Passive tactile devices

Abstract

The present invention relates to a passive tactile device comprising a mechanical member (1) moving relative to a second mechanical member (2), one of said plurality of mechanical members (1) having a plurality of magnetized zones (10) periodically spaced apart according to a pitch P1, and another of said plurality of mechanical members (2) having a second plurality of magnetized zones (20) periodically spaced apart according to a pitch P2, wherein a force periodically varying as a function of the relative positions of said plurality of mechanical members (1, 2) is generated by a magnetic interaction between said plurality of mechanical members (1, 2), said magnetic interaction varying according to a period Pt, characterized in that all of said plurality of magnetized zones of at least one of said plurality of mechanical members (1, 2) are magnetized in the same direction.

Description

Detailed Description of the Invention

[0001] [Technical field of the invention] The present invention relates to passive haptic devices, i.e., devices that can be operated by the fingers or hands, or in some cases even by the user's feet, that provide variable force feedback without consuming electrical energy.

[0002] The invention applies, for example, to computer control interfaces, control interfaces in automobiles or control interfaces for household appliances.

[0003] [Prior art] Manual tactile devices that are angularly indexed by purely magnetic methods are known. These devices are based on one magnetic field source (see US Pat. No. 3,885,560) or two magnetic field sources (see US Pat. No. 3,934,216). These are unidirectionally oriented and consist of permanent magnets associated with soft ferromagnetic flux loop members. These members are arranged opposite each other and define a magnetic air gap. They are cut to generate a variable air gap magnetic permeance according to the phase difference between the fixed and moving members. When the teeth of the fixed assembly face the teeth of the moving assembly, the permeance is at a minimum and the position is indexed. These loop members have the same number of teeth on the fixed and moving members. This number is equal to the number of stable positions desired.

[0004] Patent application DE4035011 also describes a method for achieving magnetic angle indexing between two assemblies. This is achieved by magnets fixed to one of the moving members with different polarities relative to the other. The magnetic flux density of these magnets is transmitted by a soft ferromagnetic member. This explains why the reluctance of the magnetic air gap can be varied during relative rotation of the two assemblies.

[0005] Proof of Utility Application FR2935497 describes an angular indexing device based on the use of magnetic coupling between a fixed member and a rotating member. Each of these members has alternating magnetic poles (north and south poles) that are opposite to the magnetic poles of the other member. The members have the same number of magnetic poles, which is equal to twice the number of desired index positions. A position is indexed when all magnets of a given polarity on the moving assembly are aligned with all magnets of the opposite polarity on the fixed assembly. This application does not disclose soft ferromagnetic flux loop materials.

[0006] [Disadvantages of the prior art] The drawbacks of the prior art identified in this way are the complexity of multi-pole assembly (when magnets are arranged alternately in a ferromagnetic structure), the complexity of creating a large number of index positions, and the practical difficulty of magnetizing a large number of magnetic poles of alternating polarity on a single magnet.

[0007] Furthermore, many haptic devices often require the implementation of position sensors to allow control of the device's operation, such as the movement of a computer pointer when the haptic interface is a mouse, or the movement of a cursor on a dashboard screen. These examples are not limiting. Prior art devices often use optical, resistive, or magnetic sensors in juxtaposition with the haptic device, which makes the solution either large, cumbersome, or uneconomical.

[0008] Finally, prior art passive haptic devices have mechanical parts made of soft ferromagnetic materials in areas where the magnetic induction varies greatly as the device is used. These variations induce losses of magnetic origin (due to induced currents, hysteresis effects, etc.) and cause significant friction, which is detrimental to the quality of the haptic rendering during dynamic use of the device.

[0009] [DISCLOSURE OF THE INVENTION] The object of the present invention is to overcome the drawbacks of the prior art by making the moving and fixed mechanical parts of magnetized passive tactile devices simpler and more economical to produce industrially.

[0010] To this end, the present invention proposes that a fixed part and a moving part are combined to produce a predetermined number of notches that the user can feel. Each of the fixed and moving parts has a minimum number of alternating north / south magnetic poles. This minimum number is preferably smaller than the desired number of index positions. This is easy to achieve while remaining passive, i.e. without using electrical coils and consuming electrical energy.

[0011] It is also an object of the invention to propose a simple and economical solution for integrating a position sensor into such a tactile device.

[0012] To this end, in its most general sense, the present invention relates to a passive tactile device comprising a first mechanical member moving relative to a second mechanical member, the first mechanical member having a magnet and a first plurality of magnetized zones periodically spaced apart according to a pitch P1, the second mechanical member having a second magnet and a second plurality of magnetized zones periodically spaced apart according to a pitch P2, wherein a force that varies periodically as a function of the relative position of the mechanical members is generated by magnetic interaction between the mechanical members, the magnetic interaction varying according to a period Pt, characterized in that all of the magnetized zones of the plurality of magnetized zones of at least one of the mechanical members are magnetized in the same direction.

