INPUT APPARATUS AND INPUT SYSTEM, AND METHOD FOR OPERATING AN INPUT APPARATUS

Abstract

An input apparatus, in particular a joystick, has an operating device, a magnetorheological braking device, and a control device for actuating the braking device. The operating device has a support and an operating lever that is pivotable about at least one pivot axis. A sensor senses a pivot angle of the operating lever. The braking device is coupled to the pivot axis in order to damp, in a controlled manner by way of the control device, a pivot movement of the operating lever. The control device actuates the braking device depending on a control command and converts the control command into a haptic signal, preferably a defined sequence of deceleration torques, which can be perceived on the operating lever. A user, as a result of an input made, can receive haptic feedback (so-called force feedback).

Claims

1-31. (canceled)

32. An input apparatus, comprising: an operator control device, a magnetorheological brake device, and a control device for controlling said brake device; said operator control device including a support and an operator control lever pivotably held on said support about at least one pivot axis; and at least one sensor for sensing a pivot angle of said operator control lever; said brake device being configured to dampen a pivoting movement of said operator control lever about said pivot axis under control by said control device; said control device being configured to control said brake device in dependence on a control command and to convert the control command into a haptic signal that is perceptible at said operator control lever to provide a user of the input apparatus with haptic feedback (force feedback) as a consequence of an input that is being performed or that has been performed.

33. The input apparatus according to claim 32, which further comprises a restoring unit configured to automatically pivot said operator control lever back into a neutral setting after an actuation has been performed, and wherein said control device is configured to targetedly dampen, by way of said brake device, a restoring movement performed by said restoring unit.

34. The input apparatus according to claim 32, wherein said control device is configured to automatically fix said operator control lever in a current actuation setting after an actuation has been performed, by setting a targeted retardation moment by way of said brake device.

35. The input apparatus according to claim 32, wherein said operator control lever is held on said support device for pivoting about at least two pivot axes, and wherein in each case at least one brake device is coupled to at least one pivot axle, and wherein said control device is configured to separately dampen the pivoting about each of said pivot axes during a pivoting movement of said operator control lever.

36. The input apparatus according to claim 32, wherein said control device is configured to adapt a damping of the pivoting movement of said operator control lever in dependence on a pivot angle of said operator control lever sensed by said sensor.

37. The input apparatus according to claim 32, wherein the control command is provided by at least one input receiving apparatus, which is coupled to the input apparatus, and/or by the input apparatus itself.

38. The input apparatus according to claim 32, wherein said control device is configured to block a pivoting movement of said operator control lever in at least one direction and to enable a pivoting movement of the operator control lever in an opposite direction.

39. The input apparatus according to claim 32, wherein said control device is configured, when at least one defined pivot angle is reached, to increase a retardation torque by way of said brake device over a particular pivot angle range, and, after the pivot angle range has been passed through, to fix the operator control lever in a target setting outside the neutral setting, and, for this purpose, to use said brake device to targetedly set a retardation moment which is equal to, or higher than, a restoring torque of a restoring unit at the target setting.

40. The input apparatus according to claim 39, wherein said control device is configured to provide the elevated retardation torque for passing through the pivot angle range in only one direction and, after having passed through the pivot angle range, said operator control lever is pivotable back without the elevated retardation torque.

41. The input apparatus according to claim 32, wherein said control device is configured to cause said operator control lever to be fixed at particular detent positions and, for the purpose, to use said brake device to targetedly increase a present retardation torque, such that neither an onward movement nor a restoring movement can take place without additional expenditure of force and/or without additional action by the user.

42. The input apparatus according to claim 32, wherein said control device is configured to increase the retardation torque proceeding already from a defined pivot angle before a detent position is reached, and/or to reduce the retardation torque proceeding from a defined pivot angle after the detent position has been departed from.

43. The input apparatus according to claim 32, wherein the control device is suitable and configured to block the operator control lever when at least one particular pivot angle is reached and/or in the neutral setting and/or in the present setting such that no onward movement in at least one pivoting direction and/or in all operational pivoting directions is possible with a manual force that is to be imparted during operation.

44. The input apparatus according to claim 32, wherein said control device is configured to simulate a slotted guide mechanism by way of a combination of a multiplicity of detent settings and at least one neutral setting and a multiplicity of pivot-angle-dependent blockages of said operator control lever.

45. The input apparatus according to claim 44, wherein said control device is configured to store multiple simulatable slotted guide mechanisms, and said control device is configured to select and simulate a slotted guide mechanism in dependence on a user input and/or a control command from an input receiving apparatus.

46. The input apparatus according to claim 32, wherein said control device is configured to retard and enable the pivoting movement of said operator control lever by way of said brake device in a targeted sequence of retardation torques and, in order to implement such a sequence, to set retardation torques of different magnitude for a retardation and an enablement and to set the retardation torques for the retardation and/or the enablement as a function of a time and/or as a function of a pivot angle.

