Improved haptic controller

Abstract

The invention relates to a haptic controller (1) comprising - a base (2) - a plurality of actuators (3) arranged so as to be aligned in a main direction, each actuator (3) being mounted so as to be able to move relative to the base (2), each actuator comprising an upper face suitable for being actuated by a user, the haptic controller (1) comprising a continuous membrane extending in the main direction so as to at least partially cover the upper face of each actuator of the plurality of actuators arranged so as to be aligned in the main direction, the haptic controller (1) comprising a plurality of sensors suitable for measuring the movement of each actuator, and a processing unit suitable for delivering a signal according to the movement of the actuators measured by the plurality of sensors.

Description

IMPROVED HAPTIC CONTROLLER Technical Field

[0001] This presentation concerns the field of controllers used in the musical field, and in particular concerns devices of the keyboard type or of the electronic drum or pad type commonly referred to as "electronic pad". Previous technique

[0002] Haptic controllers are commonly used in the music industry, particularly because of their ability to control and generate multiple and varied sounds and signals. Different types of controllers are available for specific applications.

[0003] However, this equipment is commonly limited to a specific application.

[0004] We therefore seek here to offer a controller allowing a wide range of use, with varied applications while maintaining a simple structure and a small footprint. Description of the invention

[0005] This presentation concerns a haptic controller comprising: - a base - a plurality of actuators arranged in alignment along a principal direction, each actuator being mounted movable relative to the base, each actuator comprising an upper face adapted for operation by a user, said haptic controller comprising a continuous membrane extending along the principal direction so as to at least partially cover the face upper of each actuator of said plurality of actuators arranged aligned along the principal direction, said haptic controller comprising a plurality of sensors adapted to measure the displacement of each actuator, and a processing unit adapted to deliver a signal as a function of the displacement of the actuators measured by said plurality of sensors, the continuous membrane typically exhibits a rigidity such that a pressure greater than or equal to a threshold pressure value applied to an actuator causes a displacement of at least one adjacent actuator along the principal direction, the processing unit is typically adapted to perform an interpolation of the measurements taken by the sensors to determine the point of application of a force on the membrane.

[0006] As an example, a continuous membrane is a membrane made of fabric, neoprene, silicone, rubber, or thermoplastic elastomer.

[0007] The processing unit is typically adapted to modulate the interpolation based on the speed and / or acceleration of the actuators, and / or based on the pressure applied to the membrane and its depth.

[0008] According to one example, the processing unit is adapted to deliver a signal based on the displacement and acceleration of the actuators measured by said plurality of sensors, and / or based on the pressure applied to the membrane and its indentation.

[0009] As an example, the processing unit is adapted to distinguish the application of a continuous load on the membrane from the application of a discrete load on a portion of the upper surface of the actuator not covered by the membrane.

[0010] According to one example, the processing unit is adapted to identify a direction of movement of a point of application of force on the continuous membrane, and to deliver a signal according to said direction of movement.

[0011] In one example, each actuator has a connecting portion, an intermediate portion, and a free portion. the linking portion is connected to the base via linking means, the continuous membrane extends over all or part of the intermediate portion of each actuator of said plurality of actuators arranged aligned along the main direction.

[0012] In one example, each actuator is connected to the base by means of linkage allowing a rotational and / or translational movement of each actuator relative to the base.

[0013] According to one example, said continuous membrane is removably mounted on the intermediate portion of the actuators, and extends continuously over the intermediate portion of all the actuators of said plurality of actuators arranged aligned along the main direction.

