EQUIPMENT FOR HAPTIC COMMUNICATION WITH A DOG

Abstract

Dog equipment (1), the equipment comprising: - a body (3) of the equipment configured to be attached to a dog, - a vibrotactile actuator (5) attached to an internal surface (7) of the body, so as to be positioned between the body of the equipment and the dog if the body of the equipment is attached to the dog, the actuator comprising a housing and an arm, the arm being mounted movable relative to the housing, the actuator being configured to vibrate the arm relative to the housing under the action of a magnetic force, - a controller (9) attached to the body of the equipment and configured to control the actuator, and - a receiver (12) configured to receive a signal, the receiver being connected to the controller. Figure to be published for the abstract: Figure 1

Description

Title of the invention: EQUIPMENT FOR HAPTIC COMMUNICATION WITH A DOG DOMAIN

[0001] The invention relates to equipment for haptic communication with a dog, in particular dog harnesses and collars. STATE OF THE ART

[0002] Working dogs are required to operate in dangerous environments, far from their masters, or in situations where visual contact between the dog and its master is impossible.

[0003] The handler needs a reliable way to send commands to their dog, such as directional commands to guide the dog to the area of ​​interest. These commands often need to be discreet for certain operations, such as search and rescue operations. A search and rescue operation involves the dog searching for a person or a dangerous object (such as an explosive) in an area defined by the handler. If the dog finds the target, it can signal this to the handler by sitting or barking. If the dog does not find it, it continues searching until it receives a return command.

[0004] There are systems for communicating haptically with dogs. This communication is based on sending vibrations against the dog's skin.

[0005] The dog has cutaneous sensors whose nature and properties differ little from human cutaneous sensors.

[0006] The dog possesses cutaneous receptors of the Meissner corpuscle and Pacinian corpuscle type, both of which respond to vibratory signals. In dogs, Meissner corpuscles respond to signals with a frequency between 10 and 100 Hz and Pacinian corpuscles respond to signals with a frequency between 40 and 800 Hz.

[0007] There are systems for communicating haptically with dogs in which the dog is fitted with a harness that includes several mechanical actuators. Each actuator emits a vibration that allows a specific command to be communicated. The more signals one wishes to be able to communicate to the dog, the heavier and more expensive the harness is to manufacture.

[0008] There is therefore a need to communicate a large number of signals to the dog, without increasing the weight and price of the equipment worn by the dog. EXPLAIN

[0009] One aim of the present presentation is to propose dog equipment which allows a large number of signals to be communicated to the dog, without increasing the weight and price of the equipment.

[0010] The goal is achieved by means of dog equipment, the equipment comprising:

[0011] - a body of equipment configured to be attached to a dog,

[0012] - a vibrotactile actuator attached to a body surface, so as to be placed between the body of the equipment and the dog if the body of the equipment is attached to the dog, the actuator comprising a housing and an arm, the arm being mounted movable relative to the housing, the actuator being configured to vibrate the arm relative to the housing under the action of a magnetic force,

[0013] - a controller fixed to the body of the equipment and configured to control the actuator, and

[0014] - a receiver configured to receive a signal, the receiver being connected to controller.

[0015] Such equipment is advantageously and optionally complemented by the following various features, taken alone or in combination: - the actuator comprises a coil of conductive wire and a magnet surrounding the coil, the arm being, relative to the housing, mounted to move in translation along an axis of the coil; - the controller includes a memory storing a plurality of vibration patterns, the controller transmitting to the actuator one vibration pattern from among the plurality of vibration patterns, the vibration pattern being associated with the signal, so as to make the arm vibrate relative to the housing according to the vibration pattern; - four inertial measurement units attached to the body of the equipment, each inertial measurement unit being connected to the controller; and - The equipment is a harness.

[0016] The presentation also relates to a haptic communication system for dogs comprising equipment such as has been presented so far and a transmission module separate from the equipment.

[0017] The presentation further relates to a method of haptic stimulation of a dog, the method comprising the following steps:

[0018] - emission of a signal by a transmission module,

[0019] - reception of the signal by a receiver, the receiver being separate from the module transmission, the receiver being attached to the body of a dog device, the device being attached to a dog,

[0020] - transmission of the signal to a controller attached to the body of the dog equipment,

[0021] - control of a vibrotactile actuator by the controller according to the signal, the vibrotactile actuator being attached to an internal surface of the dog equipment body, and

[0022] - setting into vibration by means of a magnetic force on an arm of the actuator relative to an actuator housing depending on the signal, the arm being mounted movable relative to the housing.