47. The input apparatus according to claim 46, wherein said control device is configured to start the retardation torques of the sequence of retardation torques on an angle-dependent basis and to maintain said retardation moments on a time-dependent basis, and in particular to omit a setting of a retardation moment provided in the sequence if an angular position intended for the start is passed through while a retardation moment is being maintained.

48. The input apparatus according to claim 46, wherein said control device is configured to set the different retardation torques of the sequence with such a frequency that the pivoting movement of the operator control lever is dampened with a targeted vibration, and wherein the frequency is preferably at least 50 Hz.

49. The input apparatus according to claim 46, wherein said control device is configured to dynamically adapt the different retardation torques of the sequence versus the time and/or the pivot angle of said operator control lever and/or a movement speed of said operator control lever and/or a number of settings of retardation torques that have taken place.

50. The input apparatus according to claim 46, wherein said control device is configured to set a sequence with continuously varying retardation torques, and wherein a sinusoidal or cosinusoidal profile is provided for this purpose.

51. The input apparatus according to claim 32, wherein said control device is configured to output a haptic warning signal by setting a defined sequence of retardation torques in response to an actuation of said operator control lever after a defined time without an actuation of said operator control lever.

52. The input apparatus according to claim 32, wherein said brake device is a magnetorheological brake device configured to provide at least 30,000 increments per full rotation of said operator control lever about the pivot axis.

53. The input apparatus according to claim 32, wherein said brake device is coupled to a pivot axle of said operator control lever via a transmission stage and the transmission stage has a speed ratio between 2:1 and 5:1.

54. The input apparatus according to claim 53, wherein said transmission stage comprises at least one belt drive which couples said pivot axle to a rotary axle of said brake device.

55. The input apparatus according to claim 32, wherein: said brake device is a rotary damper with two mutually pivotable components being an inner component and an outer component radially surrounding said inner component at least in certain sections; said inner and outer components forming a ring-shaped and encircling damping gap therebetween that is radially delimited at the inside by said inner component and radially delimited at the outside by said outer component; said damping gap is at least partially filled with a magnetorheological medium and said damping gap is selectively exposed to a magnetic field in order to dampen a pivoting movement between said two mutually pivotable components about an axle; and at least one of said components is formed with a multiplicity of at least partially radially extending arms; and at least some of said arms are equipped with an electrical coil with one or more windings in each case extending adjacent to the axle and spaced apart from the axle.

56. The input apparatus according to claim 32, wherein said brake device is a magnetorheological transfer device, and wherein the magnetorheological transfer device is equipped with at least two couplable components, a coupling intensity of which can be influenced, wherein at least one channel is provided for the purposes of influencing the coupling intensity, wherein said channel contains a magnetorheological medium which can be influenced by a magnetic field and which contains magnetically polarizable particles, and wherein at least one magnetic-field-generating device for generating a magnetic field in said channel is provided in order to influence the magnetorheological medium in the channel by way of the magnetic field, wherein one of the components, being an outer component, surrounds an inner component, and wherein at least one of said two components is mounted by way of at least one separate bearing, and wherein a spacing between said outer component and said inner component is at least ten times a typical mean diameter of magnetically polarizable particles contained in the magnetorheological medium, and wherein said channel can be at least partially subjected to the magnetic field of said magnetic-field-generating device in order to selectively interlink or release the particles.

57. An input system, comprising: an input apparatus according to claim 32; an input receiving apparatus operatively connected to said input apparatus, and: wherein said input receiving apparatus is a utility vehicle and functions of the utility vehicle are at least partially operated using said input apparatus; and/or wherein said input receiving apparatus is a computer receiving input signals from said input apparatus.

58. The input system according to claim 57, wherein the input apparatus is a joystick and the computer is programmed with a simulation program and/or a game program

59. A method of operating an input apparatus, the method comprising: manually pivoting at least one operator control lever of the input apparatus about a pivot axle in order to perform an input into an input receiving apparatus that is operatively connected to the input apparatus; targetedly damping or enabling a pivoting movement of the operator control lever by a magnetorheological brake device that is coupled to the pivot axle; and controlling the brake device with a control device in dependence on a pivot angle of the operator control lever sensed by a sensor and/or in dependence on a time and/or in dependence on at least one operating state of the input receiving apparatus, in order to targetedly adapt the damping.

60. The method according to claim 59, wherein the operating state of the input receiving apparatus relates to at least one parameter selected from the group of parameters consisting of a power state, a speed, an acceleration, a situation in space, surroundings, underlying surface being driven on, work performed, a selected user profile, a selected operating mode, an activity of an assistance system, a driving assistance system, a situation simulated by software, and an input condition in an operator control of a program.

61. The method according to claim 59, which comprises damping or blocking a pivotability of the operator control lever with intensified action if an operating state with a disturbance and/or hazard that exceeds a threshold value is present and/or if an assistance system actively intervenes in a use of the input receiving apparatus.

62. The method according to claim 59, which comprises, if an operating state is present with a parameter that exceeds a threshold value and/or with a hazard that exceeds a threshold value, and/or if an assistance system intervenes, haptically signaling with a targeted sequence of different retardation torques during a pivoting movement of the operator control lever.

