorded in the memory (600) of the electronic control circuit, so as to transmit torque increased to or subtracted from the torque applied to the finger wheel by the user. The device is characterized by: • the stator being fixed and having at least two ferromagnetic teeth forming a coil support and extending axially toward the magnet; • a disc magnet having alternating axial magnetization that interacts with the ferromagnetic stator teeth.

Description

Technical Field

[0001] This invention relates to the field of tactile human-machine interfaces, particularly computer pointing wheel or knob or tactile wheel.

[0002] So-called haptic feedback control is being developed to make the sensations delivered to the user parameterized (sometimes context-dependent) to make the use of equipment as intuitive as possible by accurately simulating the click-like sensation of scrolling through menus or turning a fingerwheel. These devices use actuators or micromotors integrated into knobs operated by the user and activated to trigger feedback perceived at the fingertips.

[0003] To broaden the simulable sensory spectrum, it has been shown that not only is controlling the resistance to movement applied by the user useful, but also, in certain contexts, amplifying the movement by intelligently expanding or modulating the motorization of the user-applied action. Existing technology

[0004] Patent application US20070188453A1 describes a rotating wheel for an input device used in interaction with a computer. The input device includes a permanent magnet and an electromagnet. A rotor made of a material that magnetically interacts with the permanent magnet and electromagnet is coupled to the rotating wheel. The permanent magnet and electromagnet can be used to control a ratchet force applied to the rotating wheel. In another embodiment, the rotating wheel, having a handwheel, engages with a roller. A ratchet can be intermittently engaged with the handwheel to provide a ratchet force. By disengaging the ratchet, the handwheel can rotate, thereby providing momentum to facilitate scrolling under certain conditions (e.g., when scrolling a long document).

[0005] Also known in the prior art is US Patent US10402077B2, which describes a knob for an input device. The knob may include: a knob housing rotatable on a shaft; a main shaft coupled to and extending from the knob housing along the shaft; a ratchet axially coupled to the main shaft and including a toothed periphery; and a resistance wheel axially coupled to the main shaft and including a smooth periphery, wherein the ratchet and resistance wheel are rotatable on the shaft in correspondence with rotation of the knob housing. A biasing mechanism applies a force at its first end to engage the toothed periphery of the ratchet, causing the ratchet to rotate when the knob housing rotates, and further applies a force at its second end to engage the smooth periphery of the resistance wheel, causing friction when the knob housing rotates.

[0006] Patent application FR3131476A1 describes a peripheral device including a roller rotatably coupled to a body. The roller may include a ferromagnetic rotor. The rotor may be generally annular in shape and may define an open interior. The rotor may define a first plurality of teeth arranged around the periphery of the open interior. The device may include a stator located within the open interior. The stator may define a second plurality of teeth alignable with the first plurality of teeth. The stator may include a plurality of electro-permanent magnets. Each of the electro-permanent magnets may be arranged within a conductive coil. The device may include a position sensor configured to detect the angular position of the rotor. The device may include control circuitry for controlling the current supply to the electro-permanent magnets of the stator to determine the speed of the roller.

[0007] Patent application US20190107941A1 describes a knob for an input device, which may include: a knob housing rotatable on a shaft; a main shaft coupled to and extending from the knob housing along the shaft; a ratchet axially coupled to the main shaft and including a toothed periphery; and a resistance wheel axially coupled to the main shaft and including a smooth periphery, wherein the ratchet and resistance wheel are rotatable on the shaft in correspondence with rotation of the knob housing. A biasing mechanism applies a force at its first end to cause a roller to engage the toothed periphery of the ratchet, causing the ratchet to rotate when the knob housing rotates, and further applies a force at its second end to cause the second end to engage the smooth periphery of the resistance wheel, causing friction. This prior art device may also include a gear system coupled to a lever, a processor, and an electric motor controlled by the processor and coupled to the gear system to enable the lever to move from a first position to a second position. Some implementations may include an actuator positioned below and substantially aligned with the spindle, whereby the knob may be pressable and the actuator may be activated when the knob is pressed.