[0013] According to a variant, the invention also relates to a haptic interface having, separately or in any technically compatible combination, one or more of the following characteristics: - the first plurality of magnetized zones and the second plurality of magnetized zones are integral parts of the first magnet and the second magnet, respectively; at least one of said magnetized zones is made of a soft ferromagnetic material and is magnetized by said magnet integrated in the mechanical member; - the mechanical members are capable of translational movement relative to one another; the mechanical members are ring-shaped and capable of relative rotational movement; the magnetized zones of the annular mechanical members are radially magnetized in either a centrifugal or a centripetal direction; the magnetized zones of at least one of the annular mechanical members are diametrically magnetized, the diametrically magnetized ring having two teeth of the same pitch, the teeth being separated by a non-integer number of pitches, preferably (x+0.5), where x is a positive integer, and the teeth are preferably arranged centrally along a radius in the direction of the diametric magnetization; the mechanical members have the shape of discs and are capable of relative rotational movement; the movable first mechanical member comprises a ball joint capable of rotational movement about three orthogonal axes; the pitch P1 is the same as the pitch P2, the mechanical air gaps located between the mechanical members are free of soft ferromagnetic material; the moving mechanical member has protuberances in the form of magnets, the magnetic field of which is intended to be measured by a magnetically sensitive probe so as to provide information about the position of the moving member; the magnetic ridge and the magnet are made in one and the same piece; - said ridges and said magnets are magnetized in the same direction and orientation; at least one magnet of the plurality of magnets is manufactured by injecting a plastic material filled with magnetic powder; At least one magnet of the plurality of magnets is made from a sintered magnet; the plurality of mechanical members have relative displacement in at least two directions, the relative displacement in a first direction producing the periodically varying force and the relative displacement in a second direction producing a continuously varying force resembling magnetic stiffness; a first said mechanical member has two plurality of magnetized zones periodically spaced apart according to the same pitch P1, said two plurality of magnetized zones being mechanically phase shiftable such that the amplitude of a force which varies periodically as a function of the relative position of said plurality of mechanical members is modulated.

[0014] In this patent application, the terms "ring-shaped" and "annular" have the same meaning and refer to the geometric shape of the envelope of a generally tubular portion having a height generally less than its diameter.

[0015] By "soft ferromagnetic material" is meant a ferromagnetic material that has a small coercive force, typically less than 1,000 A / m, and a relative permeability greater than 100.

[0016] More specifically, the subject of the present invention is a passive tactile device comprising a mechanical member that can be moved relative to a second mechanical member by a user's action (for example, by being rotated by a finger), characterized in that the magnetization zones of at least one of the mechanical members are all magnetized in the same sense. "Same sense" means that for each point of the magnetization zone, the magnetization is carried by a vector m→ (→ is a superscript) with coordinates (m1, m2, m3), which are identical in a local coordinate system related to each point considered. The local coordinate system may be expressed in Cartesian, cylindrical or spherical coordinates. In other words, the magnetization zones of at least one of the mechanical members do not have alternating north and south poles.

[0017] In the most general case, a measurement of the magnetic induction in the mechanical air gap along a path crossing the magnetized zones in the direction of the magnetization vector m → (→ is a superscript) will, for the mechanical member having the magnetized zones all magnetized in the same direction, exhibit a periodic function with a fundamental period corresponding to the pitch of the magnetized zones. The periodic function may exhibit harmonics of this fundamental period. During activation of the tactile device, the magnetic pole pitch P1 and the magnetic pole pitch P2 are not necessarily equal, and the period Pt of the variable magnetic force preferably corresponds to the smallest common harmonic of the periodic functions of the fundamental period P1 and the fundamental period P2.

[0018] [Magnetization Variations] In one variant, to obtain the periodic function of magnetic induction, the mechanical elements, each having a plurality of zones magnetized in the same direction, are provided with a tooth-shaped structure on the surface defining the mechanical air gap. The tooth shape should be interpreted as a toothing; therefore, they do not necessarily have protruding edges and may have the shape of an involute of a circle. Measurements of the magnetic induction near this surface exhibit a high-amplitude continuous component modulated by a periodic function with a fundamental period corresponding to the pitch of the magnetized zones. The surface can be provided with a tooth-shaped structure in various ways, such as by directly structuring a magnet, by injection molding a plastic filled with magnetic particles, by molding by powder sintering, or by adding a ferromagnetic sheet with this tooth shape produced by stamping or machining. These manufacturing techniques are not limiting of the invention.