63. The method according to claim 59, which comprises damping or blocking a pivotability or pivoting movement of the operator control lever with variably intensified action in dependence on a real operating situation and/or on a situation simulated by software.

Description

[0093] Further advantages and features of the present invention will emerge from the description of the exemplary embodiments, which will be discussed below with reference to the appended figures.

[0094] In the figures:

[0095] FIG. 1 is a purely schematic illustration of an input system having an input apparatus according to the invention in a partially sectional side view;

[0096] FIG. 2 is a detail illustration of the input apparatus of FIG. 1 in a perspective view;

[0097] FIGS. 3-13 show purely schematic diagrams of profiles of retardation moments versus the pivot angle or versus the time;

[0098] FIG. 14 is a purely schematic illustration of a slotted-guide mechanism simulated by means of the input apparatus according to the invention; and

[0099] FIG. 15 is a diagram relating to the signal processing in the input apparatus according to the invention.

[0100] FIG. 1 shows an input apparatus 700 according to the invention, which is in the form of a joystick 711 and which is in this case part of an input system 720 and operated in accordance with the method according to the invention. The input system 720 furthermore comprises an input receiving apparatus 710 which is coupled to the input apparatus 700 and which is configured for example as a utility vehicle or else as a computer. Inputs into the input receiving apparatus 710 can be performed using the input apparatus 700. The operator control lever 705 is in this case equipped with a switch 721.

[0101] The input receiving apparatus 710 need not have a direct wired connection to the input apparatus 700; it may also be connected by way of a radio or signal system or network. The input receiving apparatus 710 may also be spatially remote from the input apparatus 700, for example if it is used to control an unmanned aircraft (for example drone).

[0102] The input apparatus 700 comprises an operator control device 701 with an operator control lever 705. The operator control lever 705 is in this case held on a support device 704 so as to be pivotable about two or more pivot axles 706, 716. For the sake of better clarity, only one pivot axle 706 is illustrated in more detail here. The operator control lever 705 is furthermore fastened to the support device 704 by means of a connection 714. After an actuation has been performed, the operator control lever 705 may be returned into a neutral setting 717 by means of a restoring unit 707.

[0103] The pivoting movement of the operator control lever 705 is targetedly dampened by means of a magnetorheological brake device 702 (also referred to as MRF brake). For this purpose, the brake device 702 is in this case coupled to the pivot axles 706, 716 via one or more transmission stages 708. The transmission stage 708 is configured here as a belt drive 718.

[0104] The brake device 702 is configured here for example as a rotary damper 1 or as a magnetorheological transfer device 2.

[0105] The pivoting movement of the operator control lever 705 is transmitted here to a rotary axle 728 of the belt drive 718 and via the belt to the brake device 702. The brake device 702 is thus set in rotational motion when the operator control lever 705 is pivoted.

[0106] The transmission stage 708 and the support device 704 and the brake device 702 are illustrated in more detail in FIG. 2. Here, the transfer of force from the operator control lever 705 to the in this case elongate and cylindrical shear damper of the brake device 702 is shown at the bottom right, at the front, in the figure. The operator control lever 705 is flange-mounted on the wheel 738 at the top left, such that, when pivoted, said operator control lever sets the transmission 708, and via the toothed belt the shear damper, in rotation.

[0107] The brake device 702 is controlled here by a control device 703, such that the retardation moment can be adapted to the respective operator control situation. For this purpose, here, the pivot angle of the operator control lever 705 is sensed by a sensor means 734. The sensor means 734 comprises, for example, an encoder, rotary encoder, Hall encoder or some other suitable sensor. For example, an absolute or a relative setting is sensed by means of the sensor. The pivot angle of the operator control lever 705 is sensed for example by way of the angular position or the rotational angle of the brake device 702 or of the transmission stage 708.

[0108] In this way, a haptic signal that is perceptible at the operator control lever 705, and for example a defined sequence 713 of retardation moments, can be generated. A user is thus provided with haptic feedback (so-called force feedback) as a consequence of an input that has been performed and/or while performing an input. The haptic signal is generated here by the control device 703 as a consequence of a control command. The control command is stored for example in the control device 703, for example as an angle-dependent function, or is generated by said control device on the basis of stored algorithms. The control device 703 may for example also receive the control command from the input receiving apparatus 710.

[0109] Furthermore, the control lever 705 can for example be automatically returned into the neutral setting 717 after an actuation has been performed. The restoring movement is in this case targetedly dampened by the brake device 702.

[0110] The invention provides an input apparatus 700 and in particular an advantageous joystick 711, in the case of which the detent positions are not mechanically fixedly specified, and/or in the case of which the behavior of the joystick 711 during movement is not mechanically fixedly specified, which can furthermore exhibit force feedback, and which in particular requires little structural space and can furthermore be produced inexpensively. Depending on the location of use, the low electrical consumption and the low weight are also advantageous.

[0111] In order to achieve this, a shear damper or wedge-type damper with magnetorheological fluid can, as controllable brake device 702, dampen the movement of the joystick 711 or generate the torques at the pivot point, or forces on the lever 705, that are required for this.