[0008] US Patent 6128006A describes a knob control device that includes:

[0009] - A knob, which is coupled to a ground surface, the knob being rotatable about an axis (A) extending through the knob with rotational freedom, the knob also being movable in at least one lateral direction substantially perpendicular to the axis;

[0010] - A rotation sensor that detects the position of the knob in the rotational degree of freedom;

[0011] - A lateral sensor, which has the function of detecting the position of the knob in the lateral direction; and

[0012] - An actuator connected to the knob and having the function of applying a force about the axis over the rotational degree of freedom;

[0013] The knob control device is characterized in that it further includes:

[0014] - A spring component connected between the knob and the actuator to allow the movement in the lateral direction while remaining relatively torsional rigid to allow force to be effectively transmitted from the knob actuator about the axis (A).

[0015] Disadvantages of existing technology

[0016] Many existing technological solutions use mechanical or electromagnetic components to modulate tactile sensation, which reduces the number of possible sensations to a small number of predefined profiles and results in a lack of possible sensory effects.

[0017] The solution proposed in US20070188453A1 in Figure 19 suffers from low torque efficiency due to its electrical properties. To achieve a highly perceptible tactile effect, it is necessary to energize both coils at high levels of power. This leads to excessive power consumption and even harmful overheating due to the lack of residual torque in the stator architecture chosen in the prior art, making it impossible to limit the amount of tactile feedback through electrical control. Furthermore, for battery-powered devices, this solution significantly reduces battery life.

[0018] When the user stops interacting with the wheel, if interaction resumes, the motor continues to be powered to ensure tactile sensation; this means that power continues to be consumed even after interaction, thus losing battery life.

[0019] The solution provided by this invention

[0020] To overcome the shortcomings of existing technologies, this invention, in its most widely accepted form, proposes a human-machine interface tactile peripheral device. This device includes a rotating finger wheel comprising a human-machine interaction element directly driven by a rotating electromagnetic interaction component. This component includes a stator assembly and a rotor assembly. The stator assembly has multiple coils arranged on ferromagnetic teeth forming coil supports. The rotor assembly includes a magnet with multiple axial magnetization poles. The position of the rotor assembly is directly measured by an angle sensor. The peripheral device also includes an electronic control circuit that controls the amplitude of the current energizing the coils based, on the angle signal transmitted by the sensor and on the tactile profile recorded in the circuit's memory, to transmit torque that increases or decreases from the torque applied to the finger wheel by the user.

[0021] Its features

[0022] - The stator is fixed and has at least two ferromagnetic teeth that form coil supports and extend axially toward the magnet.

[0023] - The disc-shaped magnet has alternating axial magnetization and interacts with the ferromagnetic stator teeth.

[0024] Specifically, the electronic control circuit includes a library of digital haptic profiles in the memory and a component for selecting the haptic profile to be applied to control the coil.

[0025] In one variant, the sensor is a 360° absolute position sensor.

[0026] In a compatible variant, the rotating electromagnetic interaction component includes a bracket that supports the human-machine interface element and includes one or two bearings for guiding the shaft of the rotor assembly.

[0027] In addition, the tactile peripheral device may include a stop element in the form of a washer, which rests on one of the bearings formed by ball thrust bearings, the washer resting on a shoulder and having a larger diameter than the ball thrust bearing.

[0028] In particular, the bracket may include bearings to absorb axial forces.

[0029] More specifically, the bracket includes a transverse tab that forms an axial stop for the shaft of the rotor assembly.

[0030] Alternatively, the bracket may include point stops made of a rigid material to absorb axial forces on the shaft.

[0031] In one stator variant, the ferromagnetic circuit of the stator assembly may have a stator yoke extending from three vertically oriented stator coil supports, each stator coil support having a flat angular fan-shaped flange at its end, each flange having three radial ribs.

[0032] In particular, the stator assembly can be formed from a single piece.

[0033] Alternatively, the stator assembly may be formed by assembling components disposed in a base having “C”-shaped radial protrusions.

[0034] In addition, the coil support can have a winding core with a bean-shaped cross-section to maximize the size of the coil.

[0035] In particular, the stator assembly may have connecting parts with copper traces.

