IMPROVED HAPTIC CONTROL UNIT

Description

FIELD OF INVENTION

[0001] This presentation concerns the field of controllers used in the musical field, and more specifically a keyboard-type device. STATE OF PRIOR ART

[0002] Keyboard-type equipment is commonly used in the musical field, particularly because of its ability to control and generate multiple and varied sounds and signals.

[0003] However, these devices are generally limited by their very structure, which is that of a piano-type keyboard. Numerous devices have been proposed, aiming in particular to reproduce the feel of a piano keyboard as faithfully as possible.

[0004] Document US4668843 presents an example of a known device. Documents US 6 002 078 A, JP H04 171620 A, and JP S63 146098 A also propose devices for controlling the damping of digital music keyboard keys.

[0005] Various devices exist that aim to meet the need for continuous control when playing sounds other than those of a traditional piano; one such feature is commonly referred to as "aftertouch." However, the devices currently available offer very limited functionality and insufficient control to provide truly satisfying playing possibilities.

[0006] The aim here is therefore to propose a controller that can generate more numerous and varied instructions than a conventional keyboard. PRESENTATION OF THE INVENTION

[0007] The present exposition relates to a haptic controller as defined in claim 1, comprising a base, a plurality of actuators, each having an elongated shape along a principal direction, each actuator being mounted pivotally relative to the base along a pivot axis perpendicular to the principal direction, a plurality of damping elements, each damping element being positioned so as to dampen a rotational movement of an actuator around the pivot axis in a direction of compression, said damping elements being elastically deformable between an initial configuration and a final configuration, each damping element comprising a body made of deformable material, said body having at least two disjoint recesses passing through in a direction defined by the pivot axis and superimposed on each other in the direction of compression of the damping element, said damping elements being configured so as to dampen the rotational movement of the actuator by opposing a damping having two distinct profiles as a function of the rotation of the associated actuator, the transition from the first to the second profile defining a break in a damping curve as a function of the rotation of the actuator, the controller includes a set of sensors adapted to provide information relating to the rotational displacement of the actuator around the pivot axis,and a signal processing unit adapted to modulate a signal according to the position of each actuator, wherein each of said actuators has a protrusion adapted to come into contact with the associated damping element, each protrusion having a free end defining a contact, for example linear, with the associated damping element in its initial configuration.

[0008] The body of each damping element has at least two recesses.

[0009] These hollows typically exhibit distinct shapes.

[0010] According to one example, the damping elements are removable.

[0011] In one example, the base defines a stop limiting the rotational movement of each actuator in the compression direction. In another example, the base and controllers include means cooperating to define a stop limiting the rotational movement of each actuator in the opposite direction to the compression direction, defining an initial position of each actuator on its associated damping elements in which the damping elements are pre-stressed by the actuators.

[0012] According to one example, each of said actuators comprises a touch portion and a base, the touch portion being movable in translation relative to the base in a direction defined by the pivot axis.

[0013] The base of each actuator typically includes a pivot portion defining the pivot connection with the base, the pivot portion being connected to the touch portion by two parallel strips each extending in a plane perpendicular to the pivot axis.

[0014] According to one example, the base of each actuator includes a pivot portion defining the pivot link with the base, and allowing rotational movement of the actuator along an axis perpendicular to the pivot axis and perpendicular to the main direction.

[0015] According to one example, the base comprises a plurality of elements protruding from the base, each element being configured to bear against two walls of the base of an actuator in a direction parallel to the pivot axis, typically two internal walls or two opposite external walls of the base of an actuator in a direction parallel to the pivot axis.

[0016] In one example, the base comprises a plurality of elements projecting from the base, each element being configured to bear against two internal walls of the base of an actuator in a direction parallel to the pivot axis. These elements are typically rods.

[0017] Optionally, said actuators are configured to allow variable translational travel depending on the rotation of the actuators around the pivot axis.

[0018] Optionally, the damping element is connected to the base by means of a connecting portion extending in a direction perpendicular to the pivot axis or in a direction parallel to the pivot axis.

[0019] According to one example, the damping element has a variable thickness, the thickness being measured along a direction defined by the contact, possibly linear, between the actuator and the damping element, or possibly by the pivot axis.

[0020] According to one example, the body of each damping element has a cylindrical shape, for example of revolution about an axis parallel to the pivot axis, said at least one recess of each damping element being through in a direction defined by the pivot axis.

[0021] According to one example, each actuator comprises two distinct linking elements forming two disjoint pivot links with the base along the pivot axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The invention and its advantages will be better understood upon reading the detailed description below of various embodiments of the invention, given by way of non-limiting examples. This description refers to the accompanying figure pages, on which: there figure 1 represents an example of a device according to one aspect of the invention; The figures 2 à 7 are detailed views of the figure 1 . There figure 8 presents a variant of the device shown on the figure 1 . There figure 9 is a graph illustrating the damping of the device as a function of the actuator displacement. The figures 10 à 14 represent several views of another embodiment of a device according to one aspect of the invention. figures 15 à 19 schematically represent examples of damping elements.

