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 Scope of the invention

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

[0002] Haptic feedback controls are evolving to allow for the customization, sometimes contextual, of the sensations transmitted to the user in order to make the use of equipment as intuitive as possible by accurately simulating clicks 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 range of sensations that can be simulated, it has become useful to control not only the resistance to the movement exerted by the user, but also to amplify this movement in certain contexts by means of a motor that can intelligently extend or modulate the action exerted by the user. Prior art

[0004] US patent application 20070188453A1 describes a rotary 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 interacts magnetically with the permanent magnet and the electromagnet is coupled to the rotary wheel. The permanent magnet and the electromagnet can be used to control a ratchet force applied to the rotary wheel. In another embodiment, a rotary wheel with a flywheel is engaged with a roller. A ratchet wheel can be intermittently engaged with the flywheel to provide a ratchet force. By disengaging the ratchet wheel, the flywheel can be allowed to rotate, providing momentum to facilitate scrolling under certain conditions, for example, for scrolling a long document.

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

[0006] French patent application FR3131476A1 describes a peripheral device comprising a scroll wheel rotatably coupled to the body. The scroll wheel may include a ferromagnetic rotor. The rotor may generally be annular in shape and may define an open interior. The rotor may define a first plurality of teeth arranged around a periphery of the open interior. The device may include a stator disposed within the open interior. The stator may define a second plurality of teeth that are alignable with the first plurality of teeth. The stator may include a plurality of electropermanent magnets. Each of the electropermanent magnets may be disposed within a conductive coil. The device may include a position sensor configured to detect an angular position of the rotor.The device may include a control circuit to control the power supply to the electro-permanent magnets of the stator to determine a speed of the scroll wheel.

[0007] US patent application 20190107941A1 describes a button for an input device that may include a button housing rotating on an axis, a shaft coupled to the button housing and extending from it along the axis, a ratchet wheel axially coupled to the shaft and comprising a toothed perimeter, and a resistance wheel axially coupled to the shaft and comprising a smooth perimeter, wherein the ratchet wheel and the resistance wheel are rotatable about the axis in correspondence with a rotation of the button housing. A drive mechanism exerts a force on its first end to cause a roller to engage with the toothed perimeter of the ratchet wheel, so that a ratcheting rotation occurs when the button housing is turned, and further exerts a force on its second end to cause the second end to engage with the smooth perimeter of the resistance wheel, so 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 allow the lever to move from the first to the second position. Some embodiments may include an actuator disposed below the shaft and substantially aligned with it, the button being depressable and the actuator being activated when the button is pressed.

[0008] US patent 6128006A describes a button control device comprising: - a button coupled to a grounded surface, said button being rotatable in one degree of rotational 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 that detects a position of said button in said rotary degree of freedom; - a transverse sensor whose function is to detect the 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 degree of rotational freedom around said axis; characterized in that the button control device further comprises: - a spring element connected between said button and said actuator to allow said movement in said transverse direction while still being relatively torsionally rigid to allow the efficient transmission of force from the button actuator around the axis (A). Disadvantage of prior art

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

[0010] The solution proposed by US20070188453A1 has the disadvantage of low torque efficiency as a function of electrical power. To obtain highly perceptible haptic effects, it is necessary to supply the two coils with significant power, which leads to excessive electrical consumption and even detrimental heating, due to a stator architecture chosen in the prior art because of the absence of residual torque, which allows the number of haptic clicks to be defined electrically. Furthermore, for battery-powered devices, this solution significantly reduces battery life.

[0011] When the user stops interacting with the wheel, the motor continues to be powered to ensure the haptic sensation in case of resumption of interaction; this implies persistent consumption including 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 sense, a haptic human-machine interface device comprising a rotary knob having 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 romagnetic elements 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 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 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 an alternating axial magnetization, interacting with said ferromagnetic stator teeth.

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

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

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

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

[0018] In particular, said cradle may include a bearing for the absorption of axial forces.

[0019] More particularly, said cradle includes 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 the absorption of axial forces on 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 coil stator supports, the coil stator supports having at their end a flat angular sector-shaped flare each provided with three radial ribs.

[0022] In particular, said stator assembly may be formed from 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] Furthermore, the coil supports may have wound cores with a cross-section of bean shape to maximize coil size.

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

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

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

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

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

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

[0031] In one variant, one of said laws may control a displacement torque in the direction of the force applied on said actuation element.