[0014] As an example, the haptic controller comprises several pluralities of actuators, each plurality of actuators comprising several actuators aligned along the main direction. Brief description of the drawings

[0015] The invention and its advantages will be better understood upon reading the detailed description below of various embodiments of the invention, given by way of non-limiting examples. This description refers to the accompanying figure pages, on which:

[0016] [Fig. 1] Figure 1 represents an example of a device according to one aspect of the invention;

[0017] [Fig. 2] Figure 2 represents another example of a device according to one aspect of the invention;

[0018] [Fig. 3] Figure 3 represents a cross-sectional view of an example of a device according to one aspect of the invention;

[0019] [Fig. 4] Figure 4 shows a cross-sectional view of another example of a device according to one aspect of the invention;

[0020] [Fig. 5] Figure 5 represents a cross-sectional view of another example of a device according to one aspect of the invention;

[0021] [Fig. 6] Figure 6 represents another example of a device according to one aspect of the invention.

[0022] Across all figures, identical elements are identified by common numerical references. Description of the implementation methods

[0023] Various examples of haptic controllers according to the invention are described with reference to the figures.

[0024] Figure 1 presents a first embodiment of haptic controller 1 according to the invention.

[0025] Figure 0n represents a device 1 comprising a base 2 and a plurality of actuators 3.

[0026] These actuators 3 are arranged here to define several lines or rows extending along a main direction X.

[0027] Each actuator 3 has an upper face 31 projecting or flush with an upper face of the base 2, and adapted to be operated by a user, in particular by applying pressure.

[0028] In the example illustrated in Figure 1, device 1 comprises three rows of actuators 3, each row containing several actuators 3 aligned along the principal direction X. These rows are offset along a transverse direction Y, perpendicular to the principal direction X. It is understood that this example is not limiting, and that the device may comprise one or more rows of actuators 3 aligned along the principal direction X. A vertical direction is also defined, perpendicular to the plane defined by the principal direction X and the transverse direction Y.

[0029] The rows of actuators can be identical or distinct, particularly in terms of the number of actuators, the dimensions of the actuators for each row, or the type of actuators.

[0030] Each actuator 3 is mounted movable relative to the base 2 via connecting means, in particular connecting means ensuring a pivot connection between each actuator 3 and the base 2, or a translational movement between each actuator 3 and the base 2, or more generally any movement allowing movement of the upper face 31 of the actuator 3 relative to the base 2 when pressure is applied to said upper face 31, typically applied in the vertical direction Z.

[0031] Figure 2 illustrates another example of an embodiment of haptic controller 1 according to the invention.

[0032] In this embodiment, the actuators 3 form a keyboard of the piano keyboard type.

[0033] We thus distinguish an alternation of two types of actuators 3 of distinct dimensions and shapes, these actuators being aligned along the main direction X and each having an elongated shape along a transverse direction Y perpendicular to the main direction X.

[0034] The actuators 3 are typically connected to the base 2 by a connecting portion 32 extending from a first end of each actuator 3, opposed to a free portion 34 extending from a free end of each actuator 3. An intermediate portion 33 is arbitrarily defined between the connecting portion and the free portion.

[0035] In such a configuration similar to a piano keyboard, the free portion 34 defines the portion of the piano keys intended to be operated by the user for use of the device as a piano or synthesizer by a user positioned in front of the device, in front of the free portions 34 of the actuators 3.

[0036] As shown in Figures 1 and 2, the device comprises one or more membranes 4 positioned so as to cover at least partially the upper face of each actuator 3 of a row of actuators 3. In the case where the device comprises several rows of actuators, all or part of the rows of actuators may be provided with such a membrane 4. The membranes 4 may be mounted in a removable manner, thus allowing simplified replacement of the membranes 4.

[0037] Membranes can, for example, be made of fabric, neoprene, silicone, rubber or thermoplastic elastomer.

[0038] In the example shown in Figure 1, each row of actuators includes a membrane partially covering all the actuators in the row. In this example, each membrane 4 covers approximately half of the upper face of each actuator.

[0039] In the example illustrated in Figure 2, the row of actuators defining the keys includes a membrane partially covering all the actuators in the row. In the illustrated embodiment, the membrane 4 covers the intermediate portion 33 of the actuators 3. It is understood that this embodiment is not limiting, and that the membrane can also be positioned on another portion of the actuators 3, in particular a "rear" portion near the connection with the base 2, or a "front" portion, for example at the free end of the actuators 3, or even on an additional portion of each actuator 3, for example a flat portion positioned below the upper face 31 of the actuators 3 in the vertical direction Z, thus defining a second level for the actuators 3 as will be schematically represented later with reference to Figure 4.