[0023] Across all figures, identical elements are identified by common numerical references. DETAILED DESCRIPTION OF ACHIEVED EXAMPLES

[0024] THE figures 1 à 4 present an example of device 1 according to one aspect of the present invention.

[0025] The figures show a device 1 comprising a base 2 and a plurality of actuators 3, here configured to form a keyboard of the type of piano keyboard, the actuators 3 here forming piano keyboard keys.

[0026] The actuators 3 are each mounted to rotate freely relative to the base 2 via a pivot joint around a common pivot axis 4 of the base 2. The pivot axis 4 can be formed by a plurality of aligned axis segments or by a continuous axis, provided that it ensures a common axis of rotation for the actuators 3 relative to the base 2. More generally, the pivot axis 4 designates an axis of rotation of the actuators 3 relative to the base 2, but does not necessarily correspond to a physical element. The actuators 3 each extend along a principal direction, perpendicular to the pivot axis 4.

[0027] The pivot joint can be implemented in various ways. The illustrated embodiment represents a pivot joint achieved by means of an element forming an axis around which segments of the actuators 3, forming cylindrical sleeves, are positioned. It is understood, however, that this embodiment is not exhaustive; the pivot joint can be implemented in any other suitable manner, provided that the relative movement of the actuators 3 with respect to the base 2 is limited to a rotational movement.

[0028] The actuators 3 can thus be manipulated by a user who will typically exert a pressure force on a part of a given actuator in order to cause a rotational movement of the actuator 3 around the pivot axis 4 in a direction which is described as indentation.

[0029] This rotational movement in the direction of penetration is damped by a damping element 5 positioned between each actuator 3 and the base 2. The device 1 thus typically comprises as many damping elements 5 as actuators 3.

[0030] The rotational movement of each actuator 3 in the direction of insertion is typically limited by a stop 24 on the base 2, configured to define a maximum rotation of each actuator in the direction of insertion. The rotational movement of each actuator 3 in the direction of insertion is thus typically achieved between an initial position, in which no force is exerted by a user on the actuator 3, and a inserted position, in which the actuator 3 is in contact with the associated stop 24.

[0031] In the example shown on the figures 1 à 4 The base is in two parts 2A and 2B, a first part 2A of the base forms the support for the pivot axis 4, while a second part 2B of the base forms a support for the damping elements 5. In such an embodiment, the two parts 2A and 2B of the base 2 are typically joined on the same base in order to ensure the alignment of the different components.

[0032] The rotational movement in the opposite direction to the indentation direction is typically limited by a stop formed by the base 2, so as to prevent the actuators 3 from lifting or bouncing. In the example shown on the figure 1 The base 2 has a portion forming a cap 26 covering part of the actuators 3 near the pivot axis 4. This portion forming a cap 26 typically has a plurality of recesses 261 allowing, for example, the insertion of adjustable stops such as threaded rods, thus limiting the rotational movement of the actuators 3 in the opposite direction to the direction of insertion. The addition of such stops ensures, in particular, the alignment of the various actuators in their initial position (i.e., when a user is not applying force to the actuators 3), and also allows defining an initial position for the actuators 3 on their associated damping elements 5 in which the damping elements are pre-stressed by the actuators 3, so as to ensure both a return to the initial position and maintenance of contact between each actuator 3 and its damping element 5.

[0033] It is understood that the prestress depends in particular on the shape and size of the damping elements 5. An increase in the size of the damping element leads to an increase in the prestress, and vice versa.

[0034] We now describe an example of the structure of actuators 3 with reference in particular to figures 2 et 3 .

[0035] The actuator 3 as presented includes a touch portion 31 forming a free end of the actuator, and a base 32 including a pivot portion 33 forming the pivot link with the pivot axis 4 of the base 2.

[0036] The tactile portion 31 is the part of the actuator 3 intended to be manipulated by the user. It typically has a flat upper surface and a lower surface; the upper surface may include a covering such as a wood veneer or other material that encloses the tactile portion 31 to enhance the user experience. It is understood that the user can also manipulate the actuator 3 via the base 32.

[0037] An intermediate portion 34 comprising two parallel slats 341 and 342 extending in two distinct planes and each perpendicular to the pivot axis 4 typically provides the connection between the touch portion 31 and the base 32 of each actuator 3. The slats 341 and 342 are typically made of elastic material, or more generally of a material which allows elastic deformation when subjected to a moderate force from a user, for example of plastic material (e.g. acrylonitrile butadiene styrene, polycarbonate or polyoxymethylene), of metallic material (e.g. steel or stainless steel).

[0038] Such an intermediate portion 34 allows a translational movement of the tactile portion 31 relative to the base 32 in the direction defined by the pivot axis 4, and therefore offers an additional degree of freedom for the actuators 3. As an example, this translational movement can allow the transmission of a "vibrato" type signal for musical processing.