[0112] Here, a linear (pivoting) movement X-Y (of the joystick) is in particular firstly converted into a rotational movement and then dampened. In order that a sufficiently high resistance (force on the lever element or torque at the joystick center of rotation) can be provided, a speed ratio may be incorporated. The speed ratio may be 2:1 or 3:1 or 4:1 or more. In one specific variant, it is approximately 3:1. High speed ratios have the disadvantage of play (hysteresis) and require more structural space. They can however be used to correspondingly increase the braking moment of a shear damper. In one specific refinement, said speed ratio is less than or approximately equal to 4 Nm, such that, in the case of a speed ratio of 3:1, a controllable braking moment at the joystick of 12 Nm can be provided. The transfer may take place via a transmission with corresponding toothed gears, for example a spur-gear or worm-gear transmission, or by means of a toothed belt, V-belt, a chain or using harmonic drive transmissions.

[0113] The principle of the shear damper is described in the applicant's WO 2016/156544 A1 and can be used in the case of a joystick. The disclosure of WO 2016/156544 A1 is from page 1 to 41 including the associated figures on pages 1/6 to 6/6, and the content of disclosure of claims 1 to 26 is incorporated into the content of disclosure of this application. In the specific case, a shear damper with magnetorheological fluid and 4 Nm braking moment has the dimensions of 32 mm diameter×80 mm length, that is to say a structural volume of approximately 65 000 mm.sup.3. By contrast, an electric motor with approximately 4 Nm torque (stepper motor, servo motor) has approximately the dimensions of 100×100×200 mm, that is to say a structural volume of approximately 2 500 000 mm.sup.3. This is approximately 38 times the structural volume of the shear damper.

[0114] Alternatively, as a brake device (brake/damper), use may also be made of the magnetorheological wedge principle as described in the applicant's WO 2012/034697 A1. The disclosure of WO 2012/034697 A1 from page 1 to 59 including the associated figures on pages 1/10 to 10/10 and the content of disclosure of claims 1 to 22 are incorporated into the content of disclosure of this application. The magnetorheological wedge damper is even smaller than the magnetorheological shear damper, and has approximately the dimensions of 40 mm diameter×20 mm, that is to say a structural volume of approximately 26 000 mm.sup.3, which is almost 100 times smaller than in the case of the electric motor.

[0115] This yields a considerable structural space advantage when using a brake device based on a shear damper or a magnetorheological wedge damper. The component weight is approximately directly related to the structural volume, that is to say is also considerably smaller in the case of the invention. Structural space and weight are decisive criteria in the case of many possible uses.

[0116] Hydraulic or pneumatic systems require less space than electric motors, but lines and additional systems are required for these (pressure accumulators, pumps . . . ). The controllability and generation of noise are furthermore highly disadvantageous. In the computer game or gaming sector, neither can be used or is accepted by users.

[0117] Electric motors furthermore have the disadvantage that, owing to their design, they generate large amounts of heat, and overheat if high torques (holding moments) are demanded over a relatively long period of time (the coil winding becomes warm, whereby the resistance in the coil wire increases, whereby the heating action becomes even more intense, etc.). The electrical current demand and the heating action then increase disproportionately as a result. Magnetorheological brake devices do not have this disadvantage.

[0118] In the case of the invention, the behavior of the joystick during movement, that is to say the actuating force or feedback thereby generated (normally with/at the hand performing the actuation), is variable on a situation-dependent basis. This is achieved in that fast control or variation of the regulation of the magnetic field in the magnetorheological brake device (for example in the shear damper) and thus of the intensity of the damping is performed in the controller of the electronics. The controller reacts preferably rapidly to the present operating mode or use case, and as a result to the speed and/or to changes in speed and/or to changes in direction at the joystick. Use cases are situation-dependent usage cases. A usage case encompasses a number of scenarios, or even all possible scenarios, that can arise if a user attempts to use the described system to achieve a particular aim. A use case can also be referred to as a usage situation.

[0119] A barrier (increase of the torque for example to a maximum value) in one direction of rotation should not also cause a blockage in the other direction of rotation (freewheeling function). If the joystick is moved in the direction of the barrier, the torque should immediately be eliminated again when force is no longer being applied in the direction of the barrier. The user otherwise perceives a sticking of the joystick at the barrier. The lever practically remains “stuck”, which impairs the resulting reaction (the desire of the user) in the vehicle. By contrast, if the joystick is moved in the direction of the barrier again, the torque should be immediately increased again in order that the user immediately notices the barrier again.

[0120] In the case of a construction with a shear damper, the linear or pivoting movement of the joystick can be converted into a rotational movement at a wheel.

