ТАКТILЕS АКТОRЕNЕLЕМЕNТ FÜR ТАКТILЕS UND ТНЕRМISСНЕS FЕЕDВАСК IN СОМРUТЕRЕINGАВЕGЕRÄТЕN

(10) RK 413,247 B 2005-12-15 (12) patent specification (21) registration number: A 1534/2003 (22) registration day: 2003-09-29 (42) beginning of the patent duration: 2005-05-15 (45) expenditure day: 2005-12-15 (51) Int. Cl/: G06F 3/033 (56) holding out: DE10063760A1 US 4330285 WHERE 2001/42754A1 WHERE 2001/99086A1 (of 73) patentees: KREUTER JOHANN DIPLING. A-1160 VIENNA (RK). (72) Inventor: KREUTER JOHANN DIPLING. VIENNA (RK).

(54) TACTILE ACTUATOR ELEMENT FOR TACTILE AND THERMAL FEEDBACK IN COMPUTEREINGABEGERÄTENm (57) the invention concerns an actively steered tactile actuator element for the installation in input devices like the computer mouse or in virtual tactile displays whereby the tactile impression by a tangential moved (quadruple implemented) hook (3) is produced is moved, which between a ball (2) and a flexible fabric (1). A temperature feeling is obtained by a half turn of the ball under the fabric (an integrated thermocouple produces a cold and a warm ball half). Three actuators move the handle and stop its angle and the temperature of the ball half lying above. A fabric between skin and moved wire prevents friction and makes a sensoryly effective tangential relative motion possible of the handle. The tactile actuator element makes electronically available information directly for the Tastsinn accessible, by checking tactile and thermal attractions for the finger summit exercises. There is, built into an input device or a control device (e.g. computer mouse, steering wheel,…) item-related and task-referred, tactile and thermal feedback.

If a virtual line of a design available in the computer becomes e.g. over-drives with moving a mouse, the hook in the appropriate angle is moved and produced against the direction of motion, the hand under the finger summit so the impression of a ertasteten edge.

TtfTTi • IOes “figure Z CDCS COI < DVR 0078018 RKs 413,247 B description introduction: The invention concerns a tactile actuator element, which checks tactile and thermal attractions by active elements for the finger summit exercises. The actuator element has the task in input devices like the computer mouse to relieve in Telemanipulationssystemen, controllers or in graphic tactile displays the visual information representation of computerized devices by tactile feedback to support or replace. The invention done without pin arrays and begins instead of its a hook, which is moved between a smooth surface and a fabric. This simplification makes higher Geschwindig keiten, a more compact building method as well as the possibility for additional possible thermal attractions. State of the art: In the past is different input and/or navigation equipment for computers admits become, with which a Kraft or a haptische characteristic is attributed to the user. This feedback can take place passively via structured surfaces and springy elements (as in the patent specification DE10063760A1, Robert Bosch GmbH, 11.07.2002) or via active elements like e.g. electrical engines. One speaks of Force feedback during a force feedback and of tactile feedback during a haptischen feedback. Tactile feedback supported apart from visually represented information a more realistic perception or helps to seize blind humans of outlines of articles tactile e.g. in the patent specification US4330285 (Mitchell, 18.05.1982). In addition tactile feedback improves the use of Telemanipulationssystemen, approximately in the minimalinvasiven surgery. Tactile displays are used by humans with Sehverlust for the electronically steered representation of tactile graphics or Braille. In the past a multiplicity at devices for the tactile feedback (tactile displays) was developed, which are based on different actuator principles. These consist of in matrix fashion arranged, separately controllable actuator elements, which forces can exercise the users on the skin. (or pins raisable e.g. vibrating over the surface) in the patent specification WO0199086 (Comissariat A L'energie Atmoique, 27.12.2001) for the production of relief-like surfaces small closed chambers are suggested, whose filling is heated up by an inserted heating element. The volume increased thereby presses a small piston to the front side and becomes gropable in the group with further such elements than relief structure. Examples of actuator principles are thermoelectric Stimulatoren with Formgedächnislegierungen as actuators, electrical magnetic (lifting magnets), pneumatically propelled tactile displays with pistons or air bags, piezoelectric actuators as well as electrostatic displays, displays with electricalrheologic fluids and electrostatic tactile Stimulatoren with flexible dielectric. With these systems the user scans either a static tactile sample produced by the display, by he its fingers over it moved or the hand moves with the tactile display 40 (to be naturally more compact must) and the receptors of the skin are stimulated by a dynamic change of the tactile samples (so-called virtual displays). The latters are used for Telemanipulationssysteme or virtual displays and to make higher demands to the tactile displays, because in real time by appropriate control of the actuators a sensory impression must be artificially produced, which is to come the actual contact 45 of an object close. The necessary high speed, a high resolution and a very compact building method limit the application possibilities of the solutions specified above. In most, for applications in Telemanipulation developed tactile displays (thus virtual displays) neglected that attractions, which are always expenditure-practiced without tangential movement to the skin, on the same Hautstellen are to be discriminated against only with difficulty. thus exist first prototypes with pin distances under 1 mm, which can pretend a sliding movement by sequential activating of the pins. The invention described here is meant for displays along-moved with the hand and goes around the disadvantages of pin arrays like slow screen layout and the high costs (arrays out hun 55 derten from pins) in the case of graphic tactile displays or bad palpation results with RK 413,247 B virtual displays under the necessary compact structure (small number of pins, usually only for a finger summit) and the missing tangential tactile attractions in the case of along-moved tactile displays. In addition a new quality of the tactile perception comes to support the possibility at the same time the tactile attractions by fast thermal attractions. It uses moved linear elements, which are copied by wire elements under a fabric instead of pin array (point elements). This simplification makes a more compact possible, simple structure and the speeds necessary for real time processing. Task of the invention: The invention is the basis the task to arrange a tactile actuator element in such a way in accordance with the initially described kind the fact that thereby equipped virtual displays or moved control elements make approximating perceptions for the real palpation feeling possible 15 and by fast response times combinations of input devices (mouse) and tactile output devices becomes possible. In addition fast and simultaneous offering of tangential tactile attractions and thermal attractions as well as a compact structure belong. The new actuator principle is to make tactile orientation for 1 possible) direct one (real time) on diagrams. 2) the visual perception at the screen by tactile feedback on the input device support, relieve or partly replaced. 3) fast response times by direct tactile feedback to the control member in Tele manipulationssystemen make possible. 4) the handling of machines by tactile reaction at the controller improve. (Positionieraufgaben, cutting or drilling work, steering a vehicle). The swivelling stored ball with the ball halves differently kept at a moderate temperature makes it possible to give at the same time a surface temperature which makes additional, item-related information perceptible. Contrary to solutions with pin arrays disadvantages are such as susceptibility against Verschmut-35 zung, high manufacturing costs (depending upon execution of about 50 pins which can be moved separately) and not in principle the existing possibility of a tangential Kraftwirkung on the finger summit to be gone around.

