Motorized haptic device

Abstract

A haptic human-machine interface device comprising a rotary knob with a human interaction element, directly driven by a rotary electromagnetic interaction means comprising a stator assembly having a plurality of coils arranged on ferromagnetic teeth forming coil supports and a rotor assembly comprising a magnet having a plurality of axially magnetized poles, the position of said rotor assembly being directly measured by an angular sensor, said device further comprising an electronic control circuit controlling the intensity of the supply current to said coils as a function of the angular signal provided by said sensor on the one hand and a haptic profile recorded in a memory of said electronic control circuit on the other hand, to provide a torque that adds to or subtracts from the torque applied to the knob by said user,characterized in that said stator is fixed and has at least two ferromagnetic teeth forming coil supports, extending axially in the direction of the magnet, said disc magnet having alternating axial magnetization, interacting with said ferromagnetic stator teeth. Abbreviated figure: Figure 1,

Description

Title of the invention: Motorized haptic device Field of invention

[0001] The present invention relates to the field of haptic human-machine interfaces, in particular wheels for computer pointing devices or buttons or even haptic wheels.

[0002] So-called haptic feedback controls are evolving to allow for configuration, sometimes contextual, of the sensations transmitted to the user in order to make the use of equipment as intuitive as possible by precisely simulating notches when scrolling through a menu or turning a dial. These devices implement actuators or micromotors integrated into the button manipulated by the user and are activated to trigger the feedback perceived at the fingertips.

[0003] To broaden the spectrum of sensations that can be simulated, it has appeared useful to control not only the resistance to the movement exerted by the user, but also to amplify this movement in certain contexts by a motorization that can extend or intelligently modulate the action exerted by the user. State of the art

[0004] Patent application US20070188453A1 describes a rotating wheel for an input device that interfaces 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 the electromagnet is coupled to the rotating wheel. The permanent magnet and the electromagnet may be used to control a ratcheting force applied to the rotating wheel. In another embodiment, a rotating wheel with a flywheel is engaged with a roller. A ratchet wheel may be intermittently engaged with the flywheel to provide a ratcheting force. By disengaging the ratchet wheel, the flywheel may be allowed to rotate, providing momentum to facilitate scrolling under certain conditions, such as scrolling a long document.

[0005] Also known in the prior art is US patent US10402077B2 describing a button for an input device may include a button housing rotatable on an axis, a shaft coupled to the button housing and extending therefrom along the axis, a ratchet wheel axially coupled to the shaft and including a toothed perimeter, and a resistance wheel axially coupled to the shaft and including a smooth perimeter, wherein the ratchet wheel and the resistance wheel are rotatable on the axis in correspondence with a rotation of the button housing. A biasing mechanism exerts a force on its first end to cause a roller to engage the toothed perimeter of the ratchet wheel, so that ratchet rotation occurs when the knob housing is rotated, and further exerts a force on its second end to cause the second end to engage the smooth perimeter of the resistance wheel, so that friction occurs when the knob housing is rotated.

[0006] Patent application FR3131476A1 describes a peripheral device comprising a scroll wheel rotatably coupled to the body. The scroll wheel may comprise 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 disposed around a periphery of the open interior. The device may comprise a stator disposed in the open interior. The stator may define a second plurality of teeth that are alignable with the first plurality of teeth. The stator may comprise a plurality of electro-permanent magnets. Each of the electro-permanent magnets may be disposed within a conductive coil. The device may comprise a position sensor that is configured to detect an angular position of the rotor.The device may include a control circuit for controlling the supply of current to the electro-permanent magnets of the stator to determine a speed of the scroll wheel.