[0121] By means of a transmission stage 708, the movement can be brought to a higher rotational speed in order that the shear damper can transmit a greater braking moment to the joystick. A specifically implemented shear damper can impart no more than 4 Nm braking moment in the available structural space. By means of the speed ratio (for example ratio 3:1), it is possible here to achieve a moment which is three times greater at the joystick. Here, the transmission may be composed only of toothed gears, or else may be equipped with toothed belts, chain(s), friction wheel(s) and the like. Toothed gears have the certain disadvantage that the geometry is specified by the size of the toothed gears. By contrast, the use of a toothed belt is more flexible in terms of construction, and also quiet. It is also possible for use to be made of toothed gears which are braced toward one another/against one another, whereby play between these is eliminated.

[0122] The magnetorheological brake device 702 or the shear damper or the MRF brake element may also be designed to be structurally larger, whereby higher damping/braking moments can be generated. In most cases, however, the combination of a relatively small damping/braking unit with a transmission is a better solution with regard to structural space, weight and costs.

[0123] Instead of the shear damper, it is possible in principle to use any MRF brake device (wedge-type bearings, rotary vanes etc.). In addition to the advantages also mentioned above, the transmission for implementing the speed ratio is advantageous for saving space, because the brake does not have to be directly flange-mounted, and can thus be positioned as desired.

[0124] Owing to the fast-reacting MRF brake (in the range of a few milliseconds), a multiplicity of haptic feedback actions can be generated. The advantages of MRF brakes, such as the fast reaction and a force/torque that is settable as desired during operation, are utilized here.

[0125] An exemplary signal processing configuration is illustrated in principle in the diagram of FIG. 15.

[0126] Exemplary control regimes or operator control situations (use cases) of the invention will be described below. Here, FIGS. 3 to 13 show profiles of the retardation moment versus the rotational angle or the time.

[0127] Spring-preloaded and non-adaptive joysticks oscillate/vibrate about the central setting (neutral setting) if released, and allowed to freely move, from the extreme setting. This can lead to undesired movements of the mechanism connected to the joystick (for example snow shovel of a piste roller; container loading in the case of a port crane).

[0128] In a standard mode, the invention prevents this return oscillation. No barriers or ripples are generated. Here, the maximum speed of the joystick movement is controlled (V control). The maximum speed is in this case dependent on the position (that is to say the angle) of the joystick. The closer it comes to the zero setting (central setting), the more the movement is braked, and the slower the possible movement is. An overshoot of the joystick beyond the neutral setting is thus prevented. If the joystick is simply released having been pushed forward, it is pulled back to the neutral position by the restoring spring and is braked exactly to 0°. Without active braking, it would, in particular if having previously been released from the end movement positions, overshoot the central position and then oscillate back again and settle over time. This is normally not desired by users, and is disadvantageous from an operator control aspect. The oscillation (decay) movements in the case of joysticks that are not controlled in accordance with this invention can also lead to disadvantageous load peaks on the tool/payload.

[0129] FIG. 3 shows the maximum angular speed of the shear damper in the joystick as a function of the angular position of the joystick.

[0130] In the “unidirectional” operating mode, a movement is possible only in one direction.

[0131] The movement axis of the joystick is blocked from the 0° position in one direction, and a torque barrier is generated in this direction by the shear damper. A movement is possible only in the other direction.

[0132] In FIG. 4, the barrier acts (only) in one direction. A torque barrier is generated in one rotational direction. The joystick can be pushed only in the opposite direction.

[0133] In the “smart stop” operating mode, the joystick can remain stationary at any position. The torque of the magnetorheological brake device and in this case of the shear damper is adapted to the profile of the spring characteristic curve of the restoring spring, that is to say the damper provides a braking force which is the same as the force applied by the restoring spring in the other direction. If a user pushes the joystick into a position and releases it, the joystick remains in exactly this position.

[0134] FIG. 5 shows the profile of the torque as a function of the characteristic curve of the resetting spring. The torque is always so high that, when released, the joystick remains in the respective position.

[0135] In the “ripple” operating mode, the torque at the operator control lever and thus the force at the human-machine interface (for example hand) is alternated/adjusted between a low and a high value. The user thus senses a raster of alternating movement and braking. The intervals and lengths of the individual torque positions may be controlled either on a time basis or on an angle-dependent basis or as a combination of these. In the angle-controlled ripple, the barriers are started at particular angular positions and are held as far as a particular angle (angle-triggered).

[0136] This mode is shown in FIG. 6. The ripple begins at 10° and changes the resistance in 1° steps. The ripple is in this case generated only in one direction (and no longer during the movement back to the 0 position).

[0137] FIG. 6 shows a ripple triggered and controlled on the basis of the angle. The braking moment (Y axis) is applied alternately between a high and a low torque (for example base torque), or the force (Y axis) between the operator's hand and joystick at the lever is varied.

[0138] In the mode with time-based control and time-based triggering, the length 743 of the barriers and also the interval 753 between the barriers are specified in terms of time (FIG. 7).

[0139] FIG. 7 shows the ripples triggered and controlled on the basis of time. The X axis shows the time, and the Y axis shows the force at the operator control lever or the torque (retardation moment) at the pivot point. The interval and the lengths are controlled on the basis of time.

