Commissariat &#xc0; L'&#xc9;nergie Atomique Et Aux &#xc9;nergies Alternatives

Edouard Leroy

Moustapha Hafez

Christian Bolzmacher

Laurent Eck

Gwenael Changeon

José Lozada

Adao Delehelle

A haptic interface with at least two degrees of freedom including at least one element for interacting with a user, at least two passive brakes each extending along an axis, each of the brakes being capable of exerting a resistive force about its axis, the forces being controllable, measurement means for measuring a position of the element for interacting with a user, detection means for detecting the force applied on the element for interacting with the user, a control unit capable of sending commands to the brakes depending on information on the position of the element for interacting with the user and on the force applied on the element for interacting with the user, such that said passive brakes generate resistive forces according to at least one given haptic pattern.

Haptic interface with at least two degrees of freedom having an intention detector

A haptic device with ultrasonic actuation, including: a support, a user-interaction element movable at least in rotation and/or translation relative to the support, a first contact surface that moves as one with the interaction element, a second contact surface that moves as one with the support, resonators, and a control unit that excites the resonators at at least one resonance frequency, generating a vibration mode in a plane and an ultrasonic lubrication phenomenon between the first contact surface and the second contact surface.

Haptic device using vibration-based lubrication

An ultrasonic motor comprising a rotor () having an at least partly spherical shape and two actuators (') each comprising an element of plate-shaped piezoelectric material comprising at least one contact edge (&#x2032;) in contact with the rotor (), said actuators (&#x2032;) also comprising on one of their faces electrodes intended to bias piezoelectric materials in a bending mode and in a longitudinal mode. The contact edges (&#x2032;) are concave and are formed by an arc of circle the radius of which substantially corresponds to the radius of the surface of the rotor (), said arcs of circle angularly extending at a determined angle such that the bending mode and the longitudinal mode in which the piezoelectric material is biased are at the same frequency.

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Paris, France

Edouard Leroy