[0040] Figure 3 shows an example of a connection between an actuator 3 and the base 2.

[0041] In the illustrated example, the actuator has an elongated shape, and is connected by its link portion 32 to the base 2.

[0042] The linking portion 32 includes linking means 320 adapted to allow movement of the actuator 3 relative to the base 2, typically according to a rotational movement and / or one or more translational movements.

[0043] According to one example, the linking means 320 are adapted to allow translation along the vertical direction Z and / or rotation around an axis extending along the principal direction X. The linking means can also allow translation along the principal direction X, which makes it possible to obtain a vibrato effect, i.e. a lateral translation effect of the actuator 3, typically of low amplitude.

[0044] Figure 4 shows a variant of Figure 3, in which the actuator 3 has a front section 35 forming a platform positioned below the upper face 31 of the actuator 3, and on which the membrane 4 is positioned. This embodiment thus makes it possible to define an actuation zone by means of the membrane 4 positioned towards the front of the device. Figure 6 illustrates a variant of Figure 2 with such actuators 3 and such a membrane 4. It is understood that for such an embodiment, in the case of a device with a piano keyboard configuration, the membrane 4 may only extend over a portion of the actuators 3, namely the actuators having a free end extending to the front part of the device.

[0045] Figure 5 presents another variant of Figure 3, in which the connecting portion 32 has a flat surface extending from the intermediate portion 33, and thus covering the connecting means 320. The membrane 4 can thus be positioned on this flat surface of the connecting portion 32.

[0046] These different embodiments can be combined; the device can have several membranes extending over different areas of the actuators 3.

[0047] In the different embodiments, the actuators 3 can thus be manipulated by a user in order to cause a movement of the actuator 3 in a direction which is described as a sinking.

[0048] In the illustrated example, this movement in the direction of penetration is damped by a damping element 5 positioned between each actuator 3 and the base 2. Device 1 thus typically includes as many damping elements 5 as actuators 3.

[0049] The various damping elements 5 can be separate, or grouped into sub-assemblies connected by a base or tab. For example, all or part of the damping elements 5 can be made in a single piece, the various damping elements 5 being connected by a tab or bar extending along the principal direction X.

[0050] In the example shown, the damping elements 5 are positioned below the free portion 34 of the actuators 3. In the illustrated example, a lower face of each actuator 3, opposite the upper face 31, includes a protrusion 36 having a free end adapted to come into contact with the associated damping element 5.

[0051] For each damping element 5, an initial configuration is defined, corresponding to the shape of the damping element in the absence of deformation, typically when no force is applied to the associated actuator 3, and a final configuration, corresponding to the maximum deformation of the damping element 5 during the movement of the associated actuator 3. This final configuration can, for example, be determined by a stop associated with the actuator 3. Such a structure of damping elements is notably presented in document W02020016536, to which reference may be made when reading this patent application. As presented in this document, the damping elements 5 can be configured to define variable damping profiles depending on the degree of penetration of the actuator 3 and therefore on the degree of compression of the damping element 5.

[0052] The damping element 5 typically comprises a body 51 made of a deformable material, for example silicone or an elastomeric material, having a general cylindrical shape. The body 51 typically has at least one recess, or two separate recesses 55 and 57 with distinct shapes, said recesses typically being through and superimposed in the direction defined by the compression movement of the actuator 3.

[0053] The shape and structure of the damping elements 5 can be modulated according to the desired damping effect.

[0054] More generally, each actuator 3 may include return means or any other suitable element to ensure that the actuators 3 return to an initial position when not activated by a user. The damping elements 5 as shown can thus be replaced by any suitable means, including springs, or means resulting from the structure of the connecting means 320 that can perform this return function.

[0055] Device 1 typically includes a plurality of sensors adapted to measure the rotational and translational displacement of actuators 3 and deliver a signal as a function of this displacement.