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

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

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

[0035] [Fig.2] [Fig.2] represents a cross-sectional view of said first embodiment of a peripheral 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 peripheral device,

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

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

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

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

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

[0042] [Fig.9] [Fig.9] represents the schematic diagram of the electronic circuit of a peripheral spherical according to the present invention. Principle of the invention

[0043] The present invention relates to a haptic human-machine interface device comprising a rotary knob allowing the parameterization of haptic sensations with a wide variety of active feedback increasing the resistance to the effort applied by the user or, on the contrary, amplifying or prolonging the action applied by the user, to provide sensations of notches with a greater or lesser stiffness and a variable pitch, or stops with a greater or lesser slope before the firm lock, or a spring or rebound effect localized in one or more angular positions, or self-maintenance of the rotation, or 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] To this end, the invention differs from the prior art primarily by the use not of an electric motor associated with a wheel, but of an electromagnetic rotary interaction means consisting of: - A fixed stator having at least two ferromagnetic stator teeth - A rotor comprising a disc magnet having an alternating axial magnetization, interacting with said ferromagnetic stator teeth.

[0045] This disc magnet is advantageously formed by a single magnet, made 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 perforated 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 allows a wide variety of user feedback configuration control laws to be applied to the dial, with sufficient amplitudes for a clear and assertive feel, with reduced power consumption to ensure significant autonomy, particularly for devices powered by an electric battery, and to reduce device heating.

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

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

[0049] This sensor advantageously consists of a fixed Hall probe interacting magnetically with a magnet positioned at the end of the rotor shaft.

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

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

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

[0053] The peripheral device according to this embodiment consists of the following sub-assemblies: a. A stator assembly (100), b. A rotor assembly (200) comprising a human interaction element in the form of an actuation wheel (250), c. A sensor (300), d. A cradle (400).

[0054] 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) has a central hub (111) having, for each coil (122, 123, 124), a radial projection (112, 113, 114) in the shape of a "C" open at the periphery.

[0055] It also includes, for each coil (122, 123, 124), a coil stator support (132, 133, 134) formed of 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 C-shaped protrusions (112, 113, 114) to together form a ferromagnetic yoke magnetically coupled to the coils (122, 123, 124). The C-shape of the radial protrusions (112, 113, 114) allows for two branches that can be elastically deformed 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 gaps between the ferromagnetic parts, these gaps being a source of performance degradation.

[0056] The face of the flares (152, 153, 154) opposite the coils (122, 123, 124) has radial ribs (162, 163, 164) that modulate the flux collected on the magnet (210) and facilitate the passage of magnetic flux through certain areas of the stator poles. The radial length of these ribs (162, 163, 164) corresponds approximately to the radial width of the magnet (210). The flares (152, 153, 154) have a shoulder (155, 156, 157) at the end of the ribs, so as to provide, after assembly, a disc-shaped area in the center of these ribs (162, 163, 164) that constitutes a bearing area for a thrust washer (180).

[0057] In the example shown, each of the flares (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, 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 pulsations per revolution, which greatly reduces the amplitude of this interaction, as it decreases with increasing spatial frequency.

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

[0059] This printed circuit board (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 holders is wound, then the wire loops around one of the tabs (172, 173, 174) and makes contact with one of the tracks (182, 183, 184), then moves to a second ferromagnetic holder (132, 133, 134) to be wound, the operation continuing by repetition until all the holders are wound and made contact with all the tracks of the printed circuit board (170). Since the coil wire is insulated by a resin, electrical contact is obtained by soldering the wire onto the tracks (182, 183, 184) removing the insulation.

[0060] The rotor section (200) comprises a magnet (210), a 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). To this end, this ball thrust bearing (230) is axially interposed between a transverse partition (251) of the wheel (250) and a thrust washer (180) bearing against the outer faces of the flares (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) extending axially from the wheel (250).

[0062] The cradle (400) is made of a plastic block and has two recesses (410, 420) for guiding the wheel and a support for the electronic control circuit (430) including the magnetosensitive probe (440). This electronic control circuit (430) supporting the sensor is held on the cradle by a screw and indexing clips (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 cradle (400) guide housing (420) includes a transverse tongue (405) providing an axial stop to the shaft (220) of the rotor assembly (200). This transverse tongue (405) absorbs the axial forces generated by the user on the knob (250). Second example of implementation

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

[0066] According to this embodiment, the stator ferromagnetic circuit (110), which in the first embodiment consists of 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 manufacturing, for example. The coils (122, 123, 124) are formed by winding them around the three cores of the stator body formed by a single part (116) in this second embodiment (or by the three assembled components in the first embodiment).

[0067] The coils are connected by copper tracks (182, 183, 184) provided on a plastic connecting piece (176) which is press-fitted, for example by clipping, onto the single piece (116). This connecting piece (176) fulfills the functions of the printed circuit board (170) and the sleeve (190) of the first embodiment, and engages with the cradle (400). These copper tracks (182, 183, 184) each run along the outer surface of the tabs (172, 173, 174), which extend axially between the coil supports (132, 133, 134), so as to provide an electrical contact area for the coils (122, 123, 124) as close as possible to the winding area, thus greatly facilitating this operation. The tracks Copper elements (182, 183, 184) can be deposited onto the connecting piece (176) by additive manufacturing, or by any other method known to those skilled in the art.