[0023] Such a process is advantageously and optionally complemented by: - a step of selecting the signal from among a plurality of signals, the signal corresponding to an order to be communicated to the dog; and - a measurement of accelerations and rotational speeds by four inertial measurement units attached to the equipment, a determination of a posture of the dog from the measurements, and a communication of the posture of the dog from the receiver to the transmission module.

[0024] The presentation finally relates to a method for preparing a haptic stimulation system for a dog, the method comprising the following steps:

[0025] - choice of frequency parameters and envelope parameters characterizing a vibration pattern,

[0026] - transmission of frequency parameters and envelope parameters to a controller,

[0027] - generation of the pattern by the controller from the frequency parameters and the envelope parameters,

[0028] - recording the pattern in a memory of the controller, the controller being configured to control by pattern a vibrotactile actuator so as to, under the action of a magnetic force, set into vibration according to pattern an arm of the actuator relative to an actuator housing, the vibrotactile actuator being attached to an internal surface of the body of the dog equipment, the arm being mounted movable relative to the housing. DESCRIPTION OF THE FIGURES

[0029] Other features and advantages will become apparent from the following description, which is purely illustrative and not limiting, and should be read in conjunction with the accompanying drawings on which:

[0030] [Fig.1] [Fig.1] is a schematic representation of dog equipment;

[0031] [Fig.2] [Fig.2] is a schematic representation of a vibrotactile actuator; and

[0032] [Fig.3] [Fig.3] is a schematic exploded view representation of the actuator vibrotactile illustrated in [Fig.2];

[0033] [Fig.4] [Fig.4] is a schematic representation of a haptic stimulation method for a dog; and

[0034] [Fig.5] [Fig.5] is a schematic representation of a method for preparing a dog haptic stimulation system. DETAILED DESCRIPTION OF THE INVENTION

[0035] With reference to [Fig. 1], a dog device 1 comprises a body 3 configured to be attached to a dog. The device body may, in particular, be a collar or a harness. The device body preferably comprises an adjustable strap to fit the dog's body.

[0036] The body 3 has an inner surface 7 intended to be placed against the dog's body. The inner surface 7 is opposite the outer surface 8, which faces outwards when the body 3 of the equipment 1 is attached to the dog. Vibrotactile actuator

[0037] The equipment 1 includes a vibrotactile actuator 5 attached to the inner surface 7, so as to be placed between the body of the equipment and the dog if the body of the equipment is attached to the dog.

[0038] A vibrotactile actuator is a device configured to generate mechanical vibrations that can be clearly felt by a dog when the actuator vibrates and is placed against the dog.

[0039] In relation to figures 2 and 3, the actuator 5 comprises a housing 18 and an arm 16, the arm 16 being mounted movable relative to the housing 18, the actuator 5 being configured to vibrate the arm 16 relative to the housing 18 under the action of a magnetic force.

[0040] The actuator 5 is of the magnetic type. A magnetic type actuator is driven by an electric current and the mechanical vibrations produced are given by the oscillations of the driving current.

[0041] The actuator 5 may in particular be a loudspeaker type actuator or voice coil, also referred to by the English name "voice coil".

[0042] Such an actuator comprises a coil of conductive wire and a magnet surrounding the coil.

[0043] The coil consists of a conducting wire wound around a central axis A. In other words, the coil forms a cylinder of circular cross-section centered on the central axis A so that the axis of the cylinder coincides with the central axis A, the center of the cylinder being placed on the central axis A.

[0044] The magnet is a part centered on the central axis A and exhibiting rotational symmetry about this axis. The magnet is an annular part that leaves the central axis A free of material. The magnet defines an internal opening through which the central axis A passes. The coil of conducting wire is placed at least partially within the internal opening.

[0045] The arm 16 is mounted movable relative to the housing 18 in translation along the central axis A.

[0046] Preferably, the arm 16 comprises the coil and the housing 18 comprises the magnet. Alternatively, the arm 16 may comprise the magnet and the housing 18 may comprise the coil.

[0047] The actuator 5 includes a flexible part 26, referred to as a "spider." The flexible part 26 connects the coil and the magnet in a flexible manner. The flexible part 26 allows the coil to move freely in a translational motion about the central axis A relative to the magnet. The flexible part 26 keeps the coil centered on the central axis A. The actuator 5 further includes a pusher 24 which is rigidly fixed to the coil; the pusher 24 is driven in the translational motion of the coil relative to the magnet.