[0019] In a variant with a cylindrical geometry, in which the mechanical elements are rings according to the above teachings, the mechanical elements, having zones magnetized in the same direction, are magnetized transversely, i.e., in the same direction according to a Cartesian coordinate system, so as to obtain the periodic function of magnetic induction. The mechanical elements are provided with a structure of two sets of teeth on their surface facing the air gap. The sets of teeth have the same pole pitch corresponding to the pitch of the magnetized zones and are spaced apart by a distance equal to an integer plus half the pitch of the magnetized zones. As a result, a measurement of the magnetic induction near the surface along a circular contour concentric with the ring exhibits a sinusoidal component of high amplitude and period number one, modulated by two pseudoperiodic functions of lower amplitude and fundamental period corresponding to the pitch of the magnetized zones. The two pseudoperiodic functions are phase shifted by half a period.

[0020] [Other Modified Embodiments] In another variant, the space located near the surface is free of components made of soft ferromagnetic material, which space has the greatest variation in magnetic induction. This configuration is advantageous because it limits losses due to induced currents that slow down the device when it is used in a pulsed manner.

[0021] In another variation, the mechanical members have magnetic supports that can serve various functions, such as for mechanical interfacing of the mechanical members, for increasing the inertia of the mechanical members, or simply for decorative reasons, etc.

[0022] [Brief description of the drawing] Other features and advantages of the present invention will become apparent from a reading of the following several detailed embodiments, taken in conjunction with the accompanying drawings, in which: [FIG. 1A] FIG. 1A is a cross-sectional view of a device according to a first rotary embodiment of the present invention; [FIG. 1B] FIG. 1B is a simulation of magnetic induction in the mechanical air gap of the mechanical member of the device shown in FIG. 1A; [FIG. 2A] FIG. 2A is a cross-sectional view of a device according to a second rotary embodiment of the present invention; [FIG. 2B] FIG. 2B is a simulation of magnetic induction in the mechanical air gap of the external member shown in FIG. 2B; [Figure 3] Figure 3 is a partial cross-sectional view of an apparatus according to a third rotary embodiment of the present invention; [Figure 4] Figure 4 is a perspective view of a device according to a rotary embodiment of the invention having an axial coupling; [Figure 5] Figure 5 is a rear perspective view of a device position detection system according to a rotary embodiment of the present invention; [Figure 6] Figure 6 is a perspective view of an apparatus according to a linear embodiment of the present invention; [Figure 7] Figure 7 is a perspective view of a device according to a spherical embodiment of the present invention; [Figure 8] Figure 8 is a cross-sectional view of a device according to a fourth rotary embodiment of the present invention; [Figure 9] Figure 9 is a cross-sectional view of a device according to a fifth rotary embodiment of the present invention; [Figure 10] Figure 10 is a partial cross-sectional view of an apparatus according to a sixth rotary embodiment of the present invention; [FIGS. 11A-11B] FIGS. 11A and 11B are perspective views of a device according to a seventh rotary embodiment of the present invention, showing different functional positions; [FIGS. 12A and 12B] FIGS. 12A and 12B are perspective views of an apparatus according to an eighth rotary embodiment of the present invention, showing different functional positions; [Figure 13] Figure 13 is a partial cross-sectional view of an apparatus according to a ninth rotary embodiment of the present invention; FIG. 14 is a partial cross-sectional view of an apparatus according to a tenth rotary embodiment of the present invention.