[0140] The two modes may be combined by exchanging the triggering. For example, the start points of the barriers may be specified on the basis of the angle, but the length may always extend over the same period of time, as shown in FIG. 8. If the ripple is started at a particular angle, the barrier is held over a particular time and then released irrespective of the angle that is then present. If an angular position (start position) is passed through during the duration of a ripple, this ripple point may be omitted or directly appended.

[0141] With this mode, it is for example possible for the movement speed to be controlled or, with a rapidly settable period duration, to realize a high-pass filter for vibrations or tremoring. Vibration or tremoring means that the feedback thus generated is perceived at the user's hand as a vibration or tremoring.

[0142] FIG. 8 shows the ripple controlled on the basis of time and triggered on the basis of angle. The length is specified in terms of time, and the start points are specified on the basis of the angle.

[0143] A ripple mode may self-evidently also be varied versus the time or the angular position; for example, the mode may change (become finer) after a certain number of ripple points. The user thus senses that a certain range has been reached, for example that the end setting, maximum speed etc. is being approached, in the form of a change in the ripple step width (=dynamic adaptation).

[0144] The spring ripple operating mode is a modified form of the ripple mode. The ripple barriers are not generated by a step change (low-high; few-many) of the actuator current and, as a result, of the magnetic field, but change continuously. The manner in which the barriers build up and decrease again is thus perceptible. The control signal may in this case be a sinusoidal or cosinusoidal signal with a slight offset from the zero point. The electrical current changes constantly without step changes and is briefly slightly negative; the metal in the damper or the magnetorheological brake device is thus demagnetized and briefly magnetized again before the electrical current becomes positive again, and is thus again demagnetized and re-magnetized. The user perceives this alternation of magnetization and demagnetization, and the continuous change of the damping/braking, as being similar to the braking by a detent spring in a slotted guide (peak/trough slotted guide).

[0145] FIG. 9 shows the actuator current in the spring ripple mode. The current changes continuously with two zero crossings per period.

[0146] The electrical current may additionally be adapted to a or the angular speed. The torque of the damper is speed-dependent and becomes smaller at higher speeds. In order to obtain a uniform torque over different speeds, the electrical current must be increased.

[0147] In the “FNR” (front, neutral, rear) operating mode shown in FIG. 10, the joystick can be set between different detent positions (for example in the case of an automatic gearshift: front, neutral, rear). The torque is minimal between the specified detent positions, and when the position is reached, said torque is increased to a value at which the joystick remains in position (remains static), because the restoring force of the spring is not sufficient to overcome the braking force. If the user wishes to move the joystick into a different position, the resistance must be overridden, and a movement to the next position can be performed. The detent positions are for example at −8°, 0° and 8°. An end stop in the form of maximum torque is generated at −10° and 10°, for example.

[0148] The advantage of the adaptive MRF technology in this case, in relation to conventional friction/slotted-guide brakes is that no stick-slip effect (adhesion effect) arises. In the case of conventional systems, it is initially necessary for static friction to be overcome. Since the sliding friction is much lower, the brake then slips, and when it comes to a standstill again, it adheres more intensely again; jerky movements thus arise at the joystick and at the tools or objects which are operatively connected to the joystick and which are to be operated. Jerky movements can lead to high load peaks and overload (increased machine wear). This is not the case with the solution according to the invention, and is a major advantage during use.

[0149] In the “axis locked” operating mode, a barrier with maximum torque is generated in all directions (proceeding from the zero position). The joystick is thus blocked in terms of its movement.

[0150] If the joystick is situated in the zero position, it cannot move. If it has initially been deflected, it can be brought back into the 0 position and then blocked. If the joystick has been deflected so as to be situated in a positive position and is accelerated in a positive direction (or situated in a negative position and negatively accelerated), the joystick is blocked. Otherwise, it can move freely in order that it can be moved back into the 0 position (basic position).

[0151] FIG. 11 shows the blocking of the movement in both directions.

[0152] In the “kick and hold” operating mode, at a particular angle, the resistance is increased over a short angle range. The resistance is also maintained during the return movement of the joystick by the restoring spring or by the user's hand, and is thus active in both movement directions. It may however also be active only in one movement direction. The joystick is then held in the position. In the figure, the torque peak begins at 15° and ends at 18°. This means that, if the joystick is pushed beyond this range (in this case beyond) 18° and released, it moves back to 18° under spring load and thereafter remains at 18°. If it is below 18°, it returns into the zero position under spring preload.

[0153] FIG. 12 shows “kick and hold” in a forward direction. The torque peak is in this case provided in both pivoting directions (that is to say forward and back proceeding from the neutral setting).

[0154] In the “kick down” operating mode, a brief resistance is generated in one direction, and the return movement takes place as far as the 0 position without resistance. In the example of FIG. 13, the torque peak in the range 15-20° must be overcome, and a return movement is thereafter possible without braking. As shown in FIG. 13, a brief resistance is generated in one direction, and the return movement takes place without resistance.

[0155] In the operating mode with freely selectable “slotted guide”, the adaptive joystick according to this invention is used, for example, to replicate the classic slotted guide of a mechanical gearshift (for example H-shaped gearshift/slotted guide). Such a slotted guide mechanism 733 is shown in FIG. 14.