[0007] Patent application US20190107941A1 describes a knob for an input device that may include a knob housing rotatable about an axis, a shaft coupled to the knob housing and extending therefrom along the axis, a ratchet wheel axially coupled to the shaft and including a toothed perimeter, and a resistance wheel axially coupled to the shaft and including a smooth perimeter, wherein the ratchet wheel and the resistance wheel are rotatable about the axis in correspondence with a rotation of the knob housing. A biasing mechanism exerts a force on its first end to cause a roller to engage the toothed perimeter of the ratchet wheel, such that a ratcheting rotation occurs when the knob housing is rotated, and further exerts a force on its second end to cause the second end to engage the smooth perimeter of the resistance wheel, such that friction occurs.This prior art device may also include a gear system coupled to the lever, a processor, and an electric motor controlled by the processor and coupled to the gear system to enable the lever to move from the first position to the second position. Some embodiments may include an actuator disposed below and substantially aligned with the shaft, wherein the button may be depressible and the actuator may be activated when the button is depressed.

[0008] Patent US6128006A describes a button control device comprising: - a button coupled to a grounded surface, said button being rotatable in a rotational degree of freedom about an axis (A) extending to through said button, said button also being able to move in at least one transverse direction approximately perpendicular to said axis - a rotational sensor which detects a position of said button in said rotational degree of freedom; - a transverse sensor having the function of detecting a position of said button in said transverse direction; and - an actuator connected to said button and having the function of exerting a force in said rotary degree of freedom around said axis; characterized in that the button control device further comprising: - a spring member connected between said button and said actuator to allow said movement in said transverse direction while still being relatively torsionally rigid to allow force to be transmitted efficiently from the button actuator about the axis (A). Disadvantage of the prior art

[0009] Many prior art solutions provide mechanical or electromagnetic means for modulating the haptic sensation, which reduces the possibilities of sensations to a small number of predefined profiles and results in a poverty of possible feeling effects.

[0010] The solution proposed by US20070188453A1 has the disadvantage of low torque efficiency as a function of electrical power. To obtain very perceptible haptic effects, it is necessary to supply the two coils with significant power, which results in excessive electrical consumption, or even harmful heating, due to a stator architecture chosen in the prior art due to the absence of residual torque which makes it possible to define by electrical control the number of notches perceived haptically. In addition, for peripherals operating on battery power, this solution significantly reduces autonomy.

[0011] When the user stops interacting with the wheel, the motor continues to be powered to ensure the haptic sensation if the interaction is resumed; this implies persistent consumption even after the interaction, and therefore a loss of autonomy. Solution provided by the invention

[0012] In order to overcome the drawbacks of the prior art, the invention proposes, in its most general acceptance, a haptic human-machine interface peripheral comprising a rotary wheel comprising a human interaction element, directly driven by a rotary electromagnetic interaction means comprising a stator assembly having a plurality of coils arranged on iron teeth. magnetic coils forming coil supports and a rotor assembly comprising a magnet having a plurality of axially magnetized poles, the position of said rotor assembly being directly measured by an angular sensor, said peripheral further comprising an electronic control circuit controlling the intensity of the supply current of said coils as a function of the angular signal supplied by said sensor on the one hand and of a haptic profile recorded in a memory of said electronic control circuit on the other hand, to provide a torque adding to or subtracting from the torque applied to the wheel by said user, characterized in that

[0013] - said stator is fixed and has at least two ferromagnetic teeth forming coil supports, and extending axially in the direction of the magnet - said disc magnet having alternating axial magnetization, interacting with said ferromagnetic stator teeth.

[0014] In particular, said electronic control circuit integrates into said memory a library of digital haptic profile files and a means for selecting the haptic profile file applied for controlling said coils.

[0015] In a variant, said sensor is a 360° absolute position sensor.

[0016] In a compatible variant, said rotating electromagnetic interaction means comprises a cradle supporting said human interaction element, and comprising one or two bearings for guiding the axis of said rotor assembly.

[0017] Furthermore, the haptic device may comprise a stop element in the form of a washer bearing on one of the bearings formed by a ball thrust bearing, the washer resting on shoulders and having a larger diameter than said ball thrust bearing.

[0018] In particular, said cradle may comprise a bearing for absorbing axial forces.

[0019] More particularly, said cradle comprises a transverse tongue forming an axial stop for the axis of said rotor assembly.

[0020] Alternatively, said cradle may include a point stop made of a rigid material for absorbing the axial forces of said axis.