[0023] Detailed Description of an Embodiment 1A shows a partial cross-sectional view of a first embodiment of a tactile device according to the invention, with mechanical members (1, 2) and with rotational actuation. In this embodiment, a first mechanical member (1) of annular shape is concentrically housed inside a second mechanical member (2) of annular shape. The mechanical members (1, 2) are characterized in that they each comprise annular magnets (11, 21), each of which has a plurality of magnetized zones (10, 20) periodically spaced apart according to respective angular pitches P1 and P2. The plurality of magnetized zones (10) interact with the plurality of magnetized zones (20) to generate a variable force with a period Pt as a function of the relative position of the mechanical members (1, 2). In this embodiment, the angular pitch P1 and the angular pitch P2 are equal, generating a variable force with a period Pt = P1 = P2. This embodiment is also characterized in that each of the plurality of magnetized zones (10, 20) does not have alternating N and S magnets, but has the same direction and orientation of radial magnetization. For any point P of the plurality of magnetized zones (10, 20) of the magnet (11, 21), the vector OP → (→ is a superscript) is always collinear with the magnetization vector m → (→ is a superscript). The point O is the center of the annular mechanical member (1, 2), and the magnetization vector m → (→ is a superscript) is always in the local coordinate system (u) specific to the point P. r→,u θ →,u z The magnetization is expressed in cylindrical coordinates (m1, m2 = 0, m3 = 0) in the circular magnets (→) (→ is a superscript). m1 can vary but always has the same sign or is equal to 0. For this type of magnetization, the inner cylindrical surface of one of the annular magnets (11, 21) and the outer cylindrical surface of the other annular magnet both constitute poles of opposite polarity, and the magnetic field loops between these two poles in the axial ("out of plane") direction and returns to its original location. Advantageously, the outer periphery of magnet (11) and the inner periphery of magnet (21) are endowed with a tooth-shaped structure to form the plurality of magnetized zones (10, 20). Therefore, as shown in FIG. 1B, the induction measured radially along the circular contour near the plurality of magnetized zones (10, 20) for the separately taken mechanical parts (1, 2) exhibits a DC component modulated by a periodic function with a fundamental period corresponding to the angular pitch (P1, P2) of the plurality of magnetized zones (10, 20). When the mechanical parts (1, 2) are assembled, measurements of the radial induction along a circular contour located within the mechanical air gap (40) exhibit continuous components modulated by a periodic function of fundamental period P1 and a periodic function of fundamental period P2, respectively. Relative rotational displacement of the mechanical members (1) and (2) causes these functions to shift out of phase.

[0024] DETAILED DESCRIPTION OF AN ALTERNATIVE EMBODIMENT 2A shows a partial cross-sectional view of a second embodiment with rotational actuation, similar to the previous embodiment shown in FIG. 1A. The second embodiment differs from the first in that the magnet (21) of the mechanical element (2), i.e. the outer ring, has a magnetization in a transverse diametrical direction. For any point P of the magnetized zones (20) of the magnet (21), the vector OP → (→ is a superscript) is always collinear with the magnetization vector m → (→ is a superscript). Point O is the center of the annular mechanical element (1, 2), and the magnetization vector m → (→ is a superscript) is always in the global coordinate system (u x →,u y →,u z2B , the induction measured radially along the circular contour near the magnetized zones (20) of a diametrically magnetized mechanical element (2) has a sinusoidal component of high amplitude and frequency of one period modulated by two pseudo-periodic functions of lower amplitude and the same fundamental frequency corresponding to the angular pitch (P2). One pseudo-periodic function modulates the positive alternations of a sinusoidal component with a period of 1, and the other pseudo-periodic function modulates the negative alternations of a sinusoidal component with a period of 1. The two pseudo-periodic functions are out of phase by half a period. This phase shift of the teeth of half the angular pitch (P2) is not limiting, but allows for maximizing the magnetic force when the device is rotated. The magnetic force is zero when the teeth are perfectly in phase.

[0025] Figure 3 shows an embodiment similar to that shown in Figure 2A, except that the characteristics of the inner and outer ring magnets are reversed.

[0026] DETAILED DESCRIPTION OF AN ALTERNATIVE EMBODIMENT Figure 4 shows an embodiment similar to that shown in Figure 2A. This embodiment converts the radial rotation version shown in Figure 2A into an axial version. It differs in that the mechanical members (1, 2) are disks in relative rotational motion and are separated axially by a mechanical air gap (40). The mechanical member (2) has a magnet (21). This magnet includes multiple magnetized zones (20). All the multiple magnetized zones (20) are magnetized in the same axial direction (200). For any point P of the multiple magnetized zones (20) of the magnet (21), the magnetization vector m → (→ is a superscript) always corresponds to the vector u zThe mechanical element (2) is characterized in that the surface of the magnetized zones facing the mechanical air gap (40) is provided with a tooth-shaped structure spaced apart by the same pitch P2 and faces a second mechanical element (1). The second mechanical element (1) also has a magnet (11). This magnet (11) includes a plurality of magnetized zones (10). All the magnetized zones (10) are magnetized in the same direction, and the surface of the magnetized zones (10) facing the mechanical air gap (40) is provided with two tooth groups with the same pitch P1. These tooth groups are separated by toothless zones (50), ideally by an integer number equal to the pitch P1 plus half a pitch. The magnetized zones within a tooth group have the same magnetization direction (101). The magnetization direction (101) is opposite to the magnetization direction (102) of the magnetized zones in the second set of teeth. The two sets of teeth are magnetically out of phase by half a period, constituting two pseudomagnetic periods. The significance of this is explained in the description of FIG. 2A. The magnetic ridge (15) located at the top of the moving part can advantageously be a sub-portion of the magnet (11) and have the same magnetization as the set of teeth located below. This magnetic alternation generated on the magnetic ridge (15) can be used as a magnetic field source for a magnetically sensitive position sensor that will be placed near the moving part (1). This constitutes an integrated solution at significantly reduced costs. The magnet (11) can be fully magnetized in a single step, providing the dual function of achieving a haptic effect that interacts with the magnet (21) and providing position information for the moving mechanical member (1).