[0156] Here, the MRF dampers/brakes according to this invention are controlled in alternating fashion such that the joystick can be moved only in accordance with, for example, an H-shaped pattern. If the operator/user wishes, for example, to move the joystick, or in this case the gearshift lever, of for example a motor vehicle (automobile) diagonally from the gearshift setting 2 to the gearshift setting 3, this is prevented by electrical energization of the X-axis and Y-axis MRF dampers (magnetorheological brake device). Initially only a movement of the Y-axis damper is allowed, and the X-axis damper is blocked. Proceeding from the center of the Y movement, only a movement of the X-axis damper is allowed, and the Y-axis damper is blocked. Then, after a certain distance in the X direction, it is in turn the case that only a movement of the Y-axis damper is allowed, until the setting 3 is reached. The user thus has the sensation of performing gearshifts manually in a slotted guide such as is familiar from their automobile with manual transmission. The gearshift is however in fact performed automatically by means of the electronics (shift by wire) and by simulation of a slotted guide through intelligent control of the X and Y MRF axes.

[0157] It is important here that this is implemented in fast and harmonious fashion. It is thus also possible for different numbers of gear ratios, automatic gearshift levers in one, two or three planes, sequential gearshift patterns and different structural forms to be generated virtually. It is also possible for different gearshift forces, movement travels and even gearshifts of vintage vehicles to be replicated. For example, in the case of a loan car or rental car, it is always possible for the preferred gearshift method of the user (customer) to be applied/preset, which reduces operator control convenience and incorrect operator control.

[0158] In the operating mode of “increasing resistance”, the resistance increases in particular linearly or by way of a polynomial and thus, by way of the resistance, indicates to the user the range in which they are situated. For example, the resistance becomes higher the faster a machine is operated or the load is moved, and thus prevents accidents resulting from excessively high speeds.

[0159] A combination of the modes is also possible. It is thus possible for any desired modes to be combined. For example, a “ripple” and the “smart stop” may be combined such that the joystick, when moved, generates a ripple and, when released, remains static at that setting. By means of the sensor arrangement, it is also possible to switch quickly between the modes if the direction is changed.

[0160] An expansion from one movement axis to two movement axes or even three movement axes is possible.

[0161] The following statements relating to the various operating modes are made in each case for one movement axis (forward and back; X axis). They are however analogously expandable to a second or third axis (left, right; Y axis, Z axis).

[0162] For use in gaming, demands such as good stability even during fast movements (stable material, sufficient weight) are placed on the gaming joystick. The joystick should be ergonomically shaped, be a good replication of real control joysticks, and possibly have a sufficient number of buttons for special assignments.

[0163] The resistance of the joystick preferably changes in accordance with the game situation. It is thus possible to realize an adaptation to real systems (for example, in a flight simulator game, the joystick of a Boeing 747 behaves differently to that of a Cessna), and/or an additional response/feedback of the system by way of vibrations is possible.

[0164] The resistance at the zero point is an important criterion in particular for gamers (flight simulators): real cockpit joysticks have only very low resistance about the zero point, and good joysticks should replicate the real cockpit joysticks as effectively as possible. An MRF brake device with a very low base moment can keep the resistance about the zero point very low.

[0165] By means of an MRF brake, vibration can be simulated “passively” through the generation of a ripple with very short intervals, whereby the user senses a vibration during movement.

[0166] A particular advantage of the invention is the adaptivity. It is possible for a series-produced part to be developed that can be adapted in any desired manner to respective customer demands. Small series can thus be produced much more quickly, and production costs can be saved.

[0167] At the same time, it is possible for a series of dummy buttons to be provided that are individually assigned. Customer-specific personalization is possible. Configuration for right-handed and left-handed users is possible. Personalized and/or intelligent feedback is possible. The construction is flexibly adaptable. Low costs are incurred owing to a small number of parts.

[0168] The force of the spring or restoring spring can be canceled out. The force of the restoring spring used may in particular be “set” through damping of the restoring force. It is thus possible to use the same spring strength for different joysticks in which restoring forces of different intensity are desired (in this case, it would be necessary for active assistance to be provided during movement counter to the spring). The adaptability also applies to varying temperatures, contamination, aging and wear. The user is provided with the same (familiar) haptic feedback and behavior irrespective of these changed parameters.

[0169] It is also possible to perform setting of the pressure point and of the forces. The adjusting force (pressure point) etc. can be adapted in accordance with the customer or the customer demand. This is also possible in a manner dependent on the external state, that is to say in the presence of a slippery underlying surface under a vehicle: lower moments/forces. This reduces the operator control force and user fatigue. In the case of rough roads or uneven terrain: higher forces/torques. This reduces incorrect gearshifts or allows more precise movement.

[0170] A further considerable advantage is that no stick-slip effect arises. The braking/damping is not performed by way of classic friction-based brakes. The MRF dampers provide damping in a manner dependent on the electrical current/magnetic field. When the magnetic field is switched off, the braking action is immediately eliminated irrespective of the speed of the movement. The braking force is not speed-dependent or has only a low-speed dependency, and the jerky movements of the stick-slip effect thus cannot arise.