[0036] In another variation, the stator may include three poles wound without cutting the wires, and the stator has three electrical contact points with a wire segment on a tab located between two adjacent coils.

[0037] Specifically, the tabs may extend from a connecting member parallel to the shaft of the rotor assembly.

[0038] In another variation, the position sensor may share a common magnetization portion with the disc magnet of the rotor assembly.

[0039] In one variant, the memory may include a library consisting of multiple context-selectable digital profiles.

[0040] In one variation, one of the configuration files can control the displacement torque in the direction opposite to the direction of the force applied to the actuating element.

[0041] In one variation, one of the laws can control the displacement torque in the direction of the force applied to the actuating element.

[0042] Specific implementation of a non-limiting exemplary embodiment

[0043] The invention will be better understood by reading the following description, which relates to non-limiting exemplary embodiments illustrated in the accompanying drawings, wherein:

[0044] [ Figure 1 ][ Figure 1 The image shows an exploded perspective view of a first exemplary embodiment of a peripheral device according to the present invention.

[0045] [ Figure 2 ][ Figure 2 A cross-sectional view of the first exemplary embodiment of the peripheral device according to the present invention is shown.

[0046] [ Figure 3 ][ Figure 3 A partially exploded view of the first exemplary embodiment of the peripheral device in axial perspective orientation is shown.

[0047] [ Figure 4 ][ Figure 4 An exploded perspective view of a second exemplary embodiment of a peripheral device according to the present invention is shown.

[0048] [ Figure 5 ][ Figure 5 Another exploded perspective view of the second exemplary embodiment is shown.

[0049] [ Figure 6 ][ Figure 6An exploded perspective view of a third exemplary embodiment of the peripheral device according to the present invention is shown.

[0050] [ Figure 7 ][ Figure 7 An exploded perspective view of a fourth exemplary embodiment of the peripheral device according to the present invention is shown.

[0051] [ Figure 8 ][ Figure 8 An exploded perspective view of a fifth exemplary embodiment of the peripheral device according to the present invention is shown, a variant having two rotors.

[0052] [ Figure 9 ][ Figure 9 The diagram shows a schematic of the electronic circuitry of a peripheral device according to the present invention.

[0053] The principle of this invention

[0054] This invention relates to a tactile peripheral device for a human-machine interface, comprising a finger wheel that enables tactile sensation to be parameterized using a variety of active feedbacks. These active feedbacks increase resistance to forces applied by the user, or conversely, amplify or prolong user-applied actions to provide a click sensation with greater or less stiffness and variable pitch, or a stop with a greater or less steep slope before firmly locking, or a spring or rebound effect localized in one or more angular positions, or self-sustaining rotation, or notification of information, such as by applying vibrational oscillations that provide tactile feedback, for example, when approaching a region of interest, or for signaling contextual information.

[0055] Therefore, the main difference between this invention and the prior art is that it does not use an electric motor associated with a finger wheel, but instead uses an electromagnetic rotational interaction component composed of the following:

[0056] - A fixed stator having at least two ferromagnetic stator teeth.

[0057] - A rotor comprising a disc-shaped magnet having alternating axial magnetization and interacting with the ferromagnetic stator teeth.

[0058] The disk-shaped magnet is advantageously formed from a single magnet, which takes the form of a single magnetic material disk with alternating axially magnetized corner sectors, or may be formed from an axially magnetized ring forming a perforated disk, or from two magnetic disks axially arranged on either side of the stator, each magnetic disk having an axially magnetized corner sector.

[0059] This combination allows a wide variety of control laws to be applied to the fingerwheel to configure the user's feel, while having enough amplitude to achieve a clear and distinct feel, reducing power consumption to ensure longer battery life (especially for battery-powered peripherals), and reducing device heat generation.

[0060] An advantageous feature of the invention is the axial positioning of the rotor relative to the stationary stator to ensure a constant air gap with low axial tolerance. In the case of a single magnet, this positioning is ensured by providing simple point-contact stops, such as balls axially supported on the end of the rotor's rotating shaft and cavities formed in the frame, or washers supported on ball thrust bearings.