[0027] DETAILED DESCRIPTION OF AN ALTERNATIVE EMBODIMENT Figure 5 shows the integration of a magnetic sensor intended to measure the absolute angular position of a movable mechanical member (2) for an embodiment with rotary actuation. This integration can be combined with all previous embodiments, but is shown according to the second embodiment shown in Figure 2A. The magnet support (22) is not shown. In this embodiment, the mechanical member (2) is movable and the magnet (21) has a cylindrical ridge (25) closed at one end in the axial direction and magnetized in the transverse diameter direction (200). The magnetic field of said ridge (25) is measured by a magnetically sensitive probe (30) to obtain the absolute angular position of the mechanical member (2).

[0028] This embodiment is particularly advantageous when the magnetization zones (20) have a transverse diametrical magnetization, in which case the entire magnet (21) has a single directional magnetization (200), which makes the construction of the magnetization tool particularly simple and strengthens the magnetic field measured by the magnetic sensing probe (30).

[0029] DETAILED DESCRIPTION OF AN ALTERNATIVE EMBODIMENT Figure 6 shows an embodiment according to the invention with linear actuation. It is a linear conversion of the version illustrated in Figure 2A, which is a radial rotation version, or of the version illustrated in Figure 4, which is an axial rotation version. Here, mechanical parts (1, 2) are movable in relative linear displacement and are separated by a planar mechanical air gap (40). The mechanical part (2) comprises a magnet (21). This magnet comprises a number of magnetized zones (20). The number of magnetized zones (20) are all magnetized in the same vertical direction and with the same orientation (200). For any point P of the number of magnetized zones (20) of the magnet (21), the magnetization vector m → (→ is a superscript) always corresponds to the vector u zThe mechanical element (2) is characterized in that the surface of the magnetized zones facing the mechanical air gap (40) is provided with a tooth-shaped structure spaced apart by the same pitch (P2) and faces a second mechanical element (1). The second mechanical element (1) also has a magnet (11). This magnet (11) includes a plurality of magnetized zones (10). All of the magnetized zones (10) are magnetized in the same direction, and the surface of the magnetized zones (10) facing the mechanical air gap (40) is provided with two tooth groups with the same pitch P1. Ideally, these tooth groups are separated by an integer number of pitches P1 plus half a pitch. The magnetized zones in one tooth group have the same magnetization direction (101). The magnetization direction (101) is opposite to the magnetization direction (102) of the magnetized zones in the second tooth group. The two sets of teeth are magnetically out of phase by half a period, forming two pseudomagnetic periods. The significance of this is explained in the description of FIG. 2A. The magnetic ridge (15) located at the top of the moving part can advantageously be a sub-part of the magnet (11) and have the same magnetization as the sets of teeth located below. This magnetic alternation generated on the magnetic ridge (15) can be used as a magnetic field source for a magnetically sensitive position sensor that will be placed near the mechanical member (1). This constitutes an integrated solution at significantly reduced costs. The magnet (11) can be fully magnetized in a single step, providing the dual function of achieving a haptic effect interacting with the magnet (21) and providing position information for the moving mechanical member (1).

[0030] DETAILED DESCRIPTION OF AN ALTERNATIVE EMBODIMENT FIG. 7 shows an embodiment of the present invention with rotational actuation in three orthogonal directions. This embodiment can be considered a combination of three haptic devices like those shown in FIG. 1A. Each of the three devices consists of multiple tracks fixed, on the one hand, to a fixed mechanical member (2) and, on the other hand, to a movable mechanical member (1) attached to a user-activated control device. The first haptic device acts in a first direction and consists of tracks (13a) and (23a) magnetized according to the features of FIG. 1A. The second device, in a second actuation direction, consists of tracks (13b) and (23b). A final pair of toothed magnets (13c) and (23c) produces a haptic effect in a third direction. The multiple tracks (13a, 13b, 13c) pass through multiple magnetized zones (10) of magnet (11), and the multiple tracks (23a, 23b, 23c) pass through multiple magnetized zones (20) of magnet (21). All the magnetized zones of at least one of the plurality of magnetized zones (10, 20) are magnetized in the same direction. By analogy with the previously described embodiment, for any point P of the plurality of magnetized zones (10, 20) of the magnets (11, 21) that are all magnetized in the same direction, the vector OP → (→ is a superscript) is always collinear with the magnetization vector m → (→ is a superscript). The point O is the center of the spherical mechanical part (1, 2), and the magnetization vector m → (→ is a superscript) is always in the local coordinate system (u) specific to the point P. r →,u θ →,u φ It is expressed in spherical coordinates (m1, m2 = 0, m3 = 0) in the sphere → (→ is a superscript). m1 can vary but always has the same sign or is equal to 0.