[0056] The sensors can, for example, be magnetic sensors coupled to a magnetic element such as a magnet positioned on each actuator 3. The sensors can also be sensors measuring the force applied to the associated actuator 3.

[0057] In the example shown in Figures 3 to 5, each actuator 3 includes a measuring portion 37 extending from the lower surface of the actuator 3. The measuring portion 37 comprises a flat surface which may, for example, be provided with visual markers such as graduations or indentations. The base 2 includes an optical sensor 23 positioned opposite each measuring portion 37, in order to measure the displacement of the measuring portion 37 and thus the displacement of the actuator 3. The actuators 3 may also have a reflective surface, which allows, with the help of an optical sensor, the displacement of the tactile portion 3 of the actuator 3 to be measured. Other types of sensors may be used, in particular magnetic or capacitive sensors, the actuators 3 then having, where appropriate, a measuring portion 37 equipped with suitable additional means.

[0058] In general, device 1 includes a set of sensors adapted to provide information relating to the movement of actuator 3 relative to base 2, this information potentially including the position of each actuator 3 at a given instant, as well as the speed of movement of each actuator 3, and its acceleration.

[0059] Device 1 may also include a computer 6, or more generally a processing unit 6, adapted to correlate the movement of actuators 3 with predetermined gestures such as musical gestures. Device 1 can then modulate the output signal based, in particular, on the speed and acceleration of each actuator 3 during its movement, in addition to its position.

[0060] Device 1 as proposed aims to allow different modes of use by a user.

[0061] A first mode of use corresponds to a conventional use of such a device, in which the user applies a variable force to the different actuators 3 to actuate them individually. The user then applies a discrete force to the different actuators 3.

[0062] A second mode of use is made possible by the positioning of the membrane 4 on the actuators 4. The user can indeed apply a continuous force on different actuators, by moving a support point on the membrane 4.

[0063] Applying a force to the membrane 4 will indeed cause a force to be applied to one or more actuators 3 at the point of application of the force, but also to the adjacent actuators 3 depending in particular on the rigidity of the membrane 4. The membrane 4 is typically configured so as to define a threshold value of force from which the application of a force will cause the application of the force to the actuator 3 positioned at the point of application, and also to at least one adjacent actuator 3.

[0064] These two modes of use can be combined, and can thus be used independently or simultaneously.

[0065] The processing unit 6 is particularly suited to process a signal resulting from a user applying force to membrane 4 or directly on the actuators 3 (i.e. on an area of ​​an actuator 3 not covered by the membrane 4).

[0066] The processing unit 6 can be adapted to detect the point of application of a force on the membrane 4, typically based on the resulting displacement on a group of adjacent actuators 3. The processing unit 6 is thus typically configured to interpolate sensor data to determine the applied force, its magnitude, and its location on the membrane 4, including the coordinates of a point of application of the force along the principal X direction and along the transverse Y direction.

[0067] The processing unit 6 is thus typically configured to determine the direction of movement of a point of application of a force on the membrane 4.

[0068] The processing of data relating to the movement of actuators 3 by the processing unit can be modulated according to the measured values, in particular according to the speed and acceleration values ​​of actuators 3.

[0069] As an example, the accuracy of the processing is reduced depending on the measured speed and / or acceleration value.

[0070] The processing unit 6 is thus typically configured to detect and differentiate between these two modes of use. In particular, the processing unit 6 is typically configured to distinguish between a mode of use in which the actuators 3 are subjected to discrete forces and a mode of use in which a continuous sliding effect is applied between several actuators.

[0071] Indeed, applying a continuous force to the diaphragm 4 results in the application of a pressure profile to the actuators 3, which can be characterized, in particular in terms of the amplitude of pressure exerted, the continuity of the application between adjacent buttons, and by the fact that the application of a Force on the membrane 4 will cause a force on a plurality of actuators 3 depending on the stiffness of the membrane 4.