[0039] Alternatively, the pivot joint between each actuator 3 and the pivot axis 4 is configured to allow limited rotational movement about an axis perpendicular to the pivot axis 4 and perpendicular to the principal direction of the actuator 3 in question. This embodiment thus makes it possible to obtain a moderate deflection of the free end of the actuator 3, enabling a vibrato effect.

[0040] The tactile portion 31 of the actuators 3 typically has a decreasing cross-section from the upper face to the lower face, which allows for a greater translational range of motion when an actuator 3 has been subjected to pressure by the user and has therefore rotated around the pivot axis 4 relative to the adjacent actuators 3. figures 6 et 7 This illustrates the difference in translational travel between an actuator 3 in its neutral position (i.e., in the absence of any force exerted by a user), and an actuator 3 in the depressed position (i.e., which has rotated around the pivot axis 4 under the effect of a force exerted by a user). These are identified respectively by d1 and d2 on the figure 6 The possible strokes in these two positions towards an adjacent actuator are shown. We can see that the amplitude of this stroke increases as the cross-section of the adjacent actuator is reduced relative to the actuator in question. The change in cross-section can be adapted depending on whether a gradually varying stroke amplitude is desired, or one that reaches its maximum value directly. The change in cross-section can thus create a slope or a notch.

[0041] In the example shown, we see that the upper face 3 of each actuator 3 is a thin plate, followed by an isosceles trapezoidal transition portion 35, thus decreasing the thickness of the actuator 3 from the upper surface to the lower surface of the actuator 3, and then by a rectangular section portion extending from the smaller base of the trapezoidal portion.

[0042] In terms of application, these characteristics thus allow a user to achieve a greater vibrato movement when applying more pressure to the actuator in question.

[0043] In the example shown, the base 32 of the actuator 3 comprises two distinct arms 321 and 322, each forming a linking element with the pivot axis 4 and thus defining two distinct and disjoint pivot links with the base 2.

[0044] Such an embodiment makes it possible to increase the width of the pivot joint between the base 2 and the actuator 3, which makes it possible to minimize the radial play arising from this pivot joint.

[0045] In such an embodiment, the different arms of the actuators 3 are typically positioned in a staggered pattern (as seen in particular on the figure 3 which is a partially exploded view of an area of ​​the figure 1 ), so that between two arms 321 and 322 of the same actuator are interposed one or two arms of adjacent actuators, which makes it possible to increase the width of the pivot joint as indicated previously, while minimizing the volume required for the realization of all the pivot joints between the actuators 3 and the base 2.

[0046] Depending on the desired configuration for device 1, the latter may have actuators 3 with different shapes. In the example shown on the figure 1 , we distinguish two types of distinct actuators 3, so as to form a keyboard similar to a piano keyboard.

[0047] As previously stated, damping elements 5 are positioned between each actuator 3 and the base 2 so as to dampen the rotational movement of the actuators 3 in a direction referred to as the direction of penetration, which corresponds to the direction of rotation of the actuator 3 when a user exerts pressure on the upper face of the touch portion 31 of the actuator 3 in question.

[0048] The various damping elements 5 can be separate, or grouped into sub-assemblies linked by a base or tab. For example, all or part of the damping elements 5 can be made in a single piece, the different damping elements 5 being connected by a tab or bar extending along the axis of rotation.

[0049] In the example shown, the damping elements 5 are positioned below the touch portion 31 of the actuators 3, the lower face of each actuator here comprising a protrusion 315 having a free end 316 adapted to come into contact with the associated damping element 5.

[0050] For each damping element 5, we define an initial configuration, corresponding to the shape of the damping element in the absence of deformation, typically when no force is applied to the associated actuator 3, and a final configuration, corresponding to the maximum deformation of the damping element 5 during the movement of the associated actuator 3, said final configuration being typically determined in particular by the stop 24 associated with the actuator 3.

[0051] The protrusions 315 and the damping elements 5 are configured to define a contact, typically linear, when the damping element 5 is in its initial configuration. The protrusions 315 thus each extend outward from a surface of the associated actuator 3, and have a free end 316 in contact with a damping element 5.

[0052] Linear contact refers to at least one linear contact between the protrusions 315 and the damping elements 5. It is understood that the linear contact necessarily extends over a given surface area due to the deformation of the components. The concept of linearity must be assessed in relation to the respective dimensions of the components.

[0053] The free end 316 of each protrusion typically has a cross-section forming an arc of a circle, which thus prevents damage to the damping element 5.

[0054] The 315 protuberances typically present: a length measured along a vertical direction that is greater than the height of the associated damping element 5, or typically greater than half the height of the associated damping element, a width measured along the direction defined by the pivot axis 4 greater than the width of the associated damping element 5 measured along the direction defined by the pivot axis 4 or between 1 and 4 times or between 1 and 3 times the width of the associated damping element 5 measured along the direction defined by the pivot axis 4, a thickness measured along a horizontal direction and perpendicular to the pivot axis 4 less than one third or one quarter of the maximum thickness of the cylinder measured along a horizontal direction and perpendicular to the pivot axis 4, corresponding in the illustrated example to a diameter of the cylindrical body 51 of the damping element 5.