[0031] FIG. 8 shows an embodiment similar to that shown in FIGS. 1A and 2A. This embodiment differs in that the mechanical member (1), i.e., the inner ring, has multiple magnetized zones (10) with alternating north and south poles and different angular pitches P1 and P2. The period Pt corresponds to a common harmonic of the periodic magnetization function of the inner ring with period P1 and the periodic magnetization function of the outer ring with period P2. One of the means used to control the amplitude of the haptic effect is to influence the amplitude of the harmonics of the magnetization function. In the illustrated case, the multiple magnetized zones (10) have alternating north and south poles with different widths; this has the effect of increasing the amplitude of even-order magnetization harmonics. Of course, any other means of controlling magnetization harmonics that would occur to one skilled in the art are contemplated, such as a specific design of the inductor or structuring of the magnetized zones.

[0032] Figure 9 shows an embodiment similar to that shown in Figure 1A, except that the magnetized zones (10) of the mechanical member (1) have alternating north and south poles. This embodiment is not limiting, and a configuration with an outer ring of alternating north / south poles and an inner ring of toothed monopole magnets is also possible.

[0033] Figure 10 shows an embodiment similar to that shown in Figure 2A. This embodiment differs in that the magnetized zones (10) of the mechanical member (1) are created by cutting teeth spaced apart by a pitch P1 in two semi-cylindrical sections (16, 17) with an arc-shaped cross section made of a magnetically soft ferromagnetic material and connected to a parallelepiped-shaped magnet (11). The magnet (11) is magnetized in a direction (100) determined by the plane of symmetry of two poles made of soft ferromagnetic material. The magnetized zones (20) of the movable mechanical member (2) are created by providing a structure in the form of teeth on the magnet (21) spaced apart by a pitch P2 and magnetized in the same radial direction (200) so as to generate the desired tactile frequency Pt. In this case, Pt = P1 = P2. A configuration in which the characteristics of the inner and outer rings are interchanged is also envisioned.

[0034] DETAILED DESCRIPTION OF AN ALTERNATIVE EMBODIMENT 11A and 11B show an alternative embodiment of the invention with rotational actuation. This embodiment differs from the embodiment shown in FIG. 2A in that the mechanical member (1) in the form of an inner ring has two axially superimposed thin wafers, each of which has a plurality of radially magnetized magnetized zones (10a) and (10b). Advantageously, the two thin wafers may be temporarily separated, and the plurality of magnetized zones (10a) of the first thin wafer may be out of phase with respect to the plurality of magnetic zones (10b) of the second thin wafer of the mechanical member (1). FIG. 11A shows a configuration in which the plurality of magnetized zones (10a) and (10b) are in antiphase. This configuration has the effect of minimizing the notching effect caused by magnetic interaction between the multiple magnetized zones (10a, 10b) and the multiple magnetized zones (20) of the mechanical member (2) when the mechanical members (1, 2) move relative to each other. In this embodiment, the multiple magnetized zones (10a and 10b) are mounted coaxially. Their phase shift is achieved by an arm (14) fixed to the first thin member containing the multiple magnetized zones (10a). The phase shift can be adjusted when the locking device (19) is released and the arm (14) is angularly movable. Meanwhile, the second thin member containing the multiple magnetized zones (10b) is held fixed relative to the tactile device by the locking device (19).

[0035] The presented phase shifting device is entirely mechanical, however, it can be imagined that it could be achieved by an electromagnetic actuator integrated into the mechanical member (1).

[0036] DETAILED DESCRIPTION OF AN ALTERNATIVE EMBODIMENT Figures 12A and 12B show a variant embodiment of the present invention with rotational and axial actuation. This embodiment differs from the embodiment shown in Figure 1A in that the mechanical member (1) has an additional degree of freedom in the axial direction. The cooperation of the multiple magnetized zones (10) of the mechanical member (1) and the multiple magnetized zones (20) of the second mechanical member (2) creates a stiffness effect during the relative axial movement of the two mechanical members (1 and 2). Figure 12A shows the axial configuration of the mechanical member (1) in which the axial restoring force between the two mechanical members (1, 2) is maximized, while Figure 12B shows a stable configuration in which the restoring force is zero. In the proposed variant, the second mechanical member (2) is fixed, and the first mechanical member (1) can move in an axial rotational direction by means of an actuation interface (105). The actuation interface (105) is fixed to the mechanical member (1) and is in the form of an axial cylindrical protrusion. On the opposite side of the actuation interface (105), the mechanical member (1) has two magnetic protuberances (15, 25). The first magnetic protuberance is annular in shape. The second magnetic protuberance is cylindrical in shape and is housed therein. These two protuberances cooperate with respective magnetic sensing probes (30, 31). The first magnetic sensing probe (30) cooperates with the magnetic protuberance (15) having diametric or rotational magnetization to measure the relative rotational displacement of the two mechanical members (1 and 2). The second magnetic sensing probe cooperates with the magnetic protuberance (25) having axial magnetization to measure the relative axial displacement between the two mechanical members (1 and 2). Axial displacement with an elastic return associated with the detection of said displacement may enable the selection button function to be performed.

