Fiche individuelle
Michel AMBERG | ||
Titre | Ingénieur de recherche | |
Equipe | Commande | |
Adresse | Ircica Parc Scientifique de la Haute Borne 50, Avenue Halley 59658 VILLENEUVE-D'ASCQ | |
Téléphone | +33 (0)3-62-53-16-40 | |
Fax | +33 (0)3-20-43-69-67 | |
michel.amberg@univ-lille1.fr | ||
Publications |
ACLI Revue internationale avec comité de lecture |
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[1] Experimental evidence of nonreciprocal propagation in space-time modulated piezoelectric phononic crystals Applied Physics Letters, Vol. 123, N°. 20, 11/2023, URL, Abstract TESSIER BROTHRLANDE Sarah, CROËNNE Charles, ALLEIN F, VASSEUR J.-O., AMBERG Michel, GIRAUD Frédéric |
A nonreciprocal system composed of a one-dimensional piezoelectric phononic crystal whose periodic electrical conditions are modulated in time is presented. One-way longitudinal wave propagation is studied experimentally and compared to finite element temporal simulations. The modulation is performed by prescribing grounded or floating potential conditions on a periodic set of electrodes through external circuits. This approach makes it possible to consider a wide range of modulation speeds, and the large number of unit cells of the phononic crystal allows us to characterize experimentally the full dispersion curves of the system. This permits to observe the presence of directional bandgaps and to follow the shift in frequencies of these bandgaps as a function of the modulation speed. The experiments show the linear evolution of the central position of the bandgaps with the increase in the modulation speed, as well as their progressive closure, over a wide range of frequencies. Experiments are also used to estimate the evolution of bandgaps in a dispersive system, a problem discussed in several theoretical works but never observed experimentally. This work may constitute the foundation for experimental analysis of Floquet acoustic metamaterials, accelerated-modulation space-time metamaterials, or acoustic analog of the event horizon. |
[2] Beyond sense-specific processing: decoding texture in the brain from touch and sonified movement Iscience, Vol. 26, N°. 10, 10/2023, URL, Abstract LANDELLE Caroline, CARON-GUYON Jeanne, NAZARIAN Bruno, ANTON Jean-Luc, SEIN Julien, PRUVOST Laurent, AMBERG Michel, GIRAUD Frédéric, FELICIAN Olivier, DANA Jérémie, KAVOUNOUDIAS Anne |
Texture, a fundamental object attribute, is perceived through multisensory information including touch and auditory cues. Coherent perceptions may rely on shared texture representations across different senses in the brain. To test this hypothesis, we delivered haptic textures coupled with a sound synthesizer to generate real-time textural sounds. Participants completed roughness estimation tasks with haptic, auditory, or bimodal cues in an MRI scanner. omatosensory, auditory, and visual cortices were all activated during haptic and auditory exploration, challenging the traditional view that primary sensory cortices are sense-specific. Furthermore, audio-tactile integration was found in secondary somatosensory (S2) and primary auditory cortices. Multivariate analyses revealed shared spatial activity patterns in primary motor and somatosensory cortices, for discriminating texture across both modalities. This study indicates that primary areas and S2 have a versatile representation of multisensory textures, which has significant implications for how the brain processes multisensory cues to interact more efficiently with our environment. |
[3] Closed loop control of vibration field transient: Application to wave focusing Mechanical Systems and Signal Processing, Vol. 167, 03/2022, URL, Abstract KACI Anis, GIRAUD-AUDINE Christophe, GIRAUD Frédéric, LEMAIRE-SEMAIL Betty, AMBERG Michel |
In this article, several modes are controlled simultaneously both in phase and amplitude on an haptic display. To achieve this, modulation/demodulation control combined with mixed spatial/frequency filters is developed. It is then applied to produce a predefined velocity field both in space and time on a plate. The experimental results show good agreement with theory. |
[4] Mechanisms of Friction Reduction in Longitudinal Ultrasonic Surface Haptic Devices with Non-Collinear Vibrations and Finger Displacement IEEE Transactions on Haptics, Vol. 15, pages. 8-13, 01/2022, URL, Abstract TORRES GUZMAN Diana Angelica, VEZZOLI Eric, LEMAIRE-SEMAIL Betty, ADAMS Michael, GIRAUD-AUDINE Christophe, GIRAUD Frédéric, AMBERG Michel |
Friction reduction using ultrasonic longitudinal surface vibration can modify the user perception of the touched surface and induce the perception of textured materials. In the current paper, the mechanisms of friction reduction using longitudinal vibration are analyzed at different finger exploration velocities and directions over a plate. The development of a non-Coulombic adhesion theory based on experimental results is evaluated as a possible explanation for friction reduction with vibrations that are non-collinear with the finger displacement. Comparison with experimental data shows that the model adequately describes the reduction in friction, although it is less accurate for low finger velocities and depends on motion direction. |
[5] Design and control of an ultrasonic surface haptic device for longitudinal and transverse mode comparison Sensors and Actuators A: Physical, Vol. 331, N°. 113019, 08/2021, URL, Abstract TORRES GUZMAN Diana Angelica, LEMAIRE-SEMAIL Betty, GIRAUD-AUDINE Christophe, GIRAUD Frédéric, AMBERG Michel |
The design and closed loop control of a device able to produce both longitudinal mode and transverse mode vibration, at about the same resonance frequency (60 kHz) are presented in this article. The structure uses an array of piezo-ceramics. A dynamic analysis is performed on the obtained modes, and their dynamic lumped parameters are identified. A closed loop control is performed to maintain the desired vibration amplitude in the presence of a finger. Longitudinal and transverse motion cartographies show that the objective of achieving and controlling pure modes independently has been achieved. Using this device, tribological, psychophysical and energetic analyses are carried out. The analyses show that in terms of friction measurements and perception, both modes produce equivalent results. In terms of active power losses, an advantage of the longitudinal mode over the transverse mode is observed due to the interaction with the finger. |
[6] The impact of movement sonification on haptic perception changes with aging Scientific Report, Nature, Vol. 11, N°. 5124, 03/2021, URL, Abstract LANDELLE Caroline, DANA Jérémie, NAZARIAN Bruno, AMBERG Michel, GIRAUD Frédéric, PRUVOST Laurent, KRONLAND-MARTINET Robert, YSTAD S, ARAMAKI M, KAVOUNOUDIAS Anne |
Combining multisensory sources is crucial to interact with our environment, especially for older people who are facing sensory declines. Here, we examined the influence of textured sounds on haptic exploration of artificial textures in healthy younger and older adults by combining a tactile device (ultrasonic display) with synthetized textured sounds. Participants had to discriminate simulated textures with their right index while they were distracted by three disturbing, more or less textured sounds. These sounds were presented as a real-time auditory feedback based on finger movement sonification and thus gave the sensation that the sounds were produced by the haptic exploration. Finger movement velocity increased across both groups in presence of textured sounds (Rubbing or Squeaking) compared to a non-textured (Neutral) sound. While young adults had the same discrimination threshold, regardless of the sound added, the older adults were more disturbed by the presence of the textured sounds with respect to the Neutral sound. Overall, these findings suggest that irrelevant auditory information was taken into account by all participants, but was appropriately segregated from tactile information by young adults. Older adults failed to segregate auditory information, supporting the hypothesis of general facilitation of multisensory integration with aging. |
[7] PCA Model of Fundamental Acoustic Finger Force for Out-of-Plane Ultrasonic Vibration and its Correlation with Friction Reduction IEEE Transactions on Haptics, 02/2021, Abstract TORRES GUZMAN Diana Angelica, KACI Anis, GIRAUD Frédéric, GIRAUD-AUDINE Christophe, AMBERG Michel, CLENET Stéphane, LEMAIRE-SEMAIL Betty |