[0061] Another advantageous feature of the invention relates to an angular position sensor for the finger wheel, which is advantageously a 360° absolute sensor. This sensor provides both position information for controlling the control unit and the position required to control the power supply to the coil, in order to determine the instantaneous supply current based on a criterion that defines a positive or negative torque (relative to the force applied to the finger wheel by the user) by the electromagnetic rotating interaction member:

[0062] a. Instantaneous rotor position

[0063] b. The control law determined by the selected haptic profile.

[0064] Advantageously, the sensor includes a fixed Hall probe that magnetically interacts with a magnet positioned at the end of the rotor shaft.

[0065] Optionally, the second incremental sensor provides information based on the number of revolutions.

[0066] Optionally, the angular position sensor is positioned close to the rotor to capture a portion of the flux generated by the aforementioned disc magnet.

[0067] First exemplary implementation scheme

[0068] Figures 1 to 3 A schematic diagram of a first exemplary embodiment of the peripheral device according to the present invention is shown.

[0069] The peripheral device according to this exemplary embodiment consists of the following sub-components:

[0070] a. Stator assembly (100)

[0071] b. A rotor assembly (200) comprising a human-machine interface element in the form of an actuation finger wheel (250).

[0072] c. Sensor (300),

[0073] d. Bracket (400).

[0074] The stator assembly (100) includes a ferromagnetic circuit (110) consisting of a stator yoke (115) and coil supports (132, 133, 134). The stator yoke (115) includes a central hub (111) having radial protrusions (112, 113, 114) for each coil (122, 123, 124) that are open “C” shaped at their periphery.

[0075] The stator yoke also includes stator coil supports (132, 133, 134) made of ferromagnetic material for each coil (122, 123, 124). The coils (122, 123, 124) are arranged around the cores (142, 143, 144) of the coil supports (132, 133, 134). On one axial side, these cores extend through flanges (152, 153, 154) in the form of flat angular sectors; and on the other side, these cores (142, 143, 144) are embedded in radial “C”-shaped protrusions (112, 113, 114) to form a ferromagnetic yoke magnetically connected to the coils (122, 123, 124). When the core (142, 143, 144) is axially inserted into the radial protrusions (112, 113, 114), the “C” shape of the radial protrusions provides two radially elastically deformable branches, which allows for a method compatible with manufacturing variations while minimizing the possible gaps between ferromagnetic components, a source of performance degradation.

[0076] The flanges (152, 153, 154) have radial ribs (162, 163, 164) on the surfaces opposite the coils (122, 123, 124). These radial ribs regulate the flux collected on the magnet (210) and facilitate the passage of magnetic flux through certain regions of the stator poles. The radial lengths of these ribs (162, 163, 164) substantially correspond to the radial width of the magnet (210). The flanges (152, 153, 154) have shoulders (155, 156, 157) at the ends of the ribs to provide a disc-shaped region at the center of these ribs (162, 163, 164) after assembly, which forms a support region for the thrust washer (180).

[0077] In the example shown, each of the flanges (152, 153, 154) is provided with three radial ribs (162, 163, 164), and the magnet (210) has 16 magnetization poles (211) in alternating directions. This configuration is particularly advantageous for generating high-frequency, current-free magnetic interaction forces between the rotor assembly (200) and the stator assembly (100). This results in a fundamental spatial interaction frequency of 144 pulses per revolution, which significantly reduces the amplitude of the interaction, which decreases with increasing spatial frequency.

[0078] A printed circuit board (170) is embedded in a stator yoke (115) to connect coils (122, 123, 124).

[0079] The printed circuit board (170) has three tabs (172, 173, 174) in the form of radial protrusions to receive traces (182, 183, 184) for connecting coil wires (122, 123, 124). The three coils (122, 123, 124) are wound in series, with one coil support wound around it, and then the wire is wound around one of the tabs (172, 173, 174) and contacts one of the traces (182, 183, 184). A second ferromagnetic support (132, 133, 134) is then connected to wind around it. This process is repeated until all supports have been wound and are in contact with all traces on the printed circuit board (170). Since the coil wires are insulated with resin, electrical contact is achieved by soldering the wires to the traces (182, 183, 184) and removing the insulation.