[0048] When the arm 16 includes the coil and the housing 18 includes the magnet, and with reference to [Fig. 3], the housing 18 comprises a lower portion 20 and an upper portion 22 that surround the magnet. The lower portion 20 and the upper portion each have an annular recess centered on the central axis A. The housing 18 includes a fastening system for attaching the lower portion 20 and the upper portion 22 together, for example, by means of elastic deformation fasteners. When the lower portion 20 and the upper portion 22 are attached to each other, the annular recesses form a toroidal-shaped housing that can accommodate the magnet.

[0049] The lower part 20 is intended to be fixed to the internal surface 7 of the body 3 of the equipment 1. The part 22 is intended to be pressed against the body of the dog.

[0050] In particular, part 22 has a contact wall 34 intended to be pressed against the dog's body. This wall 34 is orthogonal to the central axis A. This wall 34 comprises an annular surface surrounding the central axis A and a portion eccentric with respect to the central axis A. The wall 34 maintains a minimum pressure of the housing 18 against the dog. The larger the wall, the greater this minimum pressure and the greater the amplitude of the vibrations of the arm 16 against the dog.

[0051] The magnet is held fixed in the toroidal housing between the lower part 20 and the upper part 22.

[0052] The housing 18 further includes two electrodes 35 which are electrically connected to the two ends of the wire forming the coil. It is possible to supply the coil with an electric current via the electrodes 35.

[0053] The passage of a current through the coil causes oscillations of the coil relative to the magnet. For example, the current may be alternating.

[0054] The spool which is part of the arm 16 can move relative to the housing 18. The housing 18 includes two stops which limit the stroke of the arm 16 along the central axis A.

[0055] The arm 16 comprises a disc 28 which is supported by the pusher 24 which is attached to the coil. The coil is located between the disc 28 and the magnet. The disc 28 is arranged in a radial plane with respect to the central axis A and is centered on the axis A.

[0056] Advantageously, the annular surface of the wall 34 is greater than or equal to the surface of the disk 28.

[0057] The arm 16 includes a tip 30 intended to come into contact with the dog's body. The disc 28 is located between the tip 30 and the pusher 24. The tip has an elongated shape along the central axis A and extends from the disc 28 to an end 31. The end 31 is the part of the tip 30 that comes into contact with the dog's body when the actuator 5 is placed against the dog.

[0058] The arm 16 includes a screw 32 for attaching the nozzle 30 to the disc 28. The pusher 24, the disc 28, and the nozzle 30 are rigidly fixed to one another. For example, the disc 28 is glued to the pusher 24.

[0059] Advantageously the equipment 1 can include a plurality of actuators, for example two, three, four, five or six actuators distributed at different locations on the inner surface 7 of the body 3 of the equipment 1. In this case, two actuators are sufficiently far apart from each other so that a dog can differentiate a vibration produced by a first actuator from a vibration produced by a second actuator.

[0060] The equipment 1 may advantageously include a hook-and-loop fastening system comprising two textile bands configured to fasten to each other reversibly. A first band is attached to the inner surface 7 of the body 3 of the equipment 1. A second band is attached to the actuator 5, and in particular to the lower part 20 of the housing 18. It is thus possible to reversibly attach the actuator 5 to the body of the equipment and to reposition it relative to the body 3 if necessary. Tip

[0061] The tip 30 of the arm 16 can be made from different chemical compositions and can take different shapes. This makes it possible to adapt the tip to the breed of dog and in particular to the thickness of the dog's coat, to maintain user comfort and to prevent the dog from rejecting the equipment, for example, due to excessively long bristles.

[0062] The shape of the tips can in particular be according to one of the following options.

[0063] A flat shape of the tip allows the vibration to be propagated over a larger contact area.

[0064] A shape defining a spike protruding from the arm towards the dog allows it to pass better through a significant thickness of hair and to come into direct contact with the dog's skin.

[0065] A shape defining several studs, for example two, three, four or five studs, makes it possible to multiply the points of contact.

[0066] The stud can be conical, cylindrical or cylindrical with a spherical head.

[0067] The length of the pin from the disc 28 can be greater than or equal to 3 millimeters and less than or equal to 15 millimeters. Ideally, it is 10 millimeters.