When a finger touches an ultrasonic vibrating plate, a non-sinusoidal contact force is produced. This force is called acoustic finger force. In a setup where closed-loop control is performed on the vibration amplitude, a component of the acoustic finger force can be measured at the fundamental vibration frequency of the plate. This calculation is obtained from the measurement of the variation of the controller voltage between the no-load case and when a finger is present. This calculation is made for a group of twelve participants. From these results a PCA (Principal Component Analysis) model is created. This model permits estimation of the acoustic finger force response of a participant at any vibration amplitude, based on a one or two point measurement. Finally, a linear relation between the PCA coefficients and the friction reduction is proposed. The objective of this relation would be to ultimately provide the means to create an amplitude reference calibration based on the desired friction reduction level, and thus be able to produce a standardized tactile feedback for each user, despite the biomechanical differences in finger pad properties between subjects. |
[8] LQR based MIMO-PID controller for the vector control of an underdamped harmonic oscillator Mechanical Systems and Signal Processing, Vol. 134, 08/2019, URL, Abstract KACI Anis, GIRAUD-AUDINE Christophe, GIRAUD Frédéric, AMBERG Michel, LEMAIRE-SEMAIL Betty |
Modulated-Demodulated control (or vector control) allows to simultaneously impose amplitude and phase of a resonator. Moreover, the working frequency in the case of discrete-controller is substantially lower than the resonance frequency. However, the design of a such controller can be complex. In this paper, we outline a design directly in the baseband. To do so, the oscillator is modelled as a non-dimensional Multi-Input-Multi-Output system. An optimal control (Linear Quadratic Regulator) framework can then be used to design the controller. Thanks to ad hoc performances criteria, the weighting matrices are systematically specified according to the desired closed-lop time response. The methodology is validated by an experimental results on a plate actuated using piezoelectric patches. |
[9] Generating controlled localized stimulations on haptic displays by modal superimposition Journal of Sound and Vibration, Vol. 449, pages. 196-213, 06/2019, URL, Abstract ENFERAD Ehsan, GIRAUD-AUDINE Christophe, GIRAUD Frédéric, AMBERG Michel, LEMAIRE-SEMAIL Betty |
In the field of tactile feedback, researchers try to generate localized stimulations on screens. Some solutions such as time reversal or phased array use vibration induced in the screen equipped with piezoelectric ceramics. We propose to use the modal basis to reproduce a specified velocity field on such devices. We explain the theory and propose a methodology to practically synthesize the voltages to achieved a controlled focusing in a given time. Experiments on a simple demonstrator are in good agreement with the theory for various velocity fields and a reduced number of modes. |
[10] Improving the PAD actuator performances by vector control IEEE/ASME Transactions on Mechatronics, Vol. 23, N°. 6, pages. 2920-2927, 09/2018, Abstract GIRAUD-AUDINE Christophe, GIRAUD Frédéric, AMBERG Michel, MANGEOT Charles, LEMAIRE-SEMAIL Betty |
In this paper, we address the problem of pull out and stalling of the vector control of the piezo-actuator drive. The model presented reveals the similarities with synchronous machine and therefore we propose the vector control to solve the problem and to enhance its performances. The implementation using a position sensor is tested. Experimental results show that the vector control avoids pull out and reduces dramatically the voltage applied to achieve the same performances. Speed up to 2.5 times the maximum rated speed at full load could be achieved without loss of synchronization. |
[11] Vector Control Of Piezoelectric Transducers and Ultrasonic Actuators IEEE Transactions on Industrial Electronics, Vol. 65, N°. 6, pages. 4880-4888, 06/2018, URL, Abstract GHENNA Sofiane, GIRAUD Frédéric, GIRAUD-AUDINE Christophe, LEMAIRE-SEMAIL Betty, AMBERG Michel |
This paper presents the implementation of a novel vibration amplitude control and resonant frequency tracking for Piezoelectric Transducers (PT) and Ultrasonic Motors (USM). It is based on a generalization of the Vector Control Method (VCM) to PT and USM that is explained in the first part. We show that two independent controllers with similar structure are required : one tracks the resonant frequency and the second controls the amplitude.We then present the implementation into a low cost DSP controller with a 200μsec sampling period. Experimental results on a Langevin Transducer achieved a time response of 20msec approximately, and the generality of the method is further demonstrated on a 2D Tactile stimulator at the end of the paper. |
[12] Integration of a torsion-based shear-mode energy harvester and energy management electronics for a sensor module Journal of Intelligent Material Systems and Structures, Vol. 28, N°. 10, pages. 1346-1357, 11/2016, URL, Abstract KULKARNI Vanaitay, GIRAUD Frédéric, GIRAUD-AUDINE Christophe, AMBERG Michel, BEN MRAD Ridah |
This work demonstrates the ability of a torsion-based shear-mode energy harvester to power a sensor module by integrating a temperature sensor circuit with a purpose developed piezoelectric energy harvester. A 10-cm3 energy harvester was developed for this application and was found to produce over 200 µW of maximum power through an optimal load resistance under 0.25 gpk acceleration excitation at its resonant frequency of 237 Hz. This harvester was then tested with two interface circuits: a standard interface diode bridge rectifier and a nonlinear synchronous electrical charge extraction circuit that were compared for their suitability in powering the sensor module. Through this, the synchronous electrical charge extraction nonlinear conditioning circuit was found to have superior performance when charging a capacitor and with DC loads at low voltages and was capable of providing a maximum power output of 37 µW under 0.25 gpk acceleration at 237 Hz. This output power was then used to successfully power a temperature sensor module consisting of a temperature sensor, a microcontroller, and a radio-frequency identification memory chip at a sensing frequency of 0.5 Hz. |
[13] Enhancing Variable Friction Tactile Display using an ultrasonic travelling wave IEEE Transactions on Haptics, 09/2016, URL, Abstract GHENNA Sofiane, VEZZOLI Eric, GIRAUD-AUDINE Christophe, GIRAUD Frédéric, AMBERG Michel, LEMAIRE-SEMAIL Betty |
In Variable Friction Tactile Displays, an ultrasonic standing wave can be used to reduce the friction coefficient between a user’s finger sliding and a vibrating surface. However, by principle, the effect is limited by a saturation due to the contact mechanics, and very low friction levels require very high vibration amplitudes. Besides, to be effective, the user’s finger has to move. We present a device which uses a travelling wave rather than a standing wave. We present a control that allows to realize such a travelling wave in a robust way, and thus can be implemented on various plane surfaces. We show experimentally that the force produced by the travelling wave has two superimposed contributions. The first one is equal to the friction reduction produced by a standing of the same vibration amplitude. The second produces a driving force in the opposite direction of the travelling wave. As a result, the modulation range of the tangential force on the finger can be extended to zero and even negative values. Moreover, the effect is dependant on the relative direction of exploration with regards to the travelling wave, which is perceivable and confirmed by a psycho-physical study. |
[14] Amplitude control of an ultrasonic vibration for a tactile stimulator IEEE/ASME Transactions on Mechatronics, Vol. 21, N°. 3, 02/2016, URL, Abstract BEN MESSAOUD Wael, GIRAUD Frédéric, LEMAIRE-SEMAIL Betty, AMBERG Michel, BUENO Marie-Ange |
This paper describes the control in a (d-q) frame of the vibration amplitude of a tactile stimulator based on ultrasonic vibrations. The goal is to fulfil simultaneously two objectives: maintain a constant level of vibration amplitude and excite the system at the resonance frequency. A new modelling approach is presented in order to facilitate the control and to fulfil the two objectives simultaneously. Then, thanks to an experimental setup, the validation of the new model is performed. Finally, the result of the closed loop control over a wide range of disturbing factors is presented. |
[15] Coupling of ultrasonic vibration and electrovibration for tactile stimulation European Journal of Electrical Engineering, Vol. 17, N°. 5-6, pages. 377-395, 11/2015, URL, Abstract VEZZOLI Eric, BEN MESSAOUD Wael, NADAL Clément, GIRAUD Frédéric, AMBERG Michel, LEMAIRE-SEMAIL Betty, BUENO Marie-Ange |
RÉSUMÉ
L’électrovibration et l’effet squeeze film produit par vibration ultrasonique sont deux principes de stimulation tactile permettant de modifier la sensation de toucher d’un utilisateur explorant une surface plane. Le présent article s’attache à démontrer leur compatibilité sur un même stimulateur tactile lors d’une utilisation concomitante. Une description du principe physique et des spécificités de chacun des phénomènes sera entreprise et les résultats expérimentaux obtenus lors de leur association seront par ailleurs présentés.