[0080] The rotor assembly (200) includes a magnet (210), a finger wheel (250), and a shaft (220) passing through the stator yoke (115). A ball thrust bearing (230) ensures the axial positioning of the stator assembly (100) relative to the rotor assembly (200). For this purpose, the ball thrust bearing (230) is axially inserted between the transverse spacer (251) of the finger wheel (250) and a thrust washer (180), which is supported in front on the outside of the flanges (152, 153, 154).

[0081] Before magnetization, the magnet (260) interacts with a magnetic sensor to provide an angular position signal for the finger wheel (250). The magnet (260) engages with a sleeve (252) of the axially extending finger wheel (250).

[0082] The bracket (400) is made of a plastic block and has two recesses (410, 420) for guiding the finger wheel and a support for an electronic control circuit (430) including a magnetic probe (440). The electronic control circuit (430) supporting the sensor is held on the bracket by screws and positioning elements (432, 433) engaged in slots (434, 435) provided in the electronic control circuit (430).

[0083] The sleeve (190) is positioned in the recess (410) of the bracket (400) and ensures the orientation and positioning of the stator assembly (100) relative to the bracket (400).

[0084] Finally, the second recess (420) for the guide bracket (400) includes a transverse tab (405) that provides an axial stop for the shaft (220) of the rotor assembly (200). The transverse tab (405) absorbs the axial force generated by the user on the finger wheel (250).

[0085] Second exemplary implementation scheme

[0086] Figure 4 and Figure 5 An exploded view of a second exemplary embodiment is shown, which presents the same features as described above for general characteristics, except for the construction of the stator assembly (100).

[0087] According to this variant of the implementation scheme, the stator ferromagnetic circuit (110), which in the first variant of the implementation scheme is formed by several assembled components (i.e., the stator yoke (115) and three stator coil supports (132, 133, 134)), in this second variant is composed of a single component, which can be produced, for example, by metal injection molding or metal additive printing. The coils (122, 123, 124) are wound around three cores of the stator body, which in this second variant of the implementation scheme is formed by a single component (116) (or by the three components assembled in the first variant of the implementation scheme).

[0088] The coils are connected by copper traces (182, 183, 184) disposed on a plastic connecting member (176), the copper traces being force-fitted, for example, by clamping onto a single piece (116). The connecting member (176) functions as a printed circuit board (170) and sleeve (190) in a first variant of the embodiment and engages with a bracket (400). The copper traces (182, 183, 184) each extend along the outer surface of a tab (172, 173, 174) extending axially between coil supports (132, 133, 134) to provide an electrical contact area for the coils (122, 123, 124) as close as possible to the winding area, which greatly facilitates operation. The copper traces (182, 183, 184) can be deposited on the connecting member (176) by additive manufacturing or by any other method known to those skilled in the art.

[0089] The second variation of the implementation differs from the first variation in that the shaft is guided. As in the first variation, the shaft (220) is positioned within the index wheel (250). Rotational guidance and axial wedging of the shaft are achieved through point contact at its rear end in a sleeve (190), which, unlike in the first variation, is not fully through-hole but closed at one end. Optionally, a ball bearing (191) is inserted between the bottom of a cavity in the sleeve (190) and the rear front end of the shaft (220). Alternatively, this point contact is ensured by a hemispherical protrusion formed at the bottom of the cavity in the sleeve (190).

[0090] Third Exemplary Implementation

[0091] [ Figure 6 The exemplary embodiment shown relates to another variation of the stator ferromagnetic circuit (110) of the stator structure (100), which constitutes a variation of the stator ferromagnetic circuit (110) presented in the two aforementioned variations, except for the extended axial extensions (135, 136, 137) inserted between the stator coil supports (132, 133, 134). These non-coiled axial extensions (135, 136, 137) form additional torque-increasing teeth and improve the collection of magnetic flux generated by the magnetized disk (210).

[0092] Furthermore, these extended axial portions (135, 136, 137) cooperate with the stator coil supports (132, 133, 134) to generate a current-free torque, the amplitude of which and the harmonic content can be modified by selecting an appropriate angular range.