[0068] The composition of the tip can be chosen from molded plastic, silicone, flexible resin, or acrylonitrile butadiene styrene plastic (abbreviated as ABS). The latter allows the tip to be manufactured by three-dimensional printing. Controller

[0069] The equipment 1 includes a controller 9 which is fixed to the body 3 of the equipment 1. It is, for example, fixed to the outer surface 8.

[0070] The controller 9 includes a battery to electrically power all of the equipment 1. The controller 9 is configured to monitor the battery level.

[0071] The controller 9 is configured to control the actuator 5 or actuators.

[0072] The controller 9 is electrically connected to the actuator 5, or to the various actuators 5, via electrical wiring 10.

[0073] The controller 9 is configured to transmit to the actuator 5 a control signal which provides in electrical form sufficient energy to the actuator 5 to vibrate the arm 16 relative to the housing 18. The controller 9 may include amplifiers for this purpose, such as for example full H-bridges.

[0074] The control signal sent by the controller 9 to the actuator 5 determines by its shape the vibration pattern of the arm 16 relative to the housing 18. The control signal produced by the controller and the vibration pattern produced by the actuator can thus be confused.

[0075] Since the actuator 5 is magnetic, the shape of the vibration it produces follows the shape of the control signal sent by the controller 9. Unlike actuators used in the prior art, such as eccentric mass actuators, the magnetic actuator is capable of producing much more varied vibration patterns. The frequency range of the vibrations and the amplitude range of the vibrations are much greater than in the prior art. The magnetic actuator is capable of generating vibrotactile stimulations whose average oscillation frequency and amplitude can be varied independently. A single magnetic actuator is thus capable of producing two vibrations sufficiently different for a dog to distinguish between them. By training the dog to associate commands with different vibrations produced by a single actuator, a large number of signals can be communicated to the dog using just one actuator. This allows us to increase the number of signals that can be transmitted to the dog without increasing the weight, the price of the equipment or the electrical consumption of the equipment.

[0076] Optionally, the controller may include an LED strip that can send a signal to the dog handler or any other user of the equipment. Such an LED strip can, in particular, be used to indicate a low battery level or the successful execution of a vibration by an actuator 5.

[0077] Advantageously, the controller includes a memory storing a plurality of vibration patterns. Each pattern is, for example, associated with a command for the dog. Each pattern is associated with a signal that is also stored in the memory.

[0078] When the receiver transmits the received signal to the controller, the controller searches in memory for the signal, the vibration pattern associated with this signal, and then transmits this particular pattern to the actuator from among all those that are stored in memory. Receiver

[0079] Equipment 1 includes a receiver 12 which is configured to receive a signal, the receiver 12 being connected to the controller 9. The connection between the receiver 12 and the controller 9 is, for example, an electrical cable. The signal is transmitted to equipment 1 wirelessly.

[0080] The receiver 12 can be advantageously configured to receive a signal by radio waves.

[0081] Optionally, the receiver 12 can also be a transmitter. Information can thus be communicated from the equipment 1 to the dog handler or any other user of the equipment 1. The controller 9 is then configured to control the receiver in transmit mode. Sensors

[0082] Equipment 1 may include different sensors.

[0083] The equipment may advantageously include a sensor for measuring the battery level.

[0084] The equipment may also include one or more sensors to verify that the actuator 5 correctly performs a vibration. A current sensor measuring the actuator current, i.e., the current at the amplifier output or at the actuator itself, makes it possible to measure the current actually transmitted to the actuator. The shape and amplitude of this measurement indicate whether a vibration was indeed produced by the actuator.

[0085] The equipment may further include a temperature sensor placed against the actuator. The temperature sensor is connected to the controller 9. Such a sensor makes it possible to detect situations where the power developed by the actuator is too high and may disturb the dog. It is thus possible to establish maximum power thresholds that must not be exceeded and to reduce the actuator's power when the measured temperature becomes too high. This allows for better protection of the dog's well-being.

[0086] The equipment may advantageously include four inertial units 14 (or four accelerometers) attached to the body 3 of the equipment 1. Each inertial unit can be inserted into a housing which is attached to the outer surface 8 of the equipment 1, for example by a hook and loop fastening system.

[0087] Each inertial unit 14 is connected to the controller 9 by dedicated electrical wiring.