ABSTRACT
Electrovibration and squeeze film effect are two different principles, which modify the user’s perception of a surface. The first one is generated by the polarization of a finger approaching a high voltage supplied plate, and the latter by the ultrasonic vibration of a plate. Their compatibility on the same stimulator will be presented in this paper and their concomitant use will be proven. A parametric study on electrovibration in function of the material choice and a first experimental investigation of the validity of the squeeze film effect hypothesis are performed. A description of the physical principle and the characteristics of each effect will be proposed and force measurements of their coupling will be presented. |
[16] Power analysis for the design of a large area ultrasonic
tactile touch panel The European Physical Journal - Applied Physics (EPJ AP), Vol. 72, pages. 1-11, 09/2015, URL, Abstract YANG Yi, LEMAIRE-SEMAIL Betty, GIRAUD Frédéric, AMBERG Michel, ZHANG Yuru, GIRAUD-AUDINE Christophe |
Tactile interfaces are intuitive but lack of haptic feedback. One method to provide tactile feed-
back is to change the friction coefficient of the touch surface. Several small-size tactile devices have been
developed to provide programmable friction coefficient based on the squeeze air film effect. This effect is
produced by ultrasonic vibration of the tactile plate thanks to piezoceramics. In order to design larger
embedded tactile feedback areas, a key issue is the power consumption. In this paper, we present the
power analysis of a tactile device which is based on the squeeze film effect. We first investigate the source
of power consumption by a series of measurements. Then, an analytical model is developed to estimate the
power, which gives the conclusion that, when the vibration amplitude is constant, the power consumption
is not related to the number of piezoelectric actuators. According to this result, we design a large area
(198 mm × 138 mm) tactile plate with only eight piezoelectric actuators. Experimental results show that
the power consumption of the large tactile plate is less than 2 W. Moreover, we also find that the power
consumption of the large tactile plate was predictable with the measurement results from small plates with
an average error of less than 10%. |
[17] Generalized modal analysis for closed-loop piezoelectric devices Smart Materials and Structures, Vol. 24, N°. 8, pages. 085028, 08/2015, URL GIRAUD-AUDINE Christophe, GIRAUD Frédéric, AMBERG Michel, LEMAIRE-SEMAIL Betty |
[18] Pile Surface Tactile Simulation: Role of the Slider Shape, Texture
Close to Fingerprints, and the Joint Stiffness Tribology Letters (Springer), Vol. 59, N°. 25, pages. 2-12, 07/2015, URL, Abstract BUENO Marie-Ange, LEMAIRE-SEMAIL Betty, AMBERG Michel, GIRAUD Frédéric |
Stimulating the human hand with a tactile
device in order to simulate pile fabric touch is a challenge.
The stimulation has to be designed from the friction
characteristics of the investigated pile surfaces, i.e. velvet
fabrics. The tactile illusion of pile is given when touching
the smooth plate of the tactile stimulator STIMTAC by
modulating the coefficient of friction between the plate and
the finger during an active movement. In a preliminary
study, five tribological features as velvet fabric character-
istics were identified, used for the design of the stimulator’s
control signal, and validated via psychophysical studies
where real and simulated fabrics were compared. But a
specific tribological feature described and expected by
individuals was missing. Then, a tribological investigation
has been done in order to obtain this tribological feature,
with the five previous ones, by changing experimental
conditions: slider shape, texture, and joint stiffness. The
obtained results show that a rounded shape of the slider has
an influence only on the friction force level, but a texture of
the slider close to fingerprints and a joint stiffness is crucial
to obtain the missing characteristic and therefore for the
pile surface tribological characterization. The role of the
fingerprints in touching grooved surfaces has been pub-
lished before but not for pile surfaces. |
[19] Physical and perceptual independence of ultrasonic vibration and electrovibration for friction modulation IEEE - Transaction on Haptics, Vol. 8, N°. 2, pages. 235 - 239, 04/2015, URL, Abstract VEZZOLI Eric, BEN MESSAOUD Wael, AMBERG Michel, GIRAUD Frédéric, LEMAIRE-SEMAIL Betty |
Two different principles are available to modulate the user perceived roughness of a surface: electrovibration and ultrasonic vibration of a plate. The former enhances the perceived friction coefficient and the latter reduces it. This paper will highlight the independence of the two effects on the physical and perceptual point of view to confirm the increased range of sensation and stimulation that can be supplied by the two coupled techniques to the users. Firstly, a tribometric analysis of the induced lateral force on the finger by the two coupled effects will be presented, then a study on the dynamic of the two effects will be reported. In the end, a psychophysical experiment on the perception of the two coupled techniques will be shown. |
[20] Analysis of the energy harvesting performance of a piezoelectric bender outside its resonance Sensors & Actuators , Vol. 217, pages. 129-138, 07/2014, URL, Abstract AMANCI Adrian, GIRAUD Frédéric, GIRAUD-AUDINE Christophe, AMBERG Michel, DAWSON Francis |
When the frequency of the source of vibration of a piezolectric generator is significantly different from its eigenfrequency, the dielectric power losses become prominent and decrease the amount of power which is practically harvested. For off-resonance vibrating frequencies, the optimal operating conditions can be obtained with a Maximum Power Point Tracking method. This paper introduces complex phasors in the study of power conversion for piezoelectric generators. These complex phasors are used to describe three strategies which help simplify the tracking of the optimal generator output power for vibration frequencies which are away from resonance. Experimental results obtained on a prototype illustrate and confirm the approach with the phasor approaches illustrate and confirm the success of the proposed optimal power tracking strategies. Finally, we show that the efficiency results of each strategy depend on whether they are used inside or outside a frequency bandwidth around the eigenfrequency, and that the length of this bandwidth depends on the excitation amplitude. |
[21] A simulation from a tactile device to render the touch of textile fabrics: a preliminary study on velvet Textile Research Journal, Vol. 84, N°. 13, pages. 1428-1440, 02/2014, URL, Abstract BUENO Marie-Ange, LEMAIRE-SEMAIL Betty, AMBERG Michel, GIRAUD Frédéric |
In the field of e-commerce or virtual prototyping of textile fabrics and garments, tactile stimulators could be very
pertinent and useful tools for the industry. The challenge is to stimulate the human hand using a tactile device in order to
simulate the textile fabric touch. The principle of the tactile device is described. The kinds of fabrics investigated are pile
fabrics, such as velvet. In this study, the illusion of pile is given when touching the smooth plate of the tactile device by
modulating the coefficient of friction between the plate and the finger during an active movement. The control signal is
qualitatively designed from some tribological features identified in this study as velvet fabric characteristics. The influence
of each tribological feature on the tactile rendering is studied via psychophysical studies comparing real and simulated
fabrics. The best rendering needs a simulation with three specific features: a coefficient of friction, which depends on the
finger movement direction; a transition phase for the change of movement direction; and small amplitude variations of
the coefficient of friction with about one millimeter wavelength. |
[22]
Vector control method applied to a traveling wave in a finite beam IEEE Transactions on Ultrasonics, ferroelectricity and Frequency Control (TUFFC), Vol. 61, N°. 1, pages. 147-158, 01/2014, URL, Abstract GIRAUD Frédéric, GIRAUD-AUDINE Christophe, AMBERG Michel, LEMAIRE-SEMAIL Betty |
This paper presents the closed-loop control of exciters to produce a traveling wave in a finite beam. This control is based on a dynamical modeling of the system established in a rotating reference frame. This method allows dynamic and independent control of the phase and amplitude of two vibration modes. The condition to obtain the traveling wave is written in this rotating frame, and requires having two vibration modes with the same amplitude, and imposing a phase shift of 90?? between them. The advantage of the method is that it allows easy implementation of a closed loop control that can handle parameter drift of the system, after a temperature rise, for example. The modeling is compared with measurement on an experimental test bench which also implements real-time control. We managed to experimentally obtain a settling time of 250 ms for the traveling wave, and a standing wave ratio (SWR) of 1.3. |
[23] Contribution of Slip Cue to Curvature