[0021] In a stator variant, the ferromagnetic circuit of the stator assembly may have a disc stator yoke extended by three perpendicularly oriented stator coil supports, the stator coil supports having at their end a flat angular sector-shaped expansion, each provided with three radial ribs.

[0022] In particular, said stator assembly may be formed by a single piece.

[0023] Alternatively, said stator assembly may be formed by an assembly of parts embedded in a base with radial “C”-shaped outgrowths.

[0024] In addition, the coil supports may have wound cores of cross-section in bean shape to maximize coil size.

[0025] In particular, said stator assembly may have a connection part provided with copper tracks.

[0026] In another variant, said stator may comprise three poles wound without cutting the wire, the stator having three points of electrical contact with the wire segment located on tabs between two adjacent coils.

[0027] In particular, said tabs may extend from a connecting part parallel to the axis of the rotor assembly.

[0028] In another variant, said position sensor may share a common magnetized portion with said disc magnet of said rotor assembly.

[0029] In a variant, said memory may comprise a library consisting of a plurality of digital profiles selected contextually.

[0030] In a variant, one of said profiles can control a displacement torque in the direction opposite to the direction of the force applied to said actuating element.

[0031] In a variant, one of said laws can control a displacement torque in the direction of the force applied to said actuating element.

[0032] Detailed description of a non-limiting example of embodiment

[0033] The present invention will be better understood on reading the following description, concerning a non-limiting example of embodiment illustrated by the appended drawings where:

[0034] [Fig. 1] [Fig. 1] represents an exploded perspective view of a first exemplary embodiment of a peripheral according to the present invention,

[0035] [Fig.2] [Fig.2] represents a sectional view of said first exemplary embodiment of a device according to the present invention,

[0036] [Fig.3] [Fig.3] represents a partial exploded view in axial orientation in perspective of said first example of the realization of a device,

[0037] [Fig.4] [Fig.4] represents an exploded perspective view of a second example of producing a device according to the present invention,

[0038] [Fig.5] [Fig.5] represents another exploded perspective view of said second example of realization,

[0039] [Fig.6] [Fig.6] represents an exploded perspective view of a third example of producing a device according to the present invention,

[0040] [Fig.7] [Fig.7] represents an exploded perspective view of a fourth example of producing a device according to the present invention,

[0041] [Fig.8] [Fig.8] represents an exploded perspective view of a fifth example of realization of a device according to the present invention in a variant with two rotors,

[0042] [Fig.9] [Fig.9] represents the basic diagram of the electronic circuit of a peri- spherical according to the present invention. Principle of the invention

[0043] The present invention relates to a haptic human-machine interface peripheral comprising a rotary wheel making it possible to configure the haptic sensations with a wide variety of active feedback increasing the resistance to the force applied by the user or on the contrary amplifying or prolonging the action applied by the user, to provide sensations of notches with a more or less significant stiffness and a variable pitch, or even stops with a more or less significant slope before firm locking, or even a spring or rebound effect localized in one or more angular positions, or even self-maintenance of the rotation, or even notification of information, for example by application of a vibratory oscillation ensuring a tickling haptic feedback, for example when approaching an area of ​​interest, or for signaling contextual information.

[0044] For this, the invention is distinguished from the prior art mainly by the use not of an electric motor associated with a wheel, but of an electromagnetic rotary interaction means constituted by: - A fixed stator having at least two ferromagnetic stator teeth - A rotor comprising a disc magnet having alternating axial magnetization, interacting with said ferromagnetic stator teeth.

[0045] This disc magnet is advantageously formed by a single magnet, produced in the form of a single disc of magnetic material having axially magnetized angular sectors in alternating directions, or possibly by an axially magnetized ring, forming a pierced disc, or even by two magnetic discs arranged axially on either side of the stator, and each having axially magnetized angular sectors.

[0046] This combination makes it possible to apply to the wheel a wide variety of control laws for configuring the user's feeling, with sufficient amplitudes for a clear and assertive feeling, with reduced electrical consumption in order to ensure significant autonomy, in particular for peripherals powered by an electric battery and in order to reduce heating of the device.