[0055] The damping element 5, as shown, has a general cylindrical shape with a connecting portion 52 forming a T-shaped protrusion to facilitate its attachment to the base 2. figure 5 presents a side view of the damping element 5 illustrated on the figures 1 And 4A contact portion 53 is also defined for the damping element 3, corresponding to a portion of the damping element 3 adapted to come into contact with the actuator 3. In the illustrated example, the contact portion 53 is the portion of the damping element 3 adapted to come into contact with the protrusion 315 of the actuator 3. The contact portion 53 and the connecting portion 52 are typically positioned at two ends of the body 51 of the damping element 5; these two portions are diametrically opposed here. A compression direction of the damping element 5 is defined, corresponding to the direction defined by the contact portion 53 and the connecting portion 52. In the illustrated example, particularly on the figures 4 et 5 The compression direction is vertical and forms a diameter of the cylindrical section of the body 51 of the damping element 5. The compression direction on the figure 5 .

[0056] The protrusion 315 typically extends in a compression direction defined by the ZZ axis.

[0057] The damping element 5 comprises a body 51 made of a deformable material, for example silicone or an elastomer, having a general cylindrical shape. The cylindrical body 51 is typically positioned such that an axis of revolution of the cylindrical body is collinear with the pivot axis 4. According to the invention, the body 51 has two disjointed recesses 55 and 57 having distinct shapes, said recesses being through-holes.

[0058] In the present invention, the two recesses 55 and 57 are formed so as to be superimposed on one another along the compression direction of the damping element 5. The body 51 of the damping element 5 can thus be subdivided into two portions: a first portion 5A and a second portion 5B, these two portions 5A and 5B typically each corresponding to a half-cylinder with contact along a plane perpendicular to the compression direction. The two portions 5A and 5B are not necessarily equal; they may more generally be two portions of the body 51 divided along a plane perpendicular to the compression direction. The axis XX on the figure 5 an example of such a plan and division of body 51 into two portions.

[0059] The first portion 5A is defined as the portion of body 51 comprising the contact portion 53, while the second portion 5B is defined as the portion of body 51 comprising the connecting portion 52. The first portion 5A includes a first recess 55, which has a cross-section with a general semi-cylindrical shape, the corners formed between the curved portion and the diameter of the semi-cylindrical having been rounded. The first recess 55 therefore has a semi-circular cross-section with rounded edges and a base perpendicular to the direction of compression. The second portion 5B includes a second recess 57, which has an oval cross-section centered and symmetrical with respect to the axis ZZ defining the direction of compression.

[0060] In the embodiment shown in the figure 5 The first recess 55 occupies a significant portion of the first section 5A, while the second recess 57 occupies a smaller portion of the second section 5B. As a result, the first section 5A exhibits lower rigidity than the second section 5B of the body 51 of the damping element 5.

[0061] In practice, when an actuator 3 moves, this will cause compression of the damping element 5 along the direction of compression. The first portion 5A, having less rigidity, will be deformed initially, thus defining a first damping profile. Once the first portion 5A is fully deformed, resulting in a continuity of material in the first portion 5A along the direction of compression, the second portion 5B will be deformed, thus defining a second damping profile since the rigidity of the second portion 5B is greater than the rigidity of the first portion 5A.

[0062] The protrusion 315 is configured so as to maintain a reduced contact area with the damping element 5, in particular to avoid the formation of a planar contact when the damping element 5 is deformed, which would then limit the possibilities of deformation of the damping element 5.

[0063] There figure 8 represents an alternative configuration of the device shown on the figure 1 This figure represents a device 1 comprising a single actuator 3, it being understood that this variant can also be applied to a device 1 comprising a plurality of actuators 3 as already presented with reference to the figure 1 .

[0064] In this embodiment, the damping elements 5 are positioned in a region referred to as the "rear" of the actuators, i.e., opposite the tactile portion 31. The damping element is also attached to the base 2 (here, part 2A of the base 2, which supports the pivot axis 4), but the compression direction is horizontal and substantially perpendicular to the direction of force application on the actuator 3 by the user. As with the embodiment described previously, the protrusion 315 extends along the compression direction defined by the axis ZZ. This embodiment allows the rotational movement of the actuators 3 to be decoupled from the translational movement of the tactile portion 31 of the actuators 3.

[0065] Indeed, in the embodiment shown in particular on the figure 1 The damping element 5 is positioned in contact with the protrusion 315 extending from the tactile portion 31 of the actuators 3. Consequently, the damping elements 5 will oppose a resistance force to the translational movement along the pivot axis 4 of the actuators 3, this force being variable depending on the deformation of the damping element 5. The resistance force opposed by the damping element 5 will thus depend on the properties of the damping element 5 and the position of the actuator 3.