Perception through Active and Dynamic Touch IEEE Transactions on Haptics, Vol. 6, N°. 4, pages. 408-416, 10/2013, Abstract ZENG Tao, LEMAIRE-SEMAIL Betty, GIRAUD Frédéric, AMBERG Michel |
—Haptic perception of curvature depends largely on the kind of touch. An active and dynamic touch is considered to be the
most natural way of exploring. In this study, we have designed and evaluated a kinematic platform for curvature perception through
active and dynamic touch. This platform can independently orient, elevate, and translate a flat plate; by exploring forward and
backward along the flat plate with a finger, users can achieve curvature feeling of extruded objects. The mechanism of platform and the
way of touch have maximally respected the cues for curvature perception, especially the slip cue. Psychophysical evaluation
demonstrated that the discrimination threshold of curvature for virtual shapes is close to that for real shapes, and the virtual shape is
felt equally curved as the real one. The curvature perception of mono-convex surfaces was then expanded to perception of more
complex surfaces: large textures, which have a sinusoidal profile. The evaluation has accessed the correspondence between the
virtual and real large textures. |
[24] Design and Control of a Haptic Knob Sensors and Actuators - Physical, Vol. 196, pages. 78-85, 07/2013, URL, Abstract GIRAUD Frédéric, AMBERG Michel, LEMAIRE-SEMAIL Betty |
Introducing haptic into tactile input interfaces allow users to really feel their action on the device they control by this way. In this paper, we achieve tactile stimulation by using the squeeze film effect. It is applied on a haptic knob, as those which control an MP3 player for example. We present our design procedure of the active surface and of the position sensor based on force measurement which achieves a resolution of 3.6 deg. We also show that stimuli are damped by
fingertip, and a specific control loop with a response time of 2.5 ms has been achieved to tackle this problem. Finally, a psychophysical experiment was conducted showing how the haptic feedback can increase user’s accuracy in a pointing
task. |
[25] Power Consideration in a Piezoelectric Generator Smart Materials Research, Vol. 2013, 06/2013, URL, Abstract TARDIVEAU Rémi, GIRAUD Frédéric, GIRAUD-AUDINE Christophe, AMBERG Michel, LEMAIRE-SEMAIL Betty |
A piezoelectric generator converts mechanical energy into electricity and is used in energy harvesting devices. In this paper, synchronisation conditions in regard to the excitation vibration are studied. We show that a phase shift of ninety degrees between the vibration excitation and the bender’s displacement provides the maximum power from the mechanical excitation. However, the piezoelectric material is prone to power losses; hence the bender’s displacement amplitude is optimised in order to increase the amount of power which is converted into electricity. In the paper, we use active energy harvesting to control the power flow, and all the results are achieved at a frequency of 200 Hz which is well below the generator’s resonant frequency. |
[26] Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor IEEE Transactions on Haptics, Vol. 4, N°. 4, pages. 327-331, 07/2011, URL, Abstract GIRAUD Frédéric, SANDULESCU Alexandru-Paul, AMBERG Michel, LEMAIRE-SEMAIL Betty, IONESCU Fiorin |
This paper deals with the control and experimentation of a one degree of freedom haptic stick, actuated by a travelling wave ultrasonic motor. This type of actuator has many interesting properties such as low speed operation capabilities and a high torque-to-weight ratio, making it appropriate for haptic applications. However, the motor used in this application displays non linear behaviour due to the necessary contact between its rotor and stator. Moreover, due to its energy conversion process, the torque applied to the end -- effector is not a straightforward function of the supply current or voltage. This is why a force-feedback control strategy is presented, which includes an online parameter estimator. Experimental runs are then presented to examine the fidelity of the interface. |
ACT Conférence internationale avec acte |
[1] Portable probe to rapidly assess mechanical and sensorial properties of skin EPUAP 2021 Virtual (18-19th October 2021), 10/2021 CHEN Yisha, AMBERG Michel, GIRAUD Frédéric, HAYWARD Vincent, LEMAIRE-SEMAIL Betty |
[2] Low Frequency Ultrasound Diagnostics Sensor for Pressure Ulcers EPUAP Virtual Meeting 2021, 10/2021, Abstract SALES DE CASTRO Elis Marina, GIRAUD Frédéric, LEMAIRE-SEMAIL Betty, AMBERG Michel |
Mechanical properties of skin are a clue for the diagnostic of pressure ulcers (PU) [1]. This project proposes a low- frequency ultrasound (LFU) device to identify the mechanical impedance (MI) of skin in different sites. The device’s goal is to identify the evolution of MI of skin over time and link it with the development of PU. In literature, studies involving LFU and PU focus on debridement through LFU cavitation [2]–[3]. Use of LFU on PU often present reduced pain and faster recovery. Although LFU for PU treatment is widely documented, the use of LFU for diagnosis is unexplored. Thus, a Langevin transducer (LT), with 60kHz of resonance frequency is proposed for PU detection. It is a high efficiency LFU device, based on the piezoelectric effect. |
[3] Identification and control of piezoelectric benders for skin mechanical impedance estimation 2021 23rd European Conference on Power Electronics and Applications (EPE'21 ECCE Europe), 09/2021, URL, Abstract CHEN Yisha, AMBERG Michel, GIRAUD Frédéric, HAYWARD Vincent, LEMAIRE-SEMAIL Betty |
This paper presents an integrated probe, designed to measure the rheological properties of the skin in situ. It includes two piezoelectric bender actuators and strain gauges as sensors. The advantage of the proposed probe is that the measurements of tip force and displacement are accomplished without external devices. A feedback voltage control is applied to control the vibration amplitude of the piezoelectric benders. Through feedback from integrated strain gauges, the displacement control is achieved. As shown in the simulation, the closed-loop system is robust to disturbance and uncertainty. The proposed probe may be used to measure skin mechanical impedance. |
[4] Acoustic Finger Force Measurement with Lateral Ultrasonic Surface Haptic Devices for Friction Reduction Estimation 2021 IEEE World Haptics Conference (WHC), pages. 67-72, 07/2021, URL, Abstract TORRES GUZMAN Diana Angelica, LEMAIRE-SEMAIL Betty, GIRAUD Frédéric, GIRAUD-AUDINE Christophe, AMBERG Michel |
When the finger interacts with a surface where a purely lateral ultrasonic vibration occurs, a vibration attenuation is produced. An added force is therefore needed in order to maintain the vibration amplitude in closed loop control. In this article we explore whether the friction reduction in lateral ultrasonic surface haptic devices may be predicted using static measurements of this additional force. |
[5] Model Proposition for Friction Attenuation Analysis in Lateral Ultrasonic Surface Haptic Devices 2021 IEEE World Haptics Conference (WHC), pages. 350, 07/2021, URL, Abstract TORRES GUZMAN Diana Angelica, VEZZOLI Eric, LEMAIRE-SEMAIL Betty, GIRAUD-AUDINE Christophe, GIRAUD Frédéric, AMBERG Michel |
Friction attenuation using ultrasonic lateral surface haptic devices (ULSHD) can modify the user perception of the touched surface and induce the perception of textured materials. In the current paper, the mechanisms of friction attenuation using lateral vibration are analyzed at different finger exploration velocities and directions over a plate. A development of a non-Coulombic friction function based on experimental results is proposed and evaluated. |
[6] Vector Controlled Ultrasonic Transducer Applied to Soft Material Mechanical Impedance Estimation 2021 IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics (ECMSM), 06/2021, Abstract SALES DE CASTRO Elis Marina, GIRAUD Frédéric, LEMAIRE-SEMAIL Betty, AMBERG Michel |
The study of skin mechanical impedance is a clue to analyse its health. We use a Langevin Transducer at 60kHz to excite the skin. In return we observe the acoustic forces generated by the interaction. To achieve that, the system is identified and presented in the rotating reference frame, and we describe the design of two PI controllers that accurately control the vibration velocity. However, in vivo analysis can be tricky when it comes to safety and duration of tests. Thus, phantom tissues are used as substitute to simulate skin behaviour. Due to its mechanical properties similar to skin, and its simple manipulation, Dragon Skin ®, a silicone rubber type of phantom, was chosen. The paper presents the characterisation of the mechanical impedance of three silicon phantoms with different properties based on force observation. The results show that the phantoms can be indeed identified based on this method. |
[7] Controller design for the Vector Control of Piezoelectric transducers International Conference and Exhibition on New Actuator Systems and Applications, 02/2021, Abstract KACI Anis, GIRAUD Frédéric, GIRAUD-AUDINE Christophe, AMBERG Michel, LEMAIRE-SEMAIL Betty |