[0088] The inertial measurement units are located at different points on the equipment, which in this case is advantageously a harness. Each inertial measurement unit allows for the measurement of acceleration (including gravity and the equipment's own acceleration) and rotational speeds.

[0089] From these measurements, it is possible to determine the posture of the dog (for example, sitting, lying down, standing, motionless, or moving) wearing the equipment to which the four inertial measurement units are attached. This information makes it possible, in particular, to determine whether the dog has responded to a command sent to it and what posture it is in.

[0090] A machine learning algorithm can be used to deduce a posture of the dog from the measurements of the four inertial measurement units.

[0091] The algorithm can be trained on a training database associating a posture with measurements from the four inertial measurement units. The controller may include a processor to run the algorithm locally within the equipment.

[0092] The sensor measurements or information deduced from these measurements can be transmitted to the dog handler or any other user of the equipment. When the receiver 12 is also a transmitter, the information is gathered by the controller and then transmitted to the receiver 12 for transmission. Vibration pattern

[0093] The vibrations transmitted to the dog can vary according to their shape, duration or position on the dog's body, allowing different signals to be generated for the dog.

[0094] Several parameters can be taken into account to generate signals of different shapes. A vibration pattern corresponds to a signal that oscillates rapidly in an envelope that does not vary or that varies more slowly. Some parameters, called frequency parameters, concern rapid oscillations, and other parameters, called envelope parameters, concern the envelope of the vibration pattern.

[0095] Among the frequency parameters, we can notably mention: - the average frequency of the vibration, - the single-frequency nature of the vibration, that is to say the presence in the frequency spectrum of the signal of either a single frequency or several frequencies, - the superposition of two frequencies in the vibration, and - a frequency sweep in the vibration, that is to say the gradual variation of the vibration frequency within the pattern from an initial frequency to a final frequency.

[0096] Among the envelope parameters, we can notably mention: - the maximum amplitude of the pattern, - the duration of the pattern, - the attack of the pattern, that is to say the time between the start of the pattern and reaching maximum amplitude, or the percentage corresponding to this time relative to the duration of the pattern, - the decay, that is to say the time between the last instant at which the maximum amplitude is reached and the end of the pattern, or the percentage corresponding to this time relative to the duration of the pattern, - an oscillation of the envelope at a frequency significantly lower than the average oscillation frequency, and

[0097] These different parameters can be combined to create as many different patterns. For example, one can create a first pattern with a zero attack time, a zero decay time and a superposition of two frequencies, a second pattern with a frequency sweep, a non-zero attack time and a decay time greater than the attack time, etc...

[0098] It is also possible to define vibration patterns all having the same envelope with a zero attack time and a zero decay time, the patterns all being single-frequency and varying only by their oscillation frequency, for example between 50 and 250 Hz. In particular, nine different patterns can be defined which differ in pairs by at least 20 Hz in frequency.

[0099] It should be noted that "composite patterns" can be created by repeating the same pattern or by juxtaposing two (or more) distinct patterns. The repeated or juxtaposed basic patterns are then "sub-patterns" of the "composite pattern".

[0100] The parameters that allow a composite pattern to be varied are the frequency parameters and envelope parameters of each sub-pattern. The pause time between two successive sub-patterns is also included.

[0101] In order for a vibration pattern applied to the dog to become a command for the dog, it is necessary to teach it the pattern / command association.

[0102] It should also be noted that when the equipment 1 includes several actuators 5, a command can be associated with the choice of actuator. A vibration pattern produced by one of the actuators may correspond to a different command than the same pattern produced by another of the actuators or by all the actuators vibrating together.

[0103] A command can then be associated not only with the pattern, but also with a subset of the equipment's actuators. It should be noted that a signal received by the receiver corresponds to a pattern but also, when the equipment includes several actuators, to the identification of the actuator or actuators that must perform the vibration. Haptic communication system

[0104] In relation to [Fig.1], the presentation also relates to a haptic communication system 36 which includes equipment 1 as has been presented so far and a transmission module 38 separate from equipment 1. The transmission module 38 is configured to send wirelessly and over the air a signal to the receiver 12 of equipment 1.

[0105] The transmission module 38 can in particular store in memory the different commands which have been taught to the dog, each command being associated with a vibration pattern and a signal to be transmitted from the transmission module to the receiver.