[0047] An advantageous characteristic of the invention concerns the axial positioning of the rotor relative to the fixed stator in order to ensure a constant air gap and with a low axial tolerance. This positioning is ensured, in the case of a single magnet, by a simple stop ensuring a point contact, for example a ball, coming to bear axially on the end of the axis of rotation of the rotor and a cavity formed in the frame, or a washer coming to bear on a ball thrust bearing.

[0048] Another advantageous characteristic of the invention concerns the position sensor angular of the wheel, which is advantageously constituted by an absolute sensor over 360°. This sensor ensures both the supply of position information of the control member, as well as the position necessary for controlling the power supply of the coils, to determine the instantaneous power supply current defining the positive or negative torque (in relation to the force applied by the user on the wheel) exerted by the electromagnetic rotary interaction means, depending on; a. From the instantaneous position of the rotor b. From the control law determined by the selected haptic profile.

[0049] This sensor is advantageously constituted by a fixed Hall probe interacting magnetically with a magnet positioned at the end of the rotor axis.

[0050] Optionally, a second incremental sensor provides information based on the number of revolutions.

[0051] Optionally, the angular position sensor is positioned close to the rotor, to capture part of the flux generated by the aforementioned disc magnet. First example of realization

[0052] Figures 1 to 3 represent schematic views of a first exemplary embodiment of a peripheral according to the invention.

[0053] The device according to this exemplary embodiment is made up of the following subassemblies: a. A stator assembly (100), b. A rotor assembly (200) comprising a human interaction element in the form of an actuating wheel (250), c. A sensor (300), d. A cradle (400).

[0054] The stator assembly (100) comprises a ferromagnetic circuit (110) consisting of a stator yoke (115) and coil supports (132, 133, 134). The stator yoke (115) comprises a central hub (111) having for each coil (122, 123, 124) a radial protrusion (112, 113, 114) in the shape of a “C” open at the periphery.

[0055] It also comprises for each coil (122, 123, 124) a coil stator support (132, 133, 134) formed from a ferromagnetic material. The coils (122, 123, 124) are arranged around cores (142, 143, 144) of the coil supports (132, 133, 134). These cores are extended on one axial side by a flare (152, 153, 154) in the form of a flat angular sector; and on the other side these cores (142, 143, 144) are embedded in the radial protrusions (112, 113, 114) in the shape of a “C” to form together a ferromagnetic yoke magnetically coupled to the coils (122, 123, 124). The “C” shape of the radial protrusions (112, 113, 114) makes it possible to offer two branches which are elastically deformable radially during the axial insertion of the cores (142, 143, 144) within them, making it possible to offer a process compatible with manufacturing dispersions, while minimizing possible clearances between the ferromagnetic parts, these clearances being sources of performance degradation.

[0056] The face of the expansions (152, 153, 154) opposite the coils (122, 123, 124) has radial ribs (162, 163, 164) ensuring modulation of the flux collected on the magnet (210) and promoting the passage of the magnetic flux in certain zones of the stator poles. The radial length of these ribs (162, 163, 164) corresponds substantially to the radial width of the magnet (210). The expansions (152, 153, 154) have a shoulder (155, 156, 157) at the end of the ribs, so as to offer, after assembly, a disc zone in the center of these ribs (162, 163, 164) constituting a support zone for a thrust washer (180).

[0057] In the example presented, each of the expansions (152, 153, 154) is provided with three radial ribs (162, 163, 164) and the magnet (210) has 16 magnetized poles (211) in alternating directions. This configuration is particularly advantageous for generating high-frequency, currentless magnetic interaction forces between the rotor assembly (200) and the stator assembly (100). This gives a fundamental spatial interaction frequency of 144 pulses per revolution, which makes it possible to greatly reduce the amplitude of this interaction, the latter decreasing with increasing spatial frequency.

[0058] A printed circuit (170) is embedded on the stator yoke (115) to ensure the connection of the coils (122, 123, 124).