[0093] Fourth exemplary implementation

[0094] [ Figure 7 The exemplary embodiment shown illustrates a variation of the sensor magnet (260) directly coupled to the magnetization disk (210) via dual magnetization. A disc-shaped ferromagnetic yoke (270) is clamped to the surface of the magnetization disk (210) opposite the ferromagnetic stator circuit (110) to allow the magnetization poles (211) to loop back, which on the one hand increases the magnetic induction generated in the motor air gap, and on the other hand prevents the flux lines of the magnetization poles (211) from leaking toward the magnetically sensitive probe (invisible) arranged opposite the sensor magnet (260). The ferromagnetic yoke (270) is also perforated at its center to allow the magnetic field of the sensor magnet (260) to leak toward the probe. In this embodiment, the sensor magnet (260) has a pair of axial magnetization poles, but those skilled in the art can readily adjust the magnetization of the internal portion of the magnetization disk (210) to achieve other sensor magnet (260) configurations.

[0095] Fifth exemplary implementation

[0096] [ Figure 8 [Image showing another variation of the stator body of the stator structure (100), a more compact variation of the stator body shown in the first two variations, wherein the winding teeth (132, 133, 134) extend radially rather than axially. This embodiment also differs from the previous embodiments in that the two magnetized disks (210) can be arranged on either side of the stator structure (100). The two magnetized disks are fixed together by various mechanical components (not shown) to form a rotor assembly with the finger wheel and guide shaft. This configuration advantageously balances the magnetic forces applied between the stator ferromagnetic circuit (110) and the rotor assembly, allowing for the selection of a simpler and less costly axial guiding solution than, for example, presented in the first embodiment.]

[0097] Control of the tactile device according to the present invention

[0098] The invention also includes a strategy for controlling the human-machine interface tactile peripheral device described in the preceding examples. To this end, and as […] Figure 9 As shown, the nearby electronic circuit (500) includes components for controlling the coils (122, 123, 124) of the rotating electromagnetic interaction component (10), enabling the generation of a rotating excitation magnetic field as known from brushless multiphase motors.

[0099] To generate different tactile sensations, control signals are generated by the microcontroller based on position signals from a sensor (300) measuring the angular position of the finger wheel (250), and also based on tactile profiles recorded in a memory (600). The memory may contain a library of individual tactile profiles or digital profiles selected according to context.

[0100] The memory (600) containing the haptic profile is directly integrated into the microcontroller or can be loaded remotely, possibly into another peripheral device.

[0101] In the various haptic profiles provided, the rotary electromagnetic interaction component (10) controls the displacement torque for the finger wheel (250):

[0102] • In the direction of the force applied to the actuating element, or

[0103] • In the direction opposite to the direction of the force applied to the actuating element, or

[0104] • In the direction opposite to the direction of the force applied to the actuating element, wherein the amplitude increases with the angular deviation of the wheel (250) relative to the reference position, or generates a torque variation according to the angle of travel to simulate a textured or stuttering effect.

[0105] The present invention also proposes the ability to modify haptic profiles based on corner sensor information in order to produce progressive or completely different haptic effects as multiple corner ranges are traversed, modifying the haptic profile for each of these ranges.

[0106] The haptic profile also includes the ability to generate vibrations or any torque based on contextual information received by the microcontroller to notify the user of events. The vibrations can also be generated at regular intervals.

Claims

1. A human-machine interface tactile peripheral device, the human-machine interface tactile peripheral device comprising a rotating finger wheel (250), the rotating finger wheel comprising a human-machine interaction element directly driven by a rotating electromagnetic interaction component (10), the rotating electromagnetic interaction component comprising a stator assembly (100) and a rotor assembly (200), the stator assembly having a plurality of coils (122, 123, 124) arranged on ferromagnetic teeth forming coil supports (132, 133, 134), the rotor assembly comprising a magnet (210) having a plurality of axial magnetization poles (211), the position of the rotor assembly (200) being directly measured by an angle sensor (300), the peripheral device further comprising an electronic control circuit (430) that controls the input to the coils (122, 123, 124) based on an angle signal transmitted by the sensor (300) and a tactile profile recorded in a memory (600) of the electronic control circuit (430). 124) The amplitude of the energizing current, so as to transmit torque increased by or subtracted from the torque applied to the finger wheel by the user. Its features The stator is fixed and has at least two ferromagnetic teeth that form coil supports (132, 133, 134) and extend axially toward the magnet (210). - The magnet (210) is a disc-shaped magnet with alternating axial magnetization that interacts with the ferromagnetic stator teeth.