[0106] The transmission module advantageously includes a human-machine interface configured to display the different commands that the transmission module 38 can transmit to the receiver 12. By selecting one of the displayed commands, the user can then control the transmission of the corresponding signal from the transmission module to the receiver.

[0107] Optionally, the human-machine interface can be configured to generate any type of vibration pattern, for example, based on the frequency and envelope parameters previously presented. These patterns can then be transmitted to the controller via the transmission module and the receiver. The controller 9 then produces a control signal which is sent to the actuator so that the actuator vibrates the arm 16 relative to the housing 18 according to the vibration pattern. This type of communication can take a significant amount of time, since the characterization of the pattern to be produced may include many parameters. It is possible to store basic patterns in the memory of the human-machine interface and in the memory of the controller 9 and to associate them Each of these patterns results in a lighter signal to be transmitted from the receiver to the transmission module. Alternatively, a wired connection can be established between the transmission module and the controller to reduce the information transmission time. Haptic stimulation method for a dog

[0108] In relation to [Fig.4], the presentation relates to a method P of haptic stimulation of a dog.

[0109] A haptic communication system 36 such as has been presented so far makes it possible to implement such a process.

[0110] We will present a method of implementing this process.

[0111] During a first step El of the process P, the user chooses and validates on the human-machine interface an order to be given to the dog or a vibration pattern that he wants to vibrate against the dog.

[0112] During a second step E2, the transmission module 38 emits a signal corresponding to the chosen order.

[0113] During a third step E3, the receiver 12 receives the signal emitted by the transmission module 38.

[0114] During a fourth step E4, the receiver transmits the signal to the controller 9.

[0115] During a fifth step E5, the controller 9 searches in memory for the vibration pattern associated with the received signal and the chosen order.

[0116] During a sixth step E6, the controller 9 produces a control signal for the actuator. This is a pattern pre-recorded in the controller's memory. In all cases, the controller 9 generates the vibration pattern corresponding to the command selected by the operator or the vibration pattern selected by the operator.

[0117] During a seventh step E7, the controller 9 transmits the control signal to the actuator 5. This transmission may in particular pass through amplifiers.

[0118] During an eighth step E8, the actuator 5 vibrates the arm 16 relative to the housing 18 according to the vibration pattern.

[0119] During a ninth step E9, the dog feels the vibration, and, if so, recognizes the associated command and executes the command.

[0120] It is thus possible to send commands to the dog, such as directional commands to guide the dog towards an area of ​​interest. Since the vibrations are quiet and invisible, these commands are given discreetly, which is particularly suitable for situations requiring verification.

[0121] The equipment can also be used on a dog accompanying a mute person, or on a deaf dog, so as to recreate a means of communication between the dog and its owner.

[0122] Finally, the equipment can be used on any domestic dog to communicate simple commands such as "lie down" or "come back".

[0123] Optionally, measures can be taken to monitor the correct transmission of the pattern.

[0124] For example, a step of measuring the actuator current can be carried out. This measurement can be followed by processing of the measurement by actuator 9 to determine a binary signal of the type "vibration performed" or "vibration not performed". The information can then be transmitted to the transmission module 38 via receiver 12.

[0125] Optionally, a temperature measurement step for the actuator can be performed. This measurement can be followed by processing by the actuator 9 to determine a binary signal indicating a temperature below or above a predetermined temperature threshold. This information can then be transmitted to the transmission module 38 via the receiver 12. The receiver 12 receives the binary signal from the controller and transmits this information to the transmission module 38, for example, via radio waves. The receiver 12 thus also functions as a transmitter of information.

[0126] Optionally, a measurement step E9 of the four inertial measurement units (IMUs) can be performed. This measurement can be followed by a processing step E10 of the measurement by the actuator 9 to determine the dog's posture. During a step Eli, the actuator commands the transmission of the posture information to the transmission module 38 via the receiver 12. The receiver 12 then receives information from the controller, in this case, posture information. The receiver transmits this information to the transmission module 38, for example, via radio waves. The receiver 12 again performs an information-transmitting function. The measurement of the four IMUs can be performed regularly over time, for example, at a frequency of 10 or 12 Hz. The transmission of the posture information can follow the same frequency.

[0127] Method for preparing a dog haptic stimulation system

[0128] In relation to [Fig.5], the presentation relates to a method Q for preparing a haptic stimulation system for a dog.

[0129] A haptic communication system 36 such as has been presented so far makes it possible to implement such a process.

[0130] We will present a method of implementing this process.