The Vector Control Method applied to piezoelectric transducers is a promising way to track the resonance fre-quency as well as to control the vibration speed. Similar to the modulation-demodulation techniques, the (d,q) transformation applied here takes advantage of the recent advances in microcontrollers. Moreover, engineers can make a bridge between the control of brushless DC motors and piezoelectric actuators and two simple PI controllers, one for each axis are tuned in order to precisely control the vibration amplitude components in axis d and axis q. This paper presents the procedure to tune the PI controllers. First, the model in the rotating reference frame is given. A procedure, based on the LQR approach, is used to calculate the parameters of the PI controllers based on the desired closed loop response time. In the (d,q) reference frame, the second order type response of the system becomes two first order systems, coupled if the system is operated outside its resonance. By taking into account these couplings, the closed loop system can be accelerated, yet ensuring stable operation. In addi-tion to the control, environment’s acoustic impedance can be derived, on line. Finally, we present experimental results, obtained on a haptic display. The model and the measures are consistent, and confirms the approach: the vibration amplitude can be tuned with a response time less than 10ms. |
[8] Energy Analysis of Lateral vs. Normal Vibration Modes for Ultrasonic Surface Haptic Devices In book: Haptics: Science, Technology, Applications, 12th International Conference, EuroHaptics 2020, Leiden, The Netherlands, September 6–9, 2020, Proceedings, 09/2020, URL, Abstract TORRES GUZMAN Diana Angelica, LEMAIRE-SEMAIL Betty, GIRAUD Frédéric, GIRAUD-AUDINE Christophe, AMBERG Michel |
In this paper, we propose a new device in order to produce normal and lateral ultrasonic vibrations in a plate, using an array of piezoelectric ceramics. This setup serves to continue the comparative analysis between the two vibration modes for tactile feedback rendering, by including an energetic characterization. With the help of a tribological analysis, this study will help to examine the energy performance of each vibration mode in terms of active power consumption against friction contrast (which is linked to perception). Using a simplified second order plate model, the energetic results are analyzed. The results show a better energy efficiency for the lateral vibration for low exploration speeds. The tribological analysis helps as well to evaluate the effect of frequency increase in terms of friction reduction vs. vibration amplitude for both vibration modes |
[9] 2MoTac: Simulation of Button Click by Superposition of Two Ultrasonic Plate Waves Conférence, pages. 343-352, 09/2020, URL, Abstract GARCIA Pierre, GIRAUD Frédéric, LEMAIRE-SEMAIL Betty, AMBERG Michel, RUPIN Matthieu |
Recent studies have shown that a button click sensation could be simulated thanks to ultrasonic vibrations. In this context, a travelling wave may enhance the simulation because it creates internal lateral stresses that are released during the stimulation. However, this solution is difficult to integrate on plates. We present 2MoTac, a method which superpose a longitudinal and a bending mode simultaneously on a plate, in order to create a pseudo-travelling wave. We present the design, and a psychophysical study to deduce the optimal ratio between the bending and longitudinal mode amplitudes, in terms of detection threshold and robustness. |
[10] Comparison Between Normal and Lateral Vibration on Surface Haptic Devices IEEE World Haptics Conference, Tokyo 2019, 07/2019, Abstract TORRES GUZMAN Diana Angelica, LEMAIRE-SEMAIL Betty, KACI Anis, GIRAUD Frédéric, AMBERG Michel |
In this paper, a psychophysical experiment is designed and setup to perform the comparison between lateral and normal ultrasonic vibration for friction modulation on haptic devices at the same vibration amplitudes. Thanks to a simple analytical modelling relying on mechanical contact, the results obtained are explained. A parametric analysis of this comparison is then performed. |
[11] Fundamental Acoustical Finger Force Calculation for Out-of-Plane Ultrasonic Vibration and its Correlation with Friction Reduction IEEE World Haptics conference 2019, Tokyo, pages. 6, 07/2019, Abstract KACI Anis, GIRAUD Frédéric, GIRAUD-AUDINE Christophe, AMBERG Michel, LEMAIRE-SEMAIL Betty, TORRES GUZMAN Diana Angelica |
In this paper, we present a method to observe the fundamental of the acoustical finger force for the case of a friction reduction based haptic interface. The capability of the method to be achieved on-line, in a small micro-controller is established. We show a correlation between this measurement and the friction when sliding the finger. A model that predicts the friction coefficient and the friction contrast is laid down; it gives consistent output for 10 participants out of 12 having
different biomechanical parameters of the skin. |
[12] Travelling Ultrasonic Wave Enhances Keyclick Sensation Haptics: Science, Technology, and Applications. EuroHaptics 2018. Lecture Notes in Computer Science,, Vol. 10894, pages. 302-312, 06/2018, URL, Abstract GUEORGUIEV David, KACI Anis, AMBERG Michel, GIRAUD Frédéric, LEMAIRE-SEMAIL Betty |
A realistic keyclick sensation is a serious challenge for haptic feedback since vibrotactile rendering faces the limitation of the absence of contact force as experienced on physical buttons. It has been shown that creating a keyclick sensation is possible with stepwise ultrasonic friction modulation. However, the intensity of the sensation is limited by the impedance of the fingertip and by the absence of a lateral force component external to the finger. In our study, we compare this technique to rendering with an ultrasonic travelling wave, which exerts a lateral force on the fingertip. For both techniques, participants were asked to report the detection (or not) of a keyclick during a forced choice one interval procedure. In experiment 1, participants could press the surface as many time as they wanted for a given trial. In experiment 2, they were constrained to press only once. The results show a lower perceptual threshold for travelling waves. Moreover, participants pressed less times per trial and exerted smaller normal force on the surface. The subjective quality of the sensation was found similar for both techniques. In general, haptic feedback based on travelling ultrasonic waves is promising for applications without lateral motion of the finger. |
[13] Differentiated Haptic Stimulation by Modal Synthesis of Vibration Field 2018 haptic symposium, 03/2018 ENFERAD Ehsan, GIRAUD-AUDINE Christophe, GIRAUD Frédéric, AMBERG Michel, LEMAIRE-SEMAIL Betty |
[14] Evaluation of a Friction Reduction Based Haptic Surface at High Frequency 2018 IEEE Haptics Symposium (HAPTICS), San Francisco, CA,, 03/2018, URL, Abstract GIRAUD Frédéric, HARA Tomohiro, GIRAUD-AUDINE Christophe, AMBERG Michel, LEMAIRE-SEMAIL Betty, TAKASAKI Masaya |
The influence of the vibration frequency on the friction reduction of an ultrasonic haptic surface has been reported in the literature. The models predict that increasing the frequency of the vibration leads to higher friction reduction at constant vibration amplitude, but this has not been reported experimentally. In this paper, we study the friction reduction on a prototype which can vibrate at low (66kHz) and high (225kHz) frequency. By estimating the Point of Subjective Equivalence between a standard at low frequency with a sample at high frequency, we have found that high frequencies can indeed reduce the friction, with the advantage of much smaller vibration amplitude. Moreover, we show that the invariant between the two frequency conditions is not the vibration amplitude. Our conclusion is that the invariant could be the acceleration instead. |
[15] Control and evaluation of a 2-D Multimodal Controlled-Friction Display World Haptics Conference ( Munich), Germany, June 6-9, 2017, 06/2017, URL, Abstract GHENNA Sofiane, GIRAUD-AUDINE Christophe, GIRAUD Frédéric, AMBERG Michel, LEMAIRE-SEMAIL Betty |
The multimodal control of a 2D controlled-Friction Device is presented. We use the Vector control method because the phase and amplitude of two vibration modes at a same frequency can be precisely set. The closed loop response time of 10msec is achieved. The device is then associated with a finger position sensor. The algorithm of the multimodal approach is then tested. In spite of the inevitable limitations of the system - saturation of amplifiers, low sampling frequency of the sensor - low friction could be imposed under one finger and high friction on a second one in the same time. This confirms the validity of the modal approach to create multi touch interactions. |
[16] Modal superimposition for multi-fingers Variable Friction tactile Device Conférence EuroHaptics, Vol. 9774, pages. 521-530, 07/2016, URL, Abstract GHENNA Sofiane, GIRAUD-AUDINE Christophe, GIRAUD Frédéric, AMBERG Michel, LEMAIRE-SEMAIL Betty |
In this study, we develop and implement a method for superimposing two vibration modes in order to produce different tactile stimuli on two fingers located in different positions. The tactile stimulation is based on the squeeze film effect which decreases the friction between a fingertip and a vibrating plate.