2. The human-machine interface tactile peripheral device according to claim 1, characterized in that, The electronic control circuit (430) contains a library of digital haptic profiles and components in the memory (600) for selecting haptic profiles to be applied to control the coils (132, 133, 134).

3. The human-machine interface tactile peripheral device according to claim 1, characterized in that, The sensor (300) is a 360° absolute position sensor.

4. The human-machine interface tactile peripheral device according to claim 1, characterized in that, The rotating electromagnetic interaction component (10) includes a bracket (400) that supports the human-machine interaction element and includes one or two bearings for guiding the shaft (220) of the rotor assembly (200).

5. The human-machine interface tactile peripheral device according to the preceding claims, characterized in that, The human-machine interface tactile peripheral device includes a stop element (180) in the form of a washer, which is supported on one of the bearings formed by ball thrust bearings (230), the washer resting on a shoulder (155, 156, 157) and having a larger diameter than the ball thrust bearing (230).

6. The human-machine interface tactile peripheral device according to the preceding claims, characterized in that, The bracket (400) includes a bearing for absorbing axial forces.

7. The human-machine interface tactile peripheral device according to the preceding claims, characterized in that, The bracket (400) includes a transverse tab (405) that forms an axial stop for the shaft (220) of the rotor assembly (200).

8. The human-machine interface tactile peripheral device according to claim 4, characterized in that, The bracket includes point stops made of rigid material for absorbing the axial force of the shaft.

9. The human-machine interface tactile peripheral device according to claim 1, characterized in that, The ferromagnetic circuit (110) of the stator assembly (100) has a disc-shaped stator yoke (115) extending from three vertically oriented stator coil supports (132, 133, 134), the stator coil supports having flanges (152, 153, 154) at their ends in the form of flat angular sectors, each flange being provided with three radial ribs (162, 163, 164).

10. The human-machine interface tactile peripheral device according to the preceding claims, characterized in that, The stator assembly (100) is formed from a single component.

11. The human-machine interface tactile peripheral device according to claim 9, characterized in that, The stator assembly (100) is formed by assembling components disposed in a base having "C"-shaped radial protrusions.

12. The human-machine interface tactile peripheral device according to claim 9, characterized in that, The coil support (132, 133, 134) has a bean-shaped cross-section winding core (142, 143, 144) to maximize the size of the coil (122, 123, 124).

13. The human-machine interface tactile peripheral device according to claim 9, characterized in that, The stator assembly (100) has a connecting part (176) provided with copper traces (182, 183, 184).

14. The human-machine interface tactile peripheral device according to claim 1, characterized in that, The stator comprises three poles wound without cutting the conductors, and the stator has three electrical contact points with conductor segments on tabs (172, 173, 174) located between two adjacent coils.

15. The human-machine interface tactile peripheral device according to the preceding claims, characterized in that, The tabs (172, 173, 174) extend from the connecting part (176) of the shaft (220) parallel to the rotor assembly (200).

16. The human-machine interface tactile peripheral device according to claim 1, characterized in that, The position sensor (300) shares a common magnetization portion with the magnet (210) of the rotor assembly (200).

17. The human-machine interface tactile peripheral device according to claim 1, characterized in that, The memory (600) includes a library of digital profiles selected from multiple contexts.

18. The human-machine interface tactile peripheral device according to claim 1, characterized in that, One of the configuration files controls the displacement torque in the direction opposite to the direction of the force applied to the actuating element.

19. The human-machine interface tactile peripheral device according to claim 1, characterized in that, One of the configuration files controls the displacement torque in the direction of the force applied to the actuating element.

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