Haptic device for vibrating a control stick

• US 10,317,928 B2
• Filed: 04/26/2017
• Issued: 06/11/2019
• Est. Priority Date: 04/26/2016
• Status: Active Grant

• Current Assignee: Airbus Helicopters
• Original Assignee: Airbus Helicopters
• Inventors: Izzo, Pascal
• Primary Examiner(s): MacArthur, Victor L
• Application Number:
  US15/497,457
• Publication Number:
  US 20170308113A1
• Time in Patent Office: 776 Days
• CPC Class Codes: B06B 1/0207 Driving circuits specially adapted for particular applications, see the relevant subclass, e.g. G01; circuits for steering transducer arrays G10K11/34; basic circuits H03
• CPC Class Codes: B06B 1/0648 of rectangular shape
• CPC Class Codes: B64C 13/0421 control sticks for primary flight controls
• CPC Class Codes: B64C 13/12 Dual control apparatus
• CPC Class Codes: G05G 2009/04766 providing feel, e.g. indexing means, means to create counterforce
• CPC Class Codes: G05G 2009/04774 with additional switches or sensors on the handle
• CPC Class Codes: G05G 5/03 Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce arrangements for indicating the position of the controlling member G05G1/015
• CPC Class Codes: G05G 5/05 Means for returning or tending to return controlling members to an inoperative or neutral position, e.g. by providing return springs or resilient end-stops G05G5/28 takes precedence
• CPC Class Codes: G05G 9/047 the controlling member being movable by hand about orthogonal axes, e.g. joysticks for switches H01H25/04

Abstract

A haptic device comprising a base and at least one shaker branch. Said at least one branch is connected to the base by mobility means conferring a degree of freedom on the branch to move in rotation about a pivot axis relative to the base. An exciter member comprises electrical exciter means configured to cause said at least one branch to shake by moving in rotation about the pivot axis from a rest position to an activated position, and resilient return means tending to maintain each branch in the corresponding rest position.

Claims

1. A haptic device for vibrating a segment of a control stick on command, wherein the haptic device comprises:

a base;

a mass assembly comprising at least one shaker branch that shakes to vibrate the segment of the control stick, the at least one branch includes (i) a root connected to the base and (ii) a free end, the at least one branch extending from the root towards the free end circumferentially over at least 45 degrees around a central axis, the central axis being configured in a mounted position to coincide with a middle axis along which the segment of the control stick extends, the root of each branch being connected to the base by respective mobility means conferring a degree of freedom on the branch to move in rotation about a pivot axis, the pivot axis being distinct from the central axis;

electrical exciter means configured to generate a force to cause the at least one branch to shake by moving in rotation about the pivot axis from a rest position to an activated position; and

resilient return means tending to maintain each branch in the corresponding rest position, wherein the resilient return means and the mobility means are separate elements.

2. The haptic device according to claim 1, wherein the mobility means comprise a pivot.

3. The haptic device according to claim 1, wherein the mobility means comprise a spring blade.

4. The haptic device according to claim 1, wherein the at least one branch comprises a single branch extending around the central axis over at least 270 degrees.

5. The haptic device according to claim 4, wherein the resilient return means extend between the single branch and a plate of the base.

6. The haptic device according to claim 1, wherein the at least one branch includes two branches with an airgap lying transversely between the free ends of the two branches, the electrical exciter means causing the two branches to move in two opposite directions.

7. The haptic device according to claim 6, wherein the base includes a rod, a first plate, and a second plate, the rod extending along a transverse axis transversely from the first plate to the second plate, the two branches being respectively connected by the respective mobility means to the first plate and the second plate.

8. The haptic device according to claim 6, wherein the resilient return means extend between the two branches.

9. The haptic device according to claim 1, wherein each branch presents at least one abutment member configured to limit a shaking of the branch in one direction by shape interference with the base.

10. The haptic device according to claim 9, wherein the root includes at least one of the following abutment members:

a transverse abutment member projecting from the root extending parallel to a transverse direction, a longitudinal gap lying between the transverse abutment member and the base, at least in the rest position or in the activated position; and

a longitudinal abutment member projecting from the root extending perpendicularly to the transverse direction, a transverse gap lying between the longitudinal abutment member and the base at least in the rest position or in the activated position.

11. The haptic device according to claim 1, wherein the electrical exciter means comprise an electric coil.

12. The haptic device according to claim 11, wherein the electric coil is arranged around a rod of the base.

13. The haptic device according to claim 1, wherein the electrical exciter means comprise a piezoelectric bar connected to the at least one branch.

14. A control assembly comprising a control stick and a haptic device, wherein the haptic device is the device according to claim 1, the haptic device being fastened to the exterior of the segment of the control stick, each branch extending circumferentially around the exterior of the segment of the control stick;

and

wherein when shaken by the electrical exciter means to move in rotation about the pivot axis from the rest position to the activated position the at least one branch shakes against the exterior of the segment of the control stick to thereby cause the segment of the control stick to vibrate.

15. An aircraft, wherein the aircraft includes the control assembly according to claim 14.

16. The haptic device according to claim 1, wherein the at least one branch is in a plane and when shaken moves in rotation in the plane.

17. The haptic device according to claim 16, wherein the plane is orthogonal to the central axis.

18. A control assembly comprising:

a control stick; and

a haptic device for vibrating a segment of the control stick on command, wherein the haptic device is fastened to an exterior of the segment of the control stick and the haptic device includes;

a base;

a mass assembly including at least one shaker branch that shakes to vibrate the segment of the control stick, the at least one shaker branch includes (i) a root connected to the base and (ii) a free end, the at least one shaker branch extending from the root towards the free end circumferentially around the exterior of the segment of the control stick over at least 45 degrees around a central axis along which the segment of the control stick extends;

mobility means connecting the root of the at least one shaker branch to the base and conferring a degree of freedom on the at least one shaker branch to move in rotation about a pivot axis, the pivot axis being distinct from the central axis;

electrical exciter means configured to generate a force to cause the at least one shaker branch to shake, by moving in rotation about the pivot axis from a rest position to an activated position, against the exterior of the segment of the control stick to thereby cause the segment of the control stick to vibrate; and

resilient return means tending to maintain the at least one shaker branch in a corresponding rest position, wherein the resilient return means and the mobility means are separate elements.

19. A control assembly comprising:

a control stick; and

a haptic device for vibrating a segment of the control stick on command, wherein the haptic device is fastened to an exterior of the segment of the control stick and the haptic device includes;

a base;

a mass assembly including at least one shaker branch that shakes to vibrate the segment of the control stick, the at least one shaker branch includes (i) a root connected to the base and (ii) a free end, the at least one shaker branch extending from the root towards the free end circumferentially around the exterior of the segment of the control stick over at least 45 degrees around a central axis along which the segment of the control stick extends;

a spring connecting the root of the at least one shaker branch to the base and conferring a degree of freedom on the at least one shaker branch to move in rotation about a pivot axis, the pivot axis being distinct from the central axis;

electrical exciter means configured to generate a force to cause the at least one shaker branch to shake, by moving in rotation about the pivot axis from a rest position to an activated position, against the exterior of the segment of the control stick to thereby cause the segment of the control stick to vibrate; and

the spring tending to maintain the at least one shaker branch in a corresponding rest position.