[0059] This printed circuit (170) has three tabs (172, 173, 174), in the form of radial protrusions, to receive the tracks (182, 183, 184) for connecting the wires of the coils (122, 123, 124). The winding operation of the three coils (122, 123, 124) is carried out in series, one of the coil supports is wound then the wire comes to embrace one of the tabs (172, 173, 174) and puts the wire in contact with one of the tracks (182, 183, 184) then joins a second ferromagnetic support (132, 133, 134) to carry out its winding, the operation continuing by repetition until the winding of all the supports and the contact with all the tracks of the printed circuit (170). The wire of the coils being insulated by a resin, the electrical contact is obtained by an operation of soldering the wire on the tracks (182, 183, 184) removing the insulation.

[0060] The rotor part (200) comprises a magnet (210), a wheel (250) and an axis (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, this ball thrust bearing (230) is interposed axially between a transverse partition (251) of the wheel (250) and a thrust washer (180) bearing frontally on the outer faces of the expansions (152, 153, 154).

[0061] A front magnet (260), magnetized, interacts with a magnetosensitive sensor to provide the angular position signal of the wheel (250). This magnet (260) is engaged on a sleeve (252) axially extending the wheel (250).

[0062] The cradle (400) is made of a plastic block and has two housings (410, 420) for guiding the wheel and a support for the electronic control circuit (430) comprising the magnetosensitive probe (440). This electronic control circuit (430) supporting the sensor is held on the cradle by a screw and indexes (432, 433) engaged in slots (434, 435) provided in the electronic control circuit (430).

[0063] A sleeve (190) is positioned in the housing (410) of the cradle (400) and ensures the orientation and positioning of the stator assembly (100) relative to the cradle (400).

[0064] Finally, the second housing (420) for guiding the cradle (400) comprises a transverse tab (405) providing an axial stop for the axis (220) of the rotor assembly (200). This transverse tab (405) makes it possible to take up the axial forces generated by the user on the wheel (250). Second example of realization

[0065] Figures 4 and 5 represent exploded views of a second exemplary embodiment, having, for the general characteristics, the same characteristics as those previously described, except for what concerns the configuration of the stator assembly (100).

[0066] According to this embodiment variant, the stator ferromagnetic circuit (110), constituted in the first embodiment variant by several assembled parts, namely the stator yoke (115) and the three stator coil supports (132, 133, 134), is constituted in this second embodiment by a single part which can be produced by metal injection or metal additive printing for example. The coils (122, 123, 124) are formed by winding around the three cores of the stator body formed by a single part (116) in this second embodiment variant (or by the three assembled components in the first embodiment variant).

[0067] The connection of the coils is achieved by the copper tracks (182, 183, 184) provided on a plastic connection piece (176) force-fitted, for example by clipping, onto the single piece (116). This connection piece (176) fulfills the functions of the printed circuit (170) and the sleeve (190) of the first embodiment variant, and engages on the cradle (400). Said copper tracks (182, 183, 184) each run along the outer surface of the tabs (172, 173, 174), the latter extending in the axial direction, between the coil supports (132, 133, 134), so as to provide an electrical contact zone for the coils (122, 123, 124) as close as possible to the winding zone, which greatly facilitates this operation. The tracks (182, 183, 184) of copper can be deposited on the connection part (176) by additive manufacturing process, or by any other process known to those skilled in the art.

[0068] This second embodiment also differs from the first embodiment by the guidance of the axis. The axis (220) is embedded in the wheel (250) as in the first embodiment. Its guidance in rotation and axial wedging is achieved by a point contact of its rear end in the sleeve (190), which is not through as in the first embodiment, but blind. Optionally, a ball (191) is interposed between the bottom of the cavity provided in the sleeve (190) and the rear front end of the axis (220). Alternatively, this point contact is ensured by a hemispherical convex zone formed at the bottom of the cavity provided in the sleeve (190). Third example of realization

[0069] This embodiment illustrated by [Fig.6] relates to another variant of the stator ferromagnetic circuit (110) of the stator structure (100), which constitutes a variant of the stator ferromagnetic circuits (110) presented in the two previous variants, the difference relating to unwound axial extensions (135, 136, 137) interposed between the stator coil supports (132, 133, 134). These unwound axial extensions (135, 136, 137) form additional teeth increasing the torque, and improving the collection of the magnetic flux generated by the magnetized disc (210).