[0072] Device 1, as presented, thus offers different modes of use while maintaining a simple device structure. In particular, the proposed device 1 allows for a second mode of use for devices offering conventional operation with discrete activation of the actuators 3, through the addition of a membrane 4 to a potentially underutilized portion of the actuators 3 and an adaptation of the processing unit 6 so that it can identify and process the different modes of use, and thus deliver an output signal that takes into account the various effects applied to the actuators 3 by a user.

[0073] Although the present invention has been described with reference to specific embodiments, it is evident that modifications and changes can be made to these examples without departing from the general scope of the invention as defined by the claims. In particular, individual features of the various embodiments illustrated / mentioned can be combined in additional embodiments. Therefore, the description and drawings should be considered in an illustrative rather than restrictive sense.

[0074] It is also evident that all the characteristics described with reference to a process are transposable, alone or in combination, to a device, and conversely, all the characteristics described with reference to a device are transposable, alone or in combination, to a process.

Claims

Demands

1. Haptic controller (1) comprising - a base (2) - a plurality of actuators (3) arranged aligned along a principal direction (X), each actuator (3) being mounted movable relative to the base (2), each actuator (3) comprising an upper face (31) adapted to be operated by a user, said haptic controller (1) comprising a continuous membrane (4) extending along the principal direction (X) so as to partially cover the upper face (31) of each actuator (3) of said plurality of actuators (3) arranged aligned along the principal direction (X), said haptic controller (1) comprising a plurality of sensors (23) adapted to measure the displacement of each actuator (3), and a processing unit (6) adapted to deliver a signal as a function of the displacement of the actuators (3) measured by said plurality of sensors (23),in which the membrane (4) has a rigidity such that a pressure greater than or equal to a threshold pressure value applied to said membrane (4) causes a displacement of at least two actuators (3) adjacent to each other in the principal direction (X), and in which the processing unit (6) is adapted to perform an interpolation of the measurements taken by the sensors (23) to determine the point of application of a force on the membrane (4).

2. Haptic controller (1) according to claim 1, wherein the membrane (4) is a membrane made of fabric, neoprene, silicone, rubber or thermoplastic elastomer.

3. Haptic controller (1) according to claim 1 or 2, wherein the processing unit (6) is adapted to modulate interpolation based on the speed and / or acceleration of the actuators (3).

4. Haptic controller (1) according to any one of claims 1 to 3, wherein the processing unit (6) is adapted to deliver a signal as a function of the displacement and acceleration of the actuators (3) measured by said plurality of sensors (23).

5. Haptic controller (1) according to any one of claims 1 to 4, wherein the processing unit (6) is adapted to distinguish the application of a continuous stress on the membrane (4) from the application of a discrete stress on a portion of the upper face (31) of the actuator (3) not covered by the membrane (4).

6. Haptic controller (1) according to any one of claims 1 to 5, wherein the processing unit (6) is adapted to identify a direction of movement of a point of application of force on the membrane (4), and to deliver a signal as a function of said direction of movement.

7. Haptic controller (1) according to any one of claims 1 to 6, in which each actuator (3) has a connecting portion (32), an intermediate portion (33) and a free portion (34), the connecting portion (32) is connected to the base (2) via connecting means (320), the membrane (4) extends over all or part of the intermediate portion (33) of each actuator (3) of said plurality of actuators (3) arranged aligned along the main direction (X).

8. Haptic controller (1) according to claim 7, wherein each actuator (3) is connected to the base by linkage means (320) allowing a rotational and / or translational movement of each actuator (4) relative to the base (2).

9. A haptic controller (1) according to any one of claims 7 or 8, wherein said membrane (4) is removably mounted on the intermediate portion (33) of the actuators (3), and extends continuously over the intermediate portion (33) of all the actuators (3) of said plurality of actuators arranged aligned along the principal direction (X).

10. A haptic controller (1) according to any one of claims 1 to 9, comprising several pluralities of actuators, each plurality of actuators comprising several actuators (3) aligned along the principal direction (X).

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