[0171] A multi-axle mode is also possible (multi-axis and single-axis mode). Each individual rotational movement about a respectively separate axle can be controlled separately by means of separate magnetorheological brake devices. It may also be the case that a single magnetorheological brake device is sufficient to provide braking of rotational movement about different axles.

[0172] With the same series-produced part, it is possible to generate joysticks either with only one movement direction (for example forward) or up to 4 directions (forward, back, left, right).

[0173] Haptic indication of the power level is possible. The power imparted by a machine/vehicle may be indicated for example by increased resistance.

[0174] Through haptic feedback, the safety of the operator control of machines can be considerably increased, because the user does not need to direct their view to displays in order to identify problems.

[0175] Medical applications can also be advantageously implemented with the invention. For example, control of robots during an operation is possible, for example in order to avoid incorrect incisions using a scalpel or in order to reproduce different cutting forces. In a laboratory, laboratory equipment can be controlled. For example, in microscopy, an automatic movement of a sample holder can be performed in order to avoid collisions.

[0176] Inadvertent actuation can be prevented. An adaptation to external circumstances is possible. An inadvertent actuation can be prevented if, for example, it is implemented as standard that a short ripple is generated after a relatively long period of non-use. A user thus immediately senses if they move the joystick in an undesired manner. An externally originating impact (for example if a pothole is driven through) can also lead to an undesired adjustment. By increasing the force/torque if such an event occurs and is detected by the overall system, analyzed and transmitted to the joystick control unit, this can be prevented. For example, if a vehicle acceleration sensor identifies increased vehicle body movements, then the required joystick actuation force/moment is automatically adapted such that incorrect operator control actions are reduced.

[0177] The joystick may, via Bluetooth, WLAN, ZigBee, NFC, Wi-Fi, LiFi, 3G, smartphone, smartwatch, chip, key etc., identify which user wishes to use the joystick and thus adapt to the requirements/preferences of that user in a preconfigured or automatic manner. The joystick or the control electronics connected thereto may also have learning capability (fuzzy logic, artificial intelligence, machine learning) and thus continuously optimize operator control convenience and reduce operator control error.

[0178] Near-field detection systems (radar, ultrasound, camera-based, lidar . . . ) provide important information to the control electronics of the joystick and thus influence the haptic feedback.

[0179] Several systems are interlinked with one another, and it is also possible for external signals to be supplied (for example via Bluetooth, WLAN, ZigBee, NFC, Wi-Fi, LiFi, 3G, 5G . . . ), and all data are analyzed and result in corresponding real-time feedback at the joystick. In this way, complex situations can be more easily and more safely handled using the joystick owing to the situation-dependent feedback.

[0180] The angle sensor preferably has more than 30 000 increments per rotation, and the control frequency of the controller is preferably greater than 5 kHz.

[0181] The overall system may also be of redundant construction if this is necessitated by the intended use (for example duplex position sensors and rotary dampers . . . ).

[0182] If the control electronics identifies, at an early point in time, an impending failure of a relevant sensor or damper, this can be clearly signaled to the user in the form of haptic feedback (for example sustained intense vibration). This is also the case if, for example, the sensor of the Y axis fails but the user wishes to/must continue to perform actuation in the X axis. The adaptive joystick may also adapt to such special or emergency situations and assist the user as best as possible with the remaining possible operator control actions (with feedback).

[0183] In all refinements, developments and embodiments, it is possible for acoustic signals or sounds to be output by means of the magnetorheological brake device. For this purpose, the magnetorheological brake device is targetedly braked with a corresponding (constant or variable) frequency such that a corresponding sound signal is generated. In particular, the control device is used for the purposes of control. It is however also possible for a separate signal generator to be used for targeted control of the sound signals and for controlling (activating and deactivating) the brake device. In addition to an in particular rhythmic activation and deactivation of the brake device, it is also possible for a corresponding increase and reduction of the braking action to be generated in order to output acoustic signals or sounds. An alternative or additional output of sound is also possible in all refinements by means of a loudspeaker or sound generator.

LIST OF REFERENCE DESIGNATIONS

[0184] 1 Rotary damper

[0185] 2 Transmitting device

[0186] 700 Input apparatus

[0187] 701 Operator control device

[0188] 702 Brake device

[0189] 703 Control device

[0190] 704 Support device

[0191] 705 Operator control lever

[0192] 706 Pivot axle

[0193] 707 Restoring unit

[0194] 708 Transmission stage

[0195] 710 Input receiving apparatus

[0196] 711 Joystick

[0197] 713 Sequence

[0198] 714 Connection

[0199] 716 Pivot axle

[0200] 717 Neutral setting

[0201] 718 Belt drive

[0202] 720 Input system

[0203] 721 Switch

[0204] 723 Ripple

[0205] 728 Rotary axle

[0206] 733 Slotted guide mechanism

[0207] 734 Sensor means

[0208] 743 Length

[0209] 753 Interval