[0066] It should also be noted that the damping can vary depending on the connection between the damping element 5 and the base 2. If we consider the connection portion 52 of the damping element 5 as presented previously, this can typically define a connection extending along the pivot axis 4 or perpendicularly to the pivot axis 4. In the case of a connection portion 52 extending perpendicularly to the pivot axis 4, this can allow a slight rotational deflection of the damping element 5 around a point of junction with the base 2; the damping element 5 can thus accompany the translational movement of the actuator 3 in a vibrato-type movement.Conversely, in the case of a connecting portion 52 extending parallel to the pivot axis 4, the translational movement of the actuator 3 will cause a deformation of the damping element 5, and the latter will therefore offer greater resistance than an identical damping element 5 but with a connecting portion extending perpendicularly to the pivot axis 4. The stops 24 adjacent to the damping element 5 in question then have an impact in that they limit the possible deformation of the damping element 5. It is understood that the higher the stops 24 are, the more limited the portion of the damping element 5 that can deform, and therefore the greater the force it will oppose to the translational movement of the tactile portion 31.

[0067] In contrast, in the embodiment shown in the figure 8 , the protrusion 315 coming into contact with the damping element 5 does not extend from the touch portion 31, or more generally does not extend from the part of the actuator 3 which moves in translation along the pivot axis 4. Consequently, the translational movement of the touch portion 31 of the actuator 3 is not impacted by the damping element 5, insofar as the part of the actuator 3 in contact with the damping element 5 does not make a translational movement.

[0068] The operation of this alternative configuration remains unchanged compared to the operation of the embodiment described above.

[0069] There figure 9 is a graph schematically illustrating the behavior of the damping element 5 when subjected to a compressive force such as that exerted by the actuator 3.

[0070] This graph represents the deformation of the damping element 5 along the horizontal axis and the force applied by the actuator 3 to the damping element 5 along the vertical axis. The graph is therefore a force / sinking graph. For illustrative purposes, several examples of the deformation of the damping element 5 at different points on the graph are also shown.

[0071] We identify on the graph a first section S1 in which the curve has a non-linear profile, then a point P at which the curve typically takes a linear profile for a second section S2.

[0072] The first section S1 has a general profile similar to a square root curve. It can be seen that the damping element 5 exhibits relatively high rigidity when its deformation is initiated, and then that the rigidity decreases, allowing the deformation to be modulated significantly with a very small variation in the force applied by the user. This first section S1 corresponds to the deformation of the first portion 5A of the damping element 5. It is understood that the initiation of the deformation corresponds to a bending of the material along the direction of compression.Once an initial deformation has been achieved, the damping element 5 will be able to deform over the entire height of the first recess 55 (the height being measured here according to the direction of compression), until the deformation of the first recess causes a continuity of manner on the first portion 5A according to the direction of compression.

[0073] The second section S2 corresponds to the deformation of the second portion 5B of the damping element 5, i.e., the crushing of the second recess 57. The trace ends when the protrusion 315 comes into contact with the associated stop 24 of the base 2. Since the stop 24 is rigid, there is then no further possible movement of the actuator 3. In the absence of a stop 24 on the base 2, the trace ends when the damping element 5 is fully compressed, which can notably be seen as a continuity of material on the second portion 5B along the direction of compression, i.e., a crushing of the second recess 57 as schematically represented on the figure 9 .

[0074] As previously stated, the section of the second recess 57 is reduced compared to the section of the first recess 55.

[0075] The damping element 5 therefore exhibits greater rigidity here, which is reflected in the steep slope of the design on the second section S2. Furthermore, in this example the second recess 57 is dimensioned so that the second section S2 is linear.

[0076] This graph, with its two distinct sections S1 and S2, is characteristic of the system according to the invention. It allows for two distinct sensations for a user operating a controller 3, thus defining two distinct levels of control. Point P symbolizes a break in the curve of the graph, which can be felt by the user. The proposed device 1 thus allows, for example, the definition of a first type of control when the user is located on the first section S1 of the graph, and a second type of control when the user is located on the second section S2 of the graph. More generally, device 1 allows for two distinct profiles for the damping of the actuator 3's movement, in addition to a sensation of resistance at the curve break, thus providing force feedback to the user, and therefore offering two distinct control sensations for a user.

[0077] This is understandable from the graph shown on the figure 9 that the dimensioning of the elements forming stops limiting the rotational movement of the actuators 3 will border the curve, and can thus define portions of the curve which cannot be realized due to the presence of stops which prevent the actuator 3 from reaching the positions required to achieve the corresponding level of compression of the damping elements 5. The dimensioning of the elements forming stops limiting the rotational movement of the actuators 3 as well as the dimensioning of the damping elements 5 thus make it possible to modify the perception by a user.

[0078] THE figures 10 , 11 , 12 , 13 et 14 represent another example of a device 1 according to one aspect of the invention.

[0079] In this embodiment, the pivot joint between the actuators 3 and the base 2 is achieved by means of surfaces defining a shape projecting from one of these elements, and a counter-shape formed in the other. In the illustrated example, the actuators thus have a rib 361 with a triangular cross-section. The base 2 has grooves 261 also having a triangular cross-section, but with a larger cross-section. Thus, when the actuators 3 are placed on the base 2, these surfaces allow a rotational movement of the actuators 3 relative to the base 2 along an axis corresponding to the contact at the apexes of said ribs and grooves.