Examples of applications: Tactile feedback improves the use of Telemanipulationssystemen, approximately in the minimalinvasiven surgery. Tactile displays are used by humans with Sehverlust for the announcement of tactile graphics 45 or Braille. Cutting tools, which can be better led by tactile fed back data from a computer. That is particularly meaningful, where inputs are steered by movements with the hand and a direct feedback leads in such a way to the hand (finger summit) to faster response times. Something similar is valid for manipulating in not directly accessible places with remote controlled grip arms. Built into a steering wheel an integrated palpation element could attention inconspicuously about to small seitenabstand or distance to the front vehicle inform without acoustic or visual 55 stress.

RKs 413,247 B if four palpation elements into a computer mouse to be integrated, can be directly sensoryly represented simple diagrams. The hand moves thereby the mouse, led by the palpation feelings of the finger summits along apparent edges of a virtual illustration and makes possible in such a way by driving off of the edge the Ertasten of graphic 5 elements. See figure 7. becomes with moving the mouse a virtual line of the design available in the computer to over-drive, the hook is moved and produced against for the direction of motion of the hand under the finger summit so the impression of a re-painted over edge. Additionally curve can to be differentiated by the cold warm-scolded the ball halves inside and outside an ge-IO schlossenen. In an indication program for instance a curve with the mouse can be drawn, whereby the palpation element under the index finger as “left mouse button” act and are scanned directly for it with the same mouse. Handling graphic surfaces should be facilitated with this equipment for non--seeing. Solution of the task posed: The task thereby solved that the tactile excitation by one, between a flexible fabric (1) and a smooth ball (2) is produced hook (3) moved, whereby a cold or a warm feeling by the rotation of the ball (2) under the flexible fabric (1) 20 from a cold side to a warm side is released, whereby the temperature difference of the two ball halves by an inserted thermocouple (5) was obtained. Effects of the invention the invention unites the advantages of virtual tactile displays like fast response times, large virtual gropable surfaces (only limited by radius of action of the arm), with the advantages of static tactile displays, like better palpation impressions by touching, tangential contacts with all finger summits, without however their disadvantages like slow screen layout and the high costs (arrays from hundreds of pins) in the case of graphic tactile displays or bad palpation results in the case of virtual displays under the necessary compact structure (small number of pins, usually only for a finger summit) and the missing tangential tactile attractions in the case of along-moved tactile displays. In addition a new quality of the tactile perception comes to support the possibility at the same time the 35 tactile attractions by fast thermal attractions. Thus colors can be e.g. replaced by given temperatures. For instance the inside of a closed curve warmly and the exterior coldly.