[0037] Of course, this variant with axial displacement is not limited to the embodiment based on the embodiment presented in FIG. 1A, but extends to all versions of notching devices that can be combined with those in the art.

[0038] The detection of the axial position does not necessarily require the addition of a second magnet and a second probe, since a person skilled in the art can configure the magnetically sensitive probe (30) in a particular way and select the appropriate magnetization of the magnetic protuberance (15) so that the angular and axial displacement information is obtained by this single sensor. The version with two sensors simply provides an improved resolution for the measurement of said displacement.

[0039] Finally, it is not necessary for the same mechanical member to have both rotational and axial translational degrees of freedom. Those skilled in the art can imagine one mechanical member having only axial movement and another having only rotational movement. In this case, those skilled in the art will know how to correctly configure the magnet(s) cooperating with the magnetically sensitive probe(s) to measure the various displacements.

[0040] It should be noted that the notching effect decreases with axial misalignment of the two mechanical members (1, 2); this configuration could be used to create different tactile sensations, a notching mode when the mechanical members (1, 2) are axially aligned, and a non-notching mode (called freewheel) when the mechanical members (1, 2) are misaligned.

[0041] DETAILED DESCRIPTION OF AN ALTERNATIVE EMBODIMENT Figure 13 shows an alternative embodiment of the present invention with rotational actuation. This embodiment differs from the embodiment shown in Figure 1A in that the magnetized zones (10) of the mechanical member (1) have a magnetization direction (100) opposite to that of the magnetized zones (20) of the second mechanical member (2). Thus, a position of angular magnetic equilibrium between the two mechanical members (1, 2) is achieved when the magnetized zones (10, 20) are in antiphase. This configuration also exhibits axial magnetic instability. This effect could be exploited to obtain an alternative repulsion version of the device shown in Figures 12A and 12B.

[0042] DETAILED DESCRIPTION OF AN ALTERNATIVE EMBODIMENT Figure 14 shows a variant embodiment of the invention with rotational and axial actuation. This embodiment differs from the embodiment shown in Figure 1A in that the magnetized zones (10, 20) are made in the form of non-protruding teeth, i.e. the corners (18, 28) have teeth that are not sharp and have teeth with a gradual contraction in the radial direction, for example forming fillets or chamfers. The shape of these corners (18, 28) makes it possible to shape the torque profile obtained during the relative movement of the two mechanical members (1, 2), and thus to personalize the haptic rendering. [Brief explanation of the drawings]

[0043] [Figure 1A] 1 is a cross-sectional view of a device according to a first rotary embodiment of the present invention. [Figure 1B] 1B is a simulation of magnetic induction in a mechanical air gap of a mechanical member of the device shown in FIG. 1A. [Figure 2A] FIG. 10 is a cross-sectional view of a device according to a second rotary embodiment of the present invention. [Figure 2B] 2C is a simulation of magnetic induction in the mechanical air gap of the external member shown in FIG. 2B. [Figure 3] FIG. 10 is a partial cross-sectional view of an apparatus according to a third rotary embodiment of the present invention. [Figure 4] 1 is a perspective view of a device according to a rotary embodiment of the present invention having an axial coupling; FIG. [Figure 5] FIG. 1 is a rear perspective view of a position detection system for a device according to a rotary embodiment of the present invention. [Figure 6] 1 is a perspective view of an apparatus according to a linear embodiment of the present invention; [Figure 7] FIG. 1 is a perspective view of a device according to a spherical embodiment of the present invention. [Figure 8] FIG. 10 is a cross-sectional view of a device according to a fourth rotary embodiment of the present invention. [Figure 9] FIG. 10 is a cross-sectional view of a device according to a fifth rotary embodiment of the present invention. [Figure 10] FIG. 10 is a partial cross-sectional view of an apparatus according to a sixth rotary embodiment of the present invention. [Figure 11A] FIG. 10 is a perspective view of an apparatus according to a seventh rotary embodiment of the present invention. [Figure 11B] FIG. 10 is a perspective view of an apparatus according to a seventh rotary embodiment of the present invention. [Figure 12A] FIG. 10 is a perspective view of an apparatus according to an eighth rotary embodiment of the present invention. [Figure 12B] FIG. 10 is a perspective view of an apparatus according to an eighth rotary embodiment of the present invention. [Figure 13] FIG. 13 is a partial cross-sectional view of an apparatus according to a ninth rotary embodiment of the present invention. [Figure 14] FIG. 19 is a partial cross-sectional view of an apparatus according to a tenth rotary embodiment of the present invention.