[0080] To ensure that the actuators 3 remain in contact with the base 3, a tension spring 6 is positioned to exert a tensile force whose direction is centered on the pivot axis defined by the contact surfaces between each actuator 3 and the base 2. The tension spring 6 thus ensures the stability of the system, without impacting the pivot movement, since the direction of the force exerted by the tension spring 6 passes through the pivot axis 4.

[0081] The base 2, as shown, has a plurality of vertical rods 8 configured to define lateral stops for the base 32 of each actuator 3. More precisely, the vertical rods 8 have a free end that fits into a recess in each actuator 3. The rods 8 are dimensioned to be in contact with the internal walls of the base 32 of each actuator 3 in the direction defined by the axis of rotation 4. Typically, two rods 8 are inserted into the base 32 of each actuator 3. The rods 8 thus ensure that the bases 32 of the actuators 3 are held in position relative to the base 2, allowing only rotational movement about the pivot axis 4. In particular, the rods 8 ensure that the base 32 of the actuators 3 is held in position when the user applies a translational movement to the tactile portion 31 of the actuators 3, as described previously.This embodiment allows, in particular, the stresses to be concentrated at the level of the rods 8 and the slats 341 and 342 of the intermediate portion 34, and not at the pivot joint. It is understood that this embodiment is not to be interpreted restrictively; the function performed by the rods 8 can be achieved by any other suitable means.

[0082] When the translational movement of the base 32 is thus limited by the rods 8, if the user manipulates the actuator 3 via the base 32, he can then only apply a rotational movement to the actuator 3.

[0083] In the embodiment shown, each actuator 3 has a housing 37 extending from the underside of the tactile portion 31. This housing 37 is aligned with a lug 27 formed on the base and adapted to fit into the housing 37. The housing 37 has a cross-section that increases from its lower end to its upper end. In the illustrated example, the cross-section of the housing 37 at its lower end corresponds to the cross-section of the lug 27. The housing 37 and the lug 27 are configured so that, in the absence of external force applied to the system 1, the lug 27 is positioned against the lower part of the housing 37. Thus, the lug 27 acts as a stop, preventing the actuator 3 from rotating in the opposite direction to the direction of insertion.Furthermore, the association of the lug 27 and the housing 37 ensures alignment of each of the actuators 3 in their initial position (i.e. when a user does not apply force to the actuators 3), and also allows a pre-stressed initial position to be defined for the actuators 3 on their associated damping elements 5, so as to ensure both a return to the initial position and a maintenance of contact of each actuator 3 on its damping element 5.

[0084] When a user applies force to push in the actuator 3, the housing 37 moves with the actuator 3; the lug is thus no longer abutted against the lower end of the housing 37. The cross-section of the housing 37 then increases, allowing the lug 27 to move within the housing 37, and therefore permitting a translational movement of the actuator along a direction defined by the pivot axis 4. This movement is greater as the cross-section of the housing 37 increases. A housing 37 can thus be designed with a progressively increasing cross-section, so that the possible range of translation increases with the pushing in of the actuator 3.

[0085] The lugs 27 typically have a cylindrical section of revolution, along an axis parallel to the main direction of the associated actuator 3.

[0086] In an alternative configuration not shown, the housing 37 may have a rib forming a stop that limits the movement of the actuator 3 in the direction of insertion. The lug 27 then moves between an upper stop and a lower stop, which delimits the angular range of possible rotation of the actuator 3.

[0087] THE figures 15 et 16 They present views of examples of the damping elements 5 visible in this embodiment. The device 1 can typically have several damping elements 5 with distinct shapes, particularly depending on the configuration of the actuators 3.

[0088] These two figures show two examples of damping elements 5, exhibiting in particular the various characteristics already described with reference to the figure 5 , and identified by the same numerical references.

[0089] In these embodiments, the connecting portion 52 forms an outgrowth on the lower portion of the body 51. This connecting portion 52 can typically have through holes for inserting retaining elements, or be mounted tightly between clamping elements of the base 2.

[0090] The contact portion 53 is here a substantially flat portion ( figure 15 ) or curved ( figure 16 ). It is surrounded by two bosses 56 adapted to improve the centering of the damping element 5 relative to the protrusion 315 of the associated actuator.

[0091] In both variants, the second recess 57 has an oval cross-section. In the embodiment shown on the figure 16 The first recess has a general semicircular cross-section with rounded corners. In the embodiment shown in the figure 17 , the first recess 55 as presented has a trapezoidal cross-section whose largest base is curved, typically so as to conform to the external contour of the second recess, and whose connecting portions between the large base and the sides are rounded.

[0092] The operation is similar to the operation already described with reference to the previous figures.

[0093] THE figures 17, 18 et 19 present three variants of the damping element already shown on the figure 15 .