Experimental test have been conducted on a 1D tactile device. They show that it is possible to continuously control the friction on two fingers moving independently. Then, we developed the design of a 2D device based on the same principle, which gives rise to the design of a two-fingers tactile display. Evaluations were conducted using a modal analysis with experimental validation. |
[17] Texture Rendering Strategies with a High Fidelity, Capacitive Visual-Haptic Friction Control Device Haptics: Perception, Devices, Control, and Applications: 10th International Conference, EuroHaptics 2016, London, UK, Vol. 9774, pages. 251-260, 07/2016, URL, Abstract VEZZOLI Eric, SEDNAOUI Thomas, AMBERG Michel, GIRAUD Frédéric, LEMAIRE-SEMAIL Betty |
Ultrasonic vibrations of a plate can modify the perception of the friction between a surface and a sliding finger. This principle, coupled with modern position sensing techniques, is able to reproduce textured materials. In this paper, an open loop control through model inversion of the friction force between the finger and the plate is presented. The device incorporating the control system is described, and two different reproduction strategies are formalized to address the reproduction of objects and textures. In the end, a psychophysical experiment evaluating the two control strategies is described. |
[18] Psychophysical Power Optimization of Friction Modulation for Tactile Interfaces Haptics: Perception, Devices, Control, and Applications: 10th International Conference, EuroHaptics 2016, London, UK, Vol. 9775, pages. 354-362, 07/2016, URL, Abstract SEDNAOUI Thomas, VEZZOLI Eric, GUEORGUIEV David, AMBERG Michel, CHAPPAZ Cedrick, LEMAIRE-SEMAIL Betty |
Ultrasonic vibrations of a plate can modify the perception of the friction between a surface and a sliding finger. This principle, coupled with modern position sensing techniques, is able to reproduce textured materials. In this paper, an open loop control through model inversion of the friction force between the finger and the plate is presented. The device incorporating the control system is described, and two different reproduction strategies are formalized to address the reproduction of objects and textures. In the end, a psychophysical experiment evaluating the two control strategies is described. |
[19] Dtact: a tactile device which changes how a surface is perceived ACTUATOR 2016-14th International Conference on New Actuators, 06/2016, Abstract GIRAUD Frédéric, GIRAUD-AUDINE Christophe, AMBERG Michel, LEMAIRE-SEMAIL Betty |
Among human senses, touch is much less understood than hearing or sight. However, today, new emerging technologies are placing tactile interaction at the heart of the communication with smart devices (smartphones, tablets,…). Hence, studying the sense of touch is now very important, in order to better understand the mechanisms induced from the mechanical excitation of skin to the feeling experienced by a user. Also, being able to detect and measure tactile disabilities, and to propose rehabilitation is a challenge; otherwise, numerous people can drift away from these objects as they can't be used easily by them. In the paper, we present Dtact, a device which stimulates the finger pulp with a calibrated stimulation. It is designed to be used during experimental studies aiming at recording nerves and brain activity of a user touching its surface. It will be used to detect tactile disabilities … |
[20] Dynamic model of a PAD actuator: dynamic operations and pull-off at high speed ACTUATOR 2016-14th International Conference on New Actuators, 06/2016, Abstract GIRAUD-AUDINE Christophe, AMBERG Michel, GIRAUD Frédéric, MANGEOT Charles, LEMAIRE-SEMAIL Betty |
The PAD motor has remarkable abilities for ultra-precise positioning at very low speed. Recent works have shown the possibility to extend its speed range, but some challengess remain such as pull-off. This paper proposes a model that highlights the parameters of the voltage supply that act on the torque and the contact, and can be used for control. Experimental results demonstrate the role of higher vibration modes, and show that typical signature of the imminence of pull-off can be detected thanks to some of the harmonic of the displacement of the actuators, giving some indications on means to address this problem. |
[21] Vector control applied to a Langevin transducer EPE’15, 09/2015, URL, Abstract GHENNA Sofiane, GIRAUD Frédéric, GIRAUD-AUDINE Christophe, AMBERG Michel, LEMAIRE-SEMAIL Betty |
In this paper, the control of the vibration amplitude of a Langevin transducer is obtained simultaneously with the tracking of its resonant frequency. Vector control method is applied to achieve this.