[0131] During a first SI step of process Q, the user chooses the parameters of a vibration pattern. Specifically, it can use the human-machine interface and select the values ​​of various frequency and envelope parameters to create the pattern. When the equipment includes multiple actuators, the user defines which actuators should perform the vibration pattern. Optionally, the pattern parameters, including the actuators that should perform the pattern, are associated with a signal that is recorded in the interface.

[0132] During a second step S2 of process Q, the pattern parameters are transmitted to the controller. For example, this transmission takes place via the transmission module and the receiver, or alternatively, the human-machine interface can be wired to the controller to ensure transmission. The associated signal can also be transmitted.

[0133] During a third step S3 of the process Q, the controller generates the pattern from the parameters chosen by the user. This means that the controller produces a time sequence of values ​​of a time-dependent function, the function respecting the chosen frequency parameters and envelope parameters.

[0134] During a fourth step S4 of the process Q, the controller stores the pattern in its memory. The identification of the actuators chosen to execute the pattern is also recorded. The associated signal may also be recorded.

Claims

Demands

1. Dog equipment (1), the equipment comprising: - a body (3) of the equipment configured to be attached to a dog, - a vibrotactile actuator (5) attached to an internal surface (7) of the body, so as to be placed between the body of the equipment and the dog if the body of the equipment is attached to the dog, the actuator comprising a housing (18) and an arm (16), the arm being mounted movable relative to the housing, the actuator being configured to vibrate the arm relative to the housing under the action of a magnetic force, - a controller (9) fixed to the body of the equipment and configured to control the actuator, and - a receiver (12) configured to receive a signal, the receiver being connected to the controller.

2. Equipment according to claim 1 in which the actuator comprises a coil of conductive wire and a magnet surrounding the coil, the arm being, relative to the housing, mounted movable in translation about an axis (A) of the coil.

3. Equipment according to any one of claims 1 and 2, wherein the controller includes a memory storing a plurality of vibration patterns, the controller transmitting to the actuator a vibration pattern from among the plurality of vibration patterns, the vibration pattern being associated with the signal, so as to cause the arm to vibrate relative to the housing according to the vibration pattern.

4. Equipment according to any one of claims 1 to 3 comprising four inertial units (14) attached to the body of the equipment, each inertial unit being connected to the controller.

5. Equipment according to any one of claims 1 to 4, wherein the equipment is a harness.

6. Haptic communication system for dogs comprising equipment according to any one of claims 1 to 5 and a transmission module (38) separate from the equipment.

7. Method (P) of haptic stimulation of a dog, the method comprising the following steps: - (E2) emission of a signal by a transmission module (38), - (E3) reception of the signal by a receiver (12), the receiver being separate from the transmission module, the receiver being fixed to a body (3) of a dog equipment (1), the equipment being attached to a dog, - (E4) transmission of the signal to a controller (9) fixed to the body of the dog equipment, - (E7) control of a vibrotactile actuator (5) by the controller according to the signal, the vibrotactile actuator being attached to an internal surface (7) of the body of the dog equipment, and - (E8) setting into vibration under the action of a magnetic force an arm (16) of the actuator relative to a housing (18) of the actuator according to the signal, the arm being mounted movable relative to the housing.

8. Method according to claim 7, the method comprising a step (El) of selecting the signal from among a plurality of signals, the signal corresponding to an order to be communicated to the dog.

9. A method according to any one of claims 7 and 8, the method further comprising the steps: - (E9) measurement of accelerations and rotational velocities by four inertial measurement units (14) attached to the equipment, - (E10) determination of a posture of the dog from the measurements, and - (E11) communication of the posture of the dog from the receiver to the transmission module.

10. A method (Q) for preparing a haptic stimulation system for a dog, the method comprising the following steps: - (S1) selection of frequency parameters and envelope parameters characterizing a vibration pattern, - (S2) transmission of the frequency parameters and envelope parameters to a controller (9), - (S3) generation of the pattern by the controller from the frequency parameters and envelope parameters, - (S4) recording of the pattern in a memory of the controller, the controller being configured to control a vibrotactile actuator (5) by the pattern so as to, under the action of a magnetic force, vibrate an arm (16) of the actuator relative to a housing (18) of the actuator according to the pattern, the vibrotactile actuator being attached to an internal surface (7) of a body (3) of the equipment (1) for dog, the arm being mounted movable relative to the housing.

Images