[0094] There figure 17 is a perspective view of the damping element shown on the figure 15 . This damping element 5 typically has a substantially constant thickness over its entire height, the height being the dimension along the axis ZZ (or compression direction), and the thickness being measured along an axis YY perpendicular to the axis ZZ and to the axis XX, corresponding where appropriate to the direction defined by the linear contact between the damping element 5 and the actuator 3.

[0095] There figure 18 is a variant of the damping element previously shown on the figure 17 in which the thickness of the damping element decreases over its first portion 5A. More precisely, the thickness of the damping element 5 decreases from the boundary between the second portion 5B and the first portion 5A to the upper end of the damping element 5.

[0096] Such an embodiment allows, for example, the resistance exerted by the damping element 5 to a translational movement around the pivot axis 4 to be varied. The more the damping element 5 is compressed, the more resistance it will exert opposing a translational movement due to the increase in its cross-section.

[0097] There figure 19 represents another variant of the damping element previously shown on the figure 17 In this embodiment, the second portion 5B has a greater thickness than the first portion 5A. A shoulder 58 is thus formed between the first portion 5A and the second portion 5B. This shoulder 58 causes a sudden change in thickness, and therefore a sudden change in the resistance force exerted by the damping element 5 to a translational force when the compression of the damping element 5 (and therefore its deformation) reaches a given level.

[0098] It is understood that the examples shown in the various figures can be combined, and that the different structural and functional details presented in the various embodiments can be associated in different combinations. The embodiments represented should therefore not be interpreted in a restrictive manner.

[0099] It is understood from the above that the proposed device 1 provides a haptic controller suitable for use in particular in the musical field, allowing improved and modular control due to the different degrees of freedom and behaviors of the actuators 3. The example illustrated in the figures makes it possible to reproduce the force feedback of a conventional piano for a user, which is not possible with the various known electronic controllers and keyboards.

[0100] Furthermore, the various damping elements 5 are removable. Therefore, for the same device 1, the damping elements 5 can be replaced if they are worn or if it is desired to modify the behavior of the device 1.

[0101] It is also understood that the shape of the damping elements 5 can vary. In the illustrated example, these are elements with a general cylindrical shape, typically of revolution, featuring two recesses. More generally, each damping element has at least one recess. Alternatively, a damping element can also be made using two or more materials with distinct mechanical properties, which also allows the stiffness opposing the compressive force applied by the actuator 3 to the damping element 5 to be modified according to the deformation of the damping element 5.

[0102] Device 1 typically includes a plurality of sensors adapted to measure the rotational and translational displacement of actuators 3 and deliver a signal as a function of this displacement.

[0103] The sensors can, for example, be magnetic sensors coupled to a magnetic element such as a magnet positioned on each actuator 3. The sensors can also be sensors measuring the force applied to the associated actuator 3.

[0104] According to the invention, the sensors are positioned so as to measure the rotation of the actuators 3 around the pivot axis 4; such sensors can for example be positioned at the pivot axis 4, or be coupled to a dedicated surface of each actuator which can for example have graduations or markings allowing the position of each actuator 3 to be defined using an optical sensor.

[0105] In the example shown on the figure 1Each actuator 3 comprises a measuring portion 37 extending from the lower surface of the tactile portion 31 of the actuator 3. The measuring portion 37 includes a flat surface which may, for example, be provided with visual markers such as graduations or indentations. The base 2 includes an optical sensor 23 positioned opposite each measuring portion 37, in order to measure the displacement of the measuring portion 37 and thus the rotational displacement of the actuator 3 about the pivot axis 4. The actuators 3 may also have a reflective surface, which allows, with the aid of an optical sensor, the translational displacement along the pivot axis 4 of the tactile portion 3 of the actuator 3 to be measured.

[0106] When the device includes a set of sensors adapted to provide information relating to the rotational displacement of the actuator 3 around the pivot axis 4 and the translational movement of the touch portion 31 of the actuator 3 along the pivot axis 4, this information may include in particular the position of each actuator at a given instant, as well as the speed of movement of each actuator, and its acceleration.

[0107] Device 1 may also include a computer, or more generally a signal processing unit, adapted to correlate the movement of actuators 3 with predetermined gestures such as musical gestures. Device 1 can then modulate the output signal based, in particular, on the speed and acceleration of each actuator 3 during its movement, in addition to its position.

[0108] The proposed device thus forms a haptic controller offering a large and adjustable range of control, and in particular allows for an association between two distinct damping profiles, differentiated by a sensation of stopping resulting from the break in the damping curve, coupled with the possibility of producing a vibrato effect.

[0109] These different levels of movement can typically be translated into different actuation and sound control messages. According to the invention, the two damping profiles offer two levels of continuous control over sound parameters, such as volume information or the cutoff frequency of a filter. For example, a speed or acceleration is calculated shortly before the point of maximum deflection to trigger a discrete velocity signal, commonly used in traditional keyboards to activate a note. Finally, the translation typically allows for continuous variation of a note's pitch (controls commonly referred to as "vibrato" and "bending").

