公开(公告)号：US20150169060A1

公开(公告)日：2015-06-18

申请号：US14405634

申请日：2013-06-05

申请人： Commissariat à I'énergie atomique et aux énergies alternatives

发明人： Charles Hudin ,  Vincent Hayward ,  José Lozada ,  Michaël Wiertlewski

IPC分类号： G06F3/01

CPC分类号： G06F3/016

摘要： Tactile stimulation interface comprising a support (2), a flexible surface suspended on the support (2) intended to be tactilely explored by an operator, actuators (6) intended to apply a force on the flexible surface (4) and means for controlling the actuators (6), the actuators being located on the contour of the flexible surface. The control means are intended to send, to the actuators (6), signals corresponding to the forces to be applied to the flexible surface (4) according to the tactile stimulation to be generated on the flexible surface (4), the forces being determined by a time-reversal method. The surface (4) comprises at least one sufficiently flexible area, for example of Mylar®, in order for the propagation speed of the waves thus generated to be slow enough to reach sufficiently short wavelengths at low frequencies, thereby substantially improving focusing at resolutions compatible with tactile stimulation.

摘要翻译： 触觉刺激界面包括支撑件（2），悬挂在支撑件（2）上的用于由操作者触觉地探测的柔性表面，用于在柔性表面（4）上施加力的致动器（6）和用于控制 致动器（6），致动器位于柔性表面的轮廓上。 控制装置旨在根据在柔性表面（4）上产生的触觉刺激向致动器（6）发送对应于施加到柔性表面（4）的力的信号，所确定的力 通过时间反转的方法。 表面（4）包括至少一个足够柔性的区域，例如Mylar，以便由此产生的波的传播速度足够慢，以便在低频下达到足够短的波长，从而基本上改善了与分辨率兼容的聚焦 用触觉刺激。

公开(公告)号：US20180314375A1

公开(公告)日：2018-11-01

申请号：US15770879

申请日：2016-10-31

申请人： Commissariat à I'Énergie Atomique et aux Énergies Alternatives

发明人： Charles Hudin ,  Steven Strachan

IPC分类号： G06F3/041 ,  G01B7/004

CPC分类号： G06F3/0414 ,  G01B7/004 ,  G01L5/22 ,  G06F3/0416

摘要： A system for detecting an application of pressure on a surface of an object, comprising a support of the object equipped with at least one sensor of force and of torque, and a processing unit configured to calculate, on the basis of the measurements of the at least one force and torque sensor, the coordinates of a straight line in space passing through a point of application of pressure on the surface of the object. The processing unit determines, by use of a ray-tracing calculation, whether an elementary facet of a geometric model of the surface of the object representing the surface according to a mesh of elementary facets intercepts the straight line passing through the point of application of pressure.