[0070] In addition, these unwound axial extensions (135, 136, 137) make it possible to generate, in cooperation with the stator coil supports (132, 133, 134), a currentless torque whose amplitude and harmonic content can be modified by choosing an appropriate angular extent. Fourth example of realization

[0071] This embodiment illustrated by [Fig.7] presents a variant of the sensor magnet (260) which is directly integrated into the magnetic disc (210) by means of a bi-magnetization. A disc-shaped ferromagnetic yoke (270) is pressed onto the surface of the magnetic disc (210) opposite the stator ferromagnetic circuit (110) so as to ensure the looping of the magnetized poles (211), making it possible on the one hand to increase the magnetic induction generated in the air gap of the motor and on the other hand to prevent the flux lines of said magnetized poles (211) from leaking towards the magneto-sensitive probe (not visible) which is arranged facing the sensor magnet (260). The ferromagnetic yoke (270) is also perforated in its center to allow the magnetic field of the sensor magnet (260) to leak towards the probe.In this embodiment the sensor magnet (260) has a pair of axially magnetized poles, but the person skilled in the art could easily adapt the magnetization of the in part. interior of the magnetized disc (210) to realize other configurations of sensor magnet (260). Fifth example of realization

[0072] [Fig. 8] shows another variant of the stator body of the stator structure (100), which constitutes a variant of the stator bodies presented in the two previous variants, more compact, with wound teeth (132, 133, 134) extending not axially but radially. This embodiment also differs from the previous embodiments in that two magnetized discs (210) can be arranged on either side of the stator structure (100). The joining of the two magnetized discs, by various mechanical means not shown, is ensured to form with the wheel and the guide shaft, a rotor assembly. This configuration advantageously makes it possible to balance the magnetic forces exerted between the stator ferromagnetic circuit (110) and the rotor assembly, which makes it possible to opt for a simpler and less expensive axial guidance solution than that, for example, presented in the first embodiment.

[0073] Control of the haptic device according to the invention

[0074] The invention also consists in proposing a strategy for controlling the haptic human-machine interface peripheral described in the preceding examples. For this purpose, and as shown in [Fig.9], an electronic circuit (500) arranged nearby comprises the means for controlling the coils (122, 123, 124) of the rotating electromagnetic interaction means (10), making it possible to generate a rotating excitation field as known in brushless polyphase electrical machines.

[0075] In order to generate different haptic sensations, the control signals are generated by a microcontroller from the position signal coming from the sensor (300) measuring the angular position of the wheel (250), but also from haptic profiles recorded in a memory (600). The memory can comprise a single haptic profile or a library consisting of a plurality of digital profiles selected contextually.

[0076] The memory (600) containing the haptic profiles is directly integrated into the microcontroller or can be remote, possibly in another peripheral.

[0077] Among the different haptic profiles proposed, the rotating electromagnetic interaction means (10) controls a displacement torque of the wheel (250): • in the direction of the force applied to said actuating element, or • in the direction opposite to the direction of the force applied to said element actuation, or • in the direction opposite to the direction of the force applied to said actuating element with an amplitude increasing with the angular deviation of the wheel (250) from a reference position, or to generate va- torque nations depending on the angle traveled to simulate a texture sensation or a notching effect. The invention also proposes to be able to modify the haptic profile according to the information from the angular sensor, so as to generate a progressive or totally different haptic effect when traveling through multiple angular ranges, the haptic profile being modified for each of these ranges.

[0078] Also included among the haptic profiles envisaged is the ability to generate a vibration, or any torque, based on contextual information received by the microcontroller to notify the user of an event. Said vibration could also be generated at regular intervals.