[0110] Although the present invention has been described with reference to specific embodiments, it is evident that modifications and changes can be made to these examples without departing from the general scope of the invention as defined by the claims. In particular, individual features of the various embodiments illustrated / mentioned can be combined in additional embodiments. Therefore, the description and drawings should be considered in an illustrative rather than restrictive sense.

[0111] It is also evident that all the characteristics described with reference to a process are transposable, alone or in combination, to a device, and conversely, all the characteristics described with reference to a device are transposable, alone or in combination, to a process.

Claims

1. A haptic controller (1) comprising - a base (2) - a plurality of actuators (3), each having a shape elongated in a main direction, each actuator (3) being mounted pivotally relative to the base (2) along a pivoting axis (4) perpendicular to the main direction, - a plurality of damping elements (5), each damping element being positioned so as to dampen a rotation movement of an actuator (3) around the pivoting axis (4) in a compression direction, said damping elements (5) being elastically deformable between an initial configuration and a final configuration, each damping element (5) comprising a body (51) of deformable material, said body (51) having at least one recess (55, 57) said body (51) has at least two distinct recesses (55, 57), which are through recesses along a direction defined by the pivoting axis (4) and superimposed relative to one another in the compression direction of the damping element (5), wherein said damping elements (5) are configured so as to dampen the rotation movement of the actuator (3) by opposing a damping having two distinct damping profiles depending on the rotation of the associated actuator (3), the passage from the first to the second profile defining a break in a damping curve depending on the rotation of the actuator (3), said two damping profiles defining two continuous control levels for sonic parameters,the device comprises a set of sensors suitable for supplying information relating to the displacement in rotation of the actuator (3) around the pivoting axis (4) and delivering a signal depending on this displacement, and a signal processing unit suitable for modulating said signal depending on the position of each actuator (3), each of said actuators (3) having a protrusion (315) suitable for coming into contact with the associated damping element (5), each protrusion (315) having a free end (316) defining a contact with the associated damping element (5) in its initial configuration.

2. The haptic controller (1) according to claim 1, wherein said recesses (55, 57) have distinct shapes.

3. The haptic controller (1) according to any one of claims 1 to 2, wherein said damping elements (5) are removable.

4. The haptic controller (1) according to one of claims 1 to 3, wherein the base (2) defines an abutment limiting the displacement in rotation of each actuator (3) in the compression direction.

5. The haptic controller (1) according to any one of claims 1 to 4, wherein the base (2) and the actuators (3) comprise means cooperating so as to define an abutment limiting the displacement in rotation of each actuator (3) in the direction opposite to the compression direction, and defining an initial position of each actuator (3) on their associated damping elements (5) in which the damping elements (5) are preloaded by the actuators (3).

6. The haptic controller (1) according to any one of claims 1 to 5, wherein each of said actuators (3) comprises a tactile portion (31) and a foot (32), the tactile portion (31) being movable in translation relative to the foot (32) in a direction defined by the pivoting axis (4).

7. The haptic controller (1) according to claim 6, wherein the foot (32) of each actuator (3) comprises a pivoting portion (33) defining the pivoting link with the base (2), the pivoting portion (33) being connected to the tactile portion (31) by two parallel slats (341, 342) each extending in a plane perpendicular to the pivoting axis (4).

8. The haptic controller (1) according to any claim 1 to 5, wherein each actuator (3) comprises a pivoting portion (33) defining the pivoting link with the base (2), and allowing displacement in rotation of the actuator (3) along an axis perpendicular to the pivoting axis (4) and perpendicular to the main direction.

9. The haptic controller (1) according to any one of claims 6 to 8, wherein the base (2) comprises a plurality of elements (8) protruding from the base (2), each element (8) being configured so as to be supported against two walls of the foot (32) of an actuator (3) in a direction parallel to the pivoting axis (4).

10. The haptic controller (1) according to any one of claims 1 to 9, wherein said actuators (3) are configured so as to allow variable displacement in translation depending on the rotation of the actuators (3) around the pivoting axis (4).

11. The haptic controller (1) according to any one of claims 1 to 10, wherein the damping element (5) is connected to the base by means of a linking portion (52) extending in a direction perpendicular to the pivoting axis (4) or in a direction parallel to the pivoting axis (4).

12. The haptic portion (1) according to any one of claims 1 to 11, wherein the damping portion (5) has a variable thickness, the thickness being the minimum dimension of the damping element (5) along an axis perpendicular to the compression direction.

13. The haptic controller (1) according to any one of claims 1 to 12, wherein the body (51) of each damping element (5) has a cylindrical shape, of revolution for example, along an axis parallel to the pivoting axis (4), said at least one recess (55, 57) of each damping element (5) being through in a direction defined by the pivoting axis (4).

14. The haptic controller (1) according to any one of claims 1 to 13, wherein each actuator (3) comprises two distinct linking elements (321, 322) forming two pivoting links separate from the base (2) along the pivoting axis (4).