Enumerating and short description of the existing design figures enumerating and designation of the figures contained in the designs.

Figure 1: Simplified representation of the actuator element (without actuators) figure 2: Tangential stimulation of the finger summit by the beweg-45 ten handle, resting on the fabric. Figure 3: Application in a graphic display with four actuator elements (per one for a finger), the sensory surfaces act at the same time as keys. Figure 4: Cut by the ball with integrated thermocouple. Figure 5: Course of motion of the actuator element seen from above on the circular cutout so. a) with the descendant along a virtual line b) when crossing a line, c) movement sample with scanning a circle. Figure 6: Actuator element with actuators figure 7: Application in a tactile graphic display 55 figure 8: Block diagram of the electronic surrounding field with interface to the computer RK 413,247 B reference symbol 1; flexible fabric, reference symbol 2; swivelling ball, reference symbol 3; Hook in quadruple execution reference symbol 4; Ball suspension fork, reference symbol 5; Thermocouple with inlets over the axles. Reference symbol 6; Actuator for the quadruple handle reference symbol 7; Actuator for the turn of the ball reference symbol 8; Actuator to the turn of the whole suspension and thus the angle position of the handle. Description of figure: The descriptive functions of the tactile actuator element are obtained by a module from actuators, thermocouple, alternating current coupler, one for instance 20mm large Kunststoffku-15 gel and mechanical components. See figure 6. a steel wire cage compound from four half sheets (3) is on the ball (2) axle parallel stored and can by an actuator (6) along the Kugeloberfläche to rotate. The ball is horizontal in a fork (4) stored and can be turned independently of the wire cage of a further actuator. In the ball is a thermocouple (5) installs itself in such a manner normally to the axle a cold and a warm in relation to ball half, if river flows over the axles into the thermocouple. Two aluminum cylinders (9) acts as heat leaders to the Kugeloberfläche, whereby the cold pole is more near because of the surface. The two actuators for the rotation of the ball and the cage are installed under the ball and take part in the rotating motion around a vertical storage of the fork. This rotating motion floats a third caked-on actuator (8) on. The current supply of the two under the ball installed actuators takes place by means of AC couplers or with sliding contacts. This module becomes under a circular housing cutout (10) positioned and of 30 a strained flexible fabric (1) taken off. The fabric fulfills thereby several tasks. It covers the moved mechanical parts, protects against contamination, prevents a strong friction of the metal handle at the skin and permits tangential forces the skin of the finger summit affect to let, although this rests relative to the material. In addition it is to leave a rotation of the smooth ball unnoticed, to make the temperature of the Ku-35 gel half lying then above fast perceptible however. This arrangement can arrange now substantial tactile attractions for the finger summit resting on the cutout for the representation of lines and curves. See figure 2 moved 5 and 7., if the hand the input device (and thus the pointer of mouse) over a line, in the same moment 40 hooks in the appropriate angle under the skin against one moves, which is noticed as re-painted over edge. If now such an edge perceptibly will and the hand is led slowly along the edge, led from to the left and on the right of deviating wire (depending on whether the pointer of mouse straight is moved left or right by the line), then the hand movement exactly along the outlines of the form available at the screen one leads and he 45 möglicht such recognizing from the groping impressions. The hooks is to be able quadruple implemented around the fast following lines to represent. Figure (5) shows possible gropable courses of motion of the hook under the finger summit, a) when following a curved curve; b) When over driving a line; c) The palpation impression so of a circle) patent claim: 55 tactile actuator element, which produces a tactile excitation and a temperature feeling at the RK 413,247 B finger summit, which rests on the tactile actuator element, by the fact characterized that the tactile excitation by one, between a flexible fabric (1) and a smooth ball (2) is produced hook (3) moved, whereby a cold or a warm feeling by the rotation of the ball (2) under the flexible fabric (1) from a cold side to a warm side is released, whereby the temperature difference of the two ball halves by an inserted thermocouple (5) was obtained.

Hiezu 4 sheets designs Austrian patent office RK 413,247 B 2005-12-15Blatt: 1IntCI.7: G06F 3/033Füjor ^Füjor ^ Austrian patent office RK 413,247 B 2005-12-15Blatt: 2Int. Cl.7: G06F 3/033 Austrian patent office RK 413,247 B 2005-12-15Blatt: 3lnt.CI.7: G06F 3/033 Fiqor 5 *) Fiqtrr b Austrian patent office RK 413,247 B 2005-12-15Blatt: 4IntCI.7: G06F 3/033