Claims

Claims

1. Haptic human-machine interface device comprising a rotating wheel (250) comprising a human interaction element, directly driven by a rotating electromagnetic interaction means (10) comprising a stator assembly (100) having a plurality of coils (122, 123, 124) arranged on ferromagnetic teeth forming coil supports (132, 133, 134) and a rotor assembly (200) comprising a magnet (210) having a plurality of axially magnetized poles (211), the position of said rotor assembly (200) being directly measured by an angular sensor (300), said device further comprising an electronic control circuit (430) controlling the intensity of the supply current of said coils (122, 123, 124) as a function of the angular signal provided by said sensor (300) on the one hand and of a profile haptic recorded in a memory (600) of said electronic control circuit (430) on the other hand,to provide a torque adding to or subtracting from the torque applied to the wheel by said user, characterized in that - said stator is fixed and has at least two ferromagnetic teeth forming coil supports (132, 133, 134), and extending axially in the direction of the magnet (210) - said magnet (210) is a disc magnet having an alternating axial magnetization, interacting with said ferromagnetic stator teeth.,

2. Haptic human-machine interface peripheral according to claim 1 characterized in that said electronic control circuit (430) integrates in said memory (600) a library of digital haptic profile files and a means for selecting the haptic profile file applied for the control of said coils (132, 133, 134).

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

4. Haptic human-machine interface device according to claim 1 characterized in that said electroma- interaction means rotary magnet (10) comprises a cradle (400) supporting said human interaction element, and comprising one or two bearings for guiding the axis (220) of said rotor assembly (200).

5. Haptic human-machine interface device according to the preceding claim, characterized in that it comprises a stop element (180) in the form of a washer resting on one of the bearings formed by a ball thrust bearing (230), washer resting on shoulders (155, 156, 157) and of larger diameter than said ball thrust bearing (230).

6. Haptic human-machine interface device according to the preceding claim, characterized in that said cradle (400) comprises a bearing for absorbing axial forces.

7. Haptic human-machine interface device according to the preceding claim, characterized in that said cradle (400) comprises a transverse tab (405) forming an axial stop for the axis (220) of said rotor assembly (200).

8. Haptic human-machine interface device according to claim 4 characterized in that said cradle comprises a point stop made of a rigid material for absorbing the axial forces of said QVO

9. dAC. Haptic human-machine interface device according to claim 1 characterized in that the ferromagnetic circuit (110) of the stator assembly (100) has a disc stator yoke (115) extended by three stator coil supports (132, 133, 134) oriented perpendicularly, the stator coil supports having at their end a development (152, 153, 154) in the form of a flat angular sector each provided with three radial ribs (162, 163, 164).

10. Haptic human-machine interface device according to the preceding claim, characterized in that said stator assembly (100) is formed by a single piece.

11. Haptic human-machine interface device according to claim 9 characterized in that said stator assembly (100) is formed by an assembly of parts embedded in a base having radial protrusions in the shape of a “C”.

12. A haptic human-machine interface device according to claim 9, characterized in that the coil supports (132, 133, 134) have cores (142, 143, 144) wound with a bean-shaped section to maximize the size of the coils (122, 123, 124).

13. Haptic human-machine interface device according to claim 9 characterized in that said stator assembly (100) has a connection part (176) provided with copper tracks (182, 183, 184).

14. Haptic human-machine interface device according to claim 1 characterized in that said stator comprises three poles wound without cutting the wire, the stator having three points of electrical contact with the wire segment located on tabs (172, 173, 174) between two adjacent coils.

15. Haptic human-machine interface device according to the preceding claim, characterized in that said tabs (172, 173, 174) extend from a connection part (176) parallel to the axis (220) of the rotor assembly (200).

16. Haptic human-machine interface device according to claim 1 characterized in that said position sensor (300) shares a common magnetized part with said magnet (210) of said rotor assembly (200).

17. Haptic human-machine interface device according to claim 1 characterized in that said memory (600) comprises a library consisting of a plurality of digital profiles selected contextually.

18. Haptic human-machine interface device according to claim 1 characterized in that one of said profiles controls a displacement torque in the direction opposite to the direction of the force applied to said actuating element.

19. Haptic human-machine interface device according to claim 1 characterized in that one of said profiles controls a displacement torque in the direction of the force applied to said actuating element.

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