Claims

1. a first mechanical member (1) moving relative to a second mechanical member (2); a first said mechanical member (1) comprising a magnet (11) and a first plurality of magnetized zones (10) periodically spaced apart according to a pitch P1; the second said mechanical member (2) comprises a second magnet (21) and a second plurality of magnetized zones (20) periodically spaced apart according to a pitch P2; a force that varies periodically as a function of the relative positions of the mechanical members (1, 2) is generated by magnetic interaction between the mechanical members (1, 2); In a passive tactile device, the magnetic interaction varies according to a period Pt, A passive tactile device, characterized in that all magnetization zones of said plurality of magnetization zones of at least one mechanical member of said plurality of mechanical members (1, 2) are magnetized in the same direction.

2. 2. A passive tactile device according to claim 1, characterized in that the first and second plurality of magnetized zones (10, 20) are integral parts of the first and second magnets (11, 21), respectively.

3. 2. A passive tactile device according to claim 1, characterized in that at least one of the magnetized zones (10, 20) is made of a soft ferromagnetic material and is magnetized by the magnet (11, 21) integrated in its mechanical member (1, 2).

4. 2. A passive haptic device according to claim 1, characterized in that the mechanical members (1, 2) are capable of translational movement relative to one another.

5. 2. A passive haptic device according to claim 1, characterized in that the mechanical members (1, 2) have the shape of rings and are capable of relative rotational movement.

6. 4. A passive tactile device according to claim 3, characterized in that the magnetized zones (10, 20) of the annular mechanical members (1, 2) are radially magnetized in either a centrifugal or a centripetal direction.

7. the magnetized zones (10, 20) of at least one of the annular mechanical members (1, 2) are magnetized in the same direction according to a Cartesian coordinate system; At least one of the annular mechanical members (1, 2) has two sets of teeth with the same pitch, The teeth are separated by a non-integer number of pitches.

4. A passive tactile device according to claim 3.

8. 2. A passive haptic device according to claim 1, characterized in that the mechanical members (1, 2) have the shape of a disk and are capable of relative rotational movement.

9. 2. A passive haptic device according to claim 1, characterized in that the first movable mechanical member (1) comprises a magnetic support (22) capable of rotational movement around three orthogonal axes.

10. The passive tactile device according to any one of claims 1 to 9, wherein the pitch P1 is the same as the pitch P2.

11. A passive tactile device as described in any one of claims 1 to 10, characterized in that the air gap (40) located between the first mechanical member (1) and the second mechanical member (2) is free of soft ferromagnetic material.

12. said moving mechanical members (1, 2) have protuberances (15, 25) in the form of magnets, A passive tactile device according to any one of claims 1 to 11, characterized in that the magnetic field of the protuberances (15, 25) is intended to be measured by a magnetically sensitive probe (30) so as to provide information about the position of the moving mechanical member (1, 2).

13. A passive tactile device according to claim 12, characterized in that the ridges (15, 25) and the magnets (11, 21) are made in one and the same part.

14. A passive tactile device according to claim 12 or 13, characterized in that the bumps (15, 25) and the magnets (11, 21) are magnetized in the same direction and orientation.

15. A passive tactile device according to any one of claims 1 to 14, characterized in that at least one magnet of the plurality of magnets (11, 21) is manufactured by injecting a plastic material filled with magnetic powder.

16. A passive tactile device according to any one of the preceding claims, characterized in that at least one magnet of the plurality of magnets (11, 21) is made from a sintered magnet.

17. The plurality of mechanical members (1, 2) have relative displacement in at least two directions; the relative displacement in a first direction causes the force to vary periodically; The passive haptic device of claim 1 , wherein the relative displacement in the second direction produces a continuously varying force.

18. The first mechanical member (1) has a plurality of magnetized zones (10a) and a plurality of magnetized zones (10b), Both the plurality of magnetized zones (10a) and the plurality of magnetized zones (10b) are periodically spaced apart according to the pitch P1; 2. A passive tactile device according to claim 1, characterized in that the amplitude of the force that varies periodically as a function of the relative position of the mechanical members (1, 2) is modulated by phase shifting the magnetized zones (10a) with respect to the magnetized zones (10b).

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