[0068] This second embodiment also differs from the first embodiment in the way the shaft is guided. The shaft (220) is embedded in the knurled wheel (250) as in the first embodiment. Its rotational guidance and axial alignment are achieved by point contact of its rear end in the sleeve (190), which is not through contact 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 shaft (220). Alternatively, this point contact is ensured by a hemispherical convex area formed at the bottom of the cavity provided in the sleeve (190). Third example of achievement

[0069] This embodiment illustrated in [Fig. 6] relates to another variant of the stator ferromagnetic circuit (110) of the stator structure (100), which is a variant of the stator ferromagnetic circuits (110) presented in the two preceding variants. The difference lies in the unwound axial extensions (135, 136, 137) interposed between the stator supports of the coils (132, 133, 134). These unwound axial extensions (135, 136, 137) form additional teeth that increase the torque and improve the collection of the magnetic flux generated by the magnetized disk (210).

[0070] Moreover, these unwound axial extensions (135, 136, 137) make it possible to generate, in cooperation with the stator supports of coils (132, 133, 134), a current-free torque whose amplitude and harmonic content can be modified by choosing an appropriate angular range. Fourth example of implementation

[0071] This embodiment illustrated in [Fig. 7] presents a variant of the sensing magnet (260) which is directly integrated into the magnetized disk (210) by means of bi-magnetization. A disc-shaped ferromagnetic yoke (270) is attached to the surface of the magnetized disk (210) opposite the stator ferromagnetic circuit (110) so as to ensure the closure of the magnetized poles (211). This allows, on the one hand, for an increase in the magnetic induction generated in the air gap of the motor and, on the other hand, for the prevention of the flux lines of said magnetized poles (211) from leaking towards the magnetosensitive probe (not visible) which is positioned opposite the sensing magnet (260). The ferromagnetic yoke (270) is also perforated in its center to allow the magnetic field of the sensing magnet (260) to leak towards the probe.In this embodiment the sensor magnet (260) has a pair of axially magnetized poles, but a person skilled in the art could easily adapt the magnetization of the in part. exterior of the magnetic disk (210) to achieve other sensor magnet configurations (260). Fifth example of achievement

[0072] Figure 8 represents another variant of the stator body of the stator structure (100), which is a more compact variant of the stator bodies presented in the two preceding variants, with wound teeth (132, 133, 134) extending radially rather than axially. This embodiment also differs from the preceding embodiments in that two magnetized disks (210) can be arranged on either side of the stator structure (100). The two magnetized disks are joined, by various mechanical means not shown, to form a rotor assembly with the wheel and the guide shaft. This configuration advantageously balances the magnetic forces exerted between the stator ferromagnetic circuit (110) and the rotor assembly, thus allowing for a simpler and less expensive axial guidance solution than, for example, that presented in the first embodiment.

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

[0074] The invention also consists of proposing a control strategy for the haptic human-machine interface device described in the preceding examples. To this end, and as shown in [Fig. 9], an electronic circuit (500) located nearby includes means for controlling the coils (122, 123, 124) of the rotating electromagnetic interaction means (10), making it possible to generate a rotating excitation field such as is known in brushless polyphase electric machines.

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

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

[0077] Among the various 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 opposite direction 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 actuation element with an amplitude increasing with the angular deviation of the wheel (250) from a reference position, or to generate va- nations of torque depending on the angle traveled to simulate a sensation of texture or a notched 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 traversing multiple angular ranges, the haptic profile being modified for each of these ranges.

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

Claims

Demands

1. A haptic human-machine interface device comprising a rotary knob (250) having a human interaction element, directly driven by a rotary 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 to said coils (122, 123, 124) as a function of the angular signal provided by said sensor (300) on the one hand and of a haptic profile recorded in a memory (600) of said electronic control circuit (430) on the other hand,to provide a torque that adds to or subtracts 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 device 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 an absolute position sensor over 360°.

4. Haptic human-machine interface device according to claim 1 characterized in that said electro- interaction means rotating genetics (10) includes a cradle (400) supporting said human interaction element, and including 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 bearing on one of the bearings formed by a ball bearing (230), the washer resting on shoulders (155, 156, 157) and of a larger diameter than said ball bearing (230).

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

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

8. A 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 axial forces from 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 flat angular sector-shaped flare (152, 153, 154) 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 "C" shaped protrusions.

12. Haptic human-machine interface device according to claim 9 characterized in that the coil supports (132, 133, 134) have wound cores (142, 143, 144) of bean-shaped cross-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 connecting piece (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 wound poles without wire break, the stator having three points of electrical contact with the wire segment located on tabs (172, 173, 174) included 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 connecting piece (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 contextually selected digital profiles.

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 on said actuation 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 on said actuation element.

Images