The result of this study is illustrated with experimental and simulation results. |
[22] High fidelity closed loop controlled friction in SMARTTAC tactile stimulator The 17th Conference on Power Electronics and Applications, EPE'15-ECCE Europe, Genève, SUISSE, 09/2015, Abstract BEN MESSAOUD Wael, AMBERG Michel, LEMAIRE-SEMAIL Betty, GIRAUD Frédéric, BUENO Marie-Ange |
The present study investigates the implementation of a closed loop control in a new smart tactile stimulator called “SMARTTAC”. This haptic device is able to stimulate the fingertip in order to simulate the texture perception of different real surfaces such as gratings. Two closed loop control are implemented to ensure both a stable vibration amplitude despite of external disturbances and accurate control of the friction coefficient using the new design of the tactile stimulator. Experimental measurements give satisfactory results both on dynamics and robustness points of view. |
[23] Preliminary design of a multi-touch ultrasonic tactile stimulator World Haptics, pages. 31 - 36, 06/2015, URL, Abstract GHENNA Sofiane, GIRAUD Frédéric, GIRAUD-AUDINE Christophe, AMBERG Michel, LEMAIRE-SEMAIL Betty |
This paper presents a method to control ultrasonic waves on a beam, allowing to obtain a Multi-touch ultrasonic tactile stimulation in two points, to give the sensation to two fingers, from two piezoelectric transducers. The multi-modal approach and the vector control method are used to regulate the vibration amplitude, in order to modulate the friction coefficient with the fingers. An analytical modelling is presented, with experimental validation. Finally a psychophysical experiment shows that a multi-touch ultrasonic tactile stimulation is possible. |
[24] Modelling, identification and control of a Langevin transducer ECMSM 2015, 06/2015, URL, Abstract GHENNA Sofiane, GIRAUD Frédéric, GIRAUD-AUDINE Christophe, AMBERG Michel, LEMAIRE-SEMAIL Betty |
The control of the vibration amplitude, and the resonance frequency tracking for ultrasonic transducer have been established. However, some applications require to control the vibration amplitude and its relative phase at a fixed frequency as the generation of travelling wave. In this paper, the transducer is modelled in rotating frame, and the decoupling according to two-axis allows to obtain a double independent closed loop control to address this issue. It is possible to control the transducer vibration amplitude and its relative phase, in steady state even in transient by acting on the amplitude of the supply voltage. Thanks to vector control method. This approach will be confirmed with experimental and simulation results. |
[25] Modelling and control of a travelling wave in a finite beam, using multi-modal approach and vector control method IFCS-EFTF 2015, 04/2015, URL, Abstract GHENNA Sofiane, GIRAUD Frédéric, GIRAUD-AUDINE Christophe, AMBERG Michel, LEMAIRE-SEMAIL Betty |
This paper presents a new method to produce and control the vibration amplitude and direction of a travelling wave in a finite beam, using multi-modal approach. A closed loop control of the transducer vibration is applied using vector control method. the modelling in rotating frame and the decoupling according to two-axis allows to obtain a double independent closed loop control. This allows to regulate the vibration amplitude of the travelling wave directly. An analytical modelling is presented, with experimental validation, showing good performances even in the presence of perturbations. |
[26] Design and causal modelling of a piezoelectric multi-actuator system used in forging processes ICEM 2014 International Conference on Electrical Machines, Berlin, pages. 457-463, 09/2014, Abstract NGUYEN Thanh Hung, GIRAUD-AUDINE Christophe, AMBERG Michel, LEMAIRE-SEMAIL Betty, ABBA Gabriel |
This paper presents the design of a mechatronic system integrating piezoelectric multi-actuators, which is used to generate low-frequency vibrations to assist the forging process.With the aim of controlling the complete system, modelling using Energetic Macroscopic Representation is performed. A
prototype with an electrical system is developed in a short term to validate the design. Finally, the preliminary experiments are presented with the corresponding simulation’s results. |
[27] Electrovibration modelling analysis EuroHaptcs Conference, Versailles (France), 07/2014, Abstract VEZZOLI Eric, AMBERG Michel, GIRAUD Frédéric, LEMAIRE-SEMAIL Betty |
Electrostatic attraction, may be used to modulate the apparent friction
coefficient between two surfaces. Applied to the human finger and a polarized
interface, the principle can modify the user perception of the interface surface.
Especially, the feeling is relevant when electrovibration occurs, which is a dy-
namic excitation of the surface. In this paper, the different steps towards the
modelling of the electrovibration phenomenon are developed. An investigation
on the current modelling will be carried on, with a focus on the temporal evolu-
tion and frequency dependence of the stimulus. Thus, an improvement of the
modelling will be proposed to take into account this major effect. Then, this
new modelling is checked with an experimantal set-up. |
[28] Closed-Loop Control for Squeeze Film Effect in Tactile Stimulator International Conference and exhibition on new actuators and drives (Actuator 2014), Brême, GERMANY, 06/2014, Abstract BEN MESSAOUD Wael, LEMAIRE-SEMAIL Betty, BUENO Marie-Ange, AMBERG Michel, GIRAUD Frédéric |
This paper presents a method for controlling the vibration amplitude of a tactile stimulator used to give the sensation to the fingertip that it touches a texture. The active surface of the stimulator is excited by an ultrasonic vibration frequency in order to modulate the friction coefficient with the fingertip. Due to the large size of the tactile display, two types of perturbations may affect the vibration amplitude which are the finger pressure and the temperature variation. We tackle these problems by coupling the control of the vibration amplitude and the tracking of the resonance frequency. This work is validated by plotting the vibration amplitude response with closed loop control and with a psychophysical test. |
[29] Design of a Haptic Magnifier using an Ultrasonic Motor Eurohaptics 2014, 06/2014, URL, Abstract GIRAUD Frédéric, AMBERG Michel, GIRAUD-AUDINE Christophe, LEMAIRE-SEMAIL Betty |
The paper presents a serial architecture of an actuated manipulator which uses an ultrasonic motor. The serial architecture allows to modify the kinetic relationship between user’s input and a tool. The design of the device is presented. A load, which exhibits fine details, is used in order to show how a zooming effect of its haptic rendering can be achieved with the haptic magnifier. Finally, the design is validated through an experimental analysis. |
[30] Using an Ultrasonic Transducer to Produce Tactile
Rendering on a Touchscreen 2014 Joint IEEE International Symposium on the Applications of Ferroelectric, International Workshop on Acoustic Transduction Materials and Devices & Workshop on Piezoresponse Force Microscopy (ISAF/IWATMD/PFM), 05/2014, URL, Abstract GIRAUD Frédéric, GIRAUD-AUDINE Christophe, AMBERG Michel, LEMAIRE-SEMAIL Betty |
Friction reduction based tactile devices use an
ultrasonic vibration to create an overpressure between a users
fingertip and the vibrating surface. This phenomenon is called
"the squeeze film effect". This is an emerging technology to
produce a haptic feedback on the touchscreen of handheld
electronic devices. In this paper, we present the technology and
the main technological issues to be improved.
|
[31] Influence of feedback on modal shapes and its consequences on broadband energy harvesting 2014 Joint IEEE International Symposium on the Applications of Ferroelectric, International Workshop on Acoustic Transduction Materials and Devices & Workshop on Piezoresponse Force Microscopy (ISAF/IWATMD/PFM), 5-2014, 05/2014, URL, Abstract GIRAUD Frédéric, AMBERG Michel, LEMAIRE-SEMAIL Betty, GIRAUD-AUDINE Christophe |
We study the effect of feedback on an energy harvester for broadband applications. Using modal analysis we show that it has an influence on modal shape as a side effect of the resonance shifting. We show that the piezoelectric coupling can thus be reduced. Experimental results are in agreement and also reveal
that non-linear effects are promoted in some cases. |
[32] Modelling of beam excited by piezoelectric actuators in view of tactile applications 11th International Conference on Modeling and Simulation of Electric Machines, Converters and Systems (ElectrIMACS 2014), 05/2014, Abstract NADAL Clément, GIRAUD-AUDINE Christophe, GIRAUD Frédéric, AMBERG Michel, LEMAIRE-SEMAIL Betty |
This paper deals with an one-dimensional semi-analytical modelling
of the vibratory behaviour of a rectangular beam excited by several
piezoelectric ceramics glued on its lower face. The establishment of the equations of motion is guaranteed by the application of Hamilton’s principle. From this approach, it results an accurate knowledge on the mode shape in function of the geometry, the structure and the positions of the piezoelectric actuators. This approach deployed on a simple case falls within a general process of the tactile surfaces optimization. This article shows that there is a trade-off between the optimization of the homogeneity of the tactile stimulation and the electromechanical coupling factor. |
[33] A method to HARvest energy from a hapTIC display in a handheld device: A preliminary study 2013 15th European Conference on Power Electronics and Applications, EPE 2013, 09/2013, URL, Abstract GIRAUD Frédéric, DAWSON Francis, GIRAUD-AUDINE Christophe, AMBERG Michel, LEMAIRE-SEMAIL Betty |
This paper deals with the control of a haptic device which is used in a generator mode to produce electricity from a users walking movements in a handheld device, like a mobile phone for instance. We first present the design principle of such a device. Then, a design is presented, which allows haptic feedback and energy harvesting to be produced with a same device. It is based on a piezoelectric plate actuator. A causal modelling of the system is then developed, and inverted in order to obtain the key control algorithms. Compared to other energy harvesting system, HarTic is characterized by some interesting features like the accelerometer which is now embedded into most mobile phones, and its measurement can be used in the energy harvesting strategy. Our simulations show that 2mW can be harversted in our case study. |
[34] A Simplified Power Supply For Piezoelectric Actuators Used In Forging Processes 15th European Conference on Power Electronics and Applications (EPE), Lille, 2013, pages. 1-9, 09/2013, Abstract GIRAUD-AUDINE Christophe, AMBERG Michel, GIRAUD Frédéric, LEMAIRE-SEMAIL Betty |
In this paper, we propose a power supply for piezoelectric actuators that can generate arbitrary waveforms at frequencies ranging from low to medium frequency. The actuators are used in a forging process and require high voltage. The converter is based on an original combination of a boost DC-DC converter and a rectifier circuit, thus reducing the number of components needed. Moreover, no transformer is required. Experimental results on a single and three phase version are presented and validate the proposed converter. |
[35] Merging two tactile stimulation principles: electrovibration and squeeze film effect World Haptics Conference (WHC), 2013 , pages. 485-489, 04/2013, URL, Abstract GIRAUD Frédéric, AMBERG Michel, LEMAIRE-SEMAIL Betty |
Electrovibration and squeeze film effect can modify the perception a user has of a flat surface. These two stimulation principles are compatible, which means that they can be used at the same time on the same tactile stimulator. This paper first highlights the differences between the two principles, then gives experimental results obtained when merging, with specific conditions, these two stimulation principles.
|
[36] Transparent Tactile Stimulator Based on Friction Reduction for Hand-held Device Actuator 2012, 06/2012, URL, Abstract GIRAUD Frédéric, AMBERG Michel, LEMAIRE-SEMAIL Betty |
This paper presents a study about a tactile stimulator based on the “squeeze film air bearing”, and which could be
used in a hand-held device. First, we analyze power consumption of tactile feedback provided with our stimulator,
since battery life of hand-held device is critical. Then, we present a new design of a transparent tactile device which
allows co-localized operations.
|
[37] Design of a transparent tactile stimulator Haptics Symposium (HAPTICS), 2012 IEEE, pages. 485 - 489, 03/2012, URL, Abstract GIRAUD Frédéric, AMBERG Michel, LEMAIRE-SEMAIL Betty, CASIEZ Géry |
This paper presents the design of a transparent tactile stimulator, based on the friction reduction between the fingertip and the active surface. With such a design, the ratio between the useful area (i.e. the active display and the tactile area) and the device face is equal to 0.7, while the touched area’s size is 93mm×65mm. Key design procedure is given, and experimental results are presented. |
[38] Haptic Perception of Curvature through Active Touch IEEE World Haptics Conference 2011, pages. 533-538, 06/2011, URL, Abstract ZENG Tao, GIRAUD Frédéric, LEMAIRE-SEMAIL Betty, AMBERG Michel |
Haptic perception of curvature can be achieved by passive or active
finger touch. In this study we proposed a new curvature perception
haptic device that can independently orient, elevate and translate a
flat plate. By exploring it with a finger through active touch, we
can render a curved shape. According to the characteristics of this
device, two curvature rendering motion models were analyzed: motion
model without compensation and motion model with position
compensation. Two experiments were then executed. Experiment
1 has verified that our device is able to produce distinct curvatures.
Experiment 2 has compared the performances obtained with each
motion model during the tasks of curved shape discrimination. |
[39] Control of a Haptic Interface Actuated by Ultrasonic Motors EPE-PEMC 2010, Ohrid, 09/2010, Abstract GIRAUD Frédéric, AMBERG Michel, LEMAIRE-SEMAIL Betty |
This paper presents a haptic interface actuated by a Traveling Wave Ultrasonic Motor (TWUM). First, we detail a one degree of freedom force-feedback device on which control laws are tested. Then the control strategy is
presented. It relies on a modeling of the motor which is
inverted in order to reach the control laws. We present a
strategy to attain good behavior when the lever rotates at low rotational speed. Moreover, a virtual environment is described. It is is made of a spring and walls. A specific way
to simulate walls which takes advantage of TWUM is shown. Finally, experimental results are presented. |
[40] Power consumption reduction of a controlled friction Tactile Plate Eurohaptics 2010, Amsterdam, 07/2010, Abstract GIRAUD Frédéric, AMBERG Michel, VAN BELLEGHEM Romuald, LEMAIRE-SEMAIL Betty |
This paper describes design improvements of a friction reduc-
tion based tactile device, which yields to reduction of the supply power.
We rst evaluated the power consumption of four dierent plates. We
found that a convenient design could cut the power losses down by 90%. To explain these changes we propose a modelling of the dielectric losses in the piezoelectric actuators and of the vibration amplitude. |
[41] Analysis of a New Haptic Display Coupling Tactile and Kinesthetic Feedback to Render Texture and Shape EuroHaptic2010, Vol. 6192, N°. 2, pages. 87-93, 07/2010, URL, Abstract ZENG Tao, GIRAUD Frédéric, LEMAIRE-SEMAIL Betty, AMBERG Michel |
In the domain of haptics, the sensation of touch is normally classed into two types: tactile and kinesthetic. Correspondingly, the haptic display can also be divided into two categories: tactile display and kinesthetic display. The two aspects are commonly addressed separately, but life experience has shown that this is not intuitive and not effective. Therefore, it is a significant work to couple the tactile display and the kinesthetic display. In this paper, we propose a new design of haptic display coupling tactile and kinesthetic feedback for rendering spatial texture (tactile) and haptic shape (kinesthetic). |
ACN Conférence nationale avec acte |
[1] Friction Modulation by Ultrasonic Travelling Wave Conférence des Jeunes Chercheurs en Génie Électrique 2015, 06/2015, URL, Abstract GHENNA Sofiane, VEZZOLI Eric, GIRAUD Frédéric, GIRAUD-AUDINE Christophe, AMBERG Michel |
Ultrasonic vibrations are used to modulate the friction coefficient between a sliding surface and the
vibrating object. In this paper an ultrasonic travelling wave is used to modulate the friction accordingly to the
direction of motion of the finger. In its propagation direction, the travelling wave applies a net force on the
sliding body reducing the friction whereas in the other increases it. The ability to obtain an asymmetric friction
coefficient in function of the motion direction has made possible to induce different sensation on the finger
accordingly to the controlled direction of travelling wave. |
[2] Couplage vibration ultrasonique et électro-vibration pour la stimulation tactile Symposium de Génie Electrique – SGE 2014, Cachan, FRANCE, 07/2014, Abstract VEZZOLI Eric, BEN MESSAOUD Wael, NADAL Clément, GIRAUD Frédéric, AMBERG Michel |
L’électrovibration et l’effet squeeze film produits respectivement par un champ électrostatique et par vibration ultrasonique, sont deux principes de stimulation tactile permettant de modifier la sensation de toucher d’un utilisateur explorant une surface plane. Le présent article s’attache à démontrer leur compatibilité sur un même stimulateur tactile lors d’une utilisation concomitante. Une description du principe physique et des spécificités de chacun des phénomènes sera entreprise et les résultats expérimentaux obtenus lors de leur association seront par ailleurs présentés. |
[3] CONCEPTION DE L’ALIMENTATION D’UN MPE A ONDE PROGRESSIVE CESAME’07, ENSEEIHT, Toulouse, 6-7 Septembre 2007, 09/2007, Abstract GIRAUD Frédéric, AMBERG Michel |
Dans cet article, nous présentons la conception d’un amplificateur linéaire à bon rendement pour l’alimentation d’un moteur piézo-électrique en laboratoire. |
BV Brevet |
[1] Device for creating haptic sensations on a surface using ultrasonic waves producing elliptical movements US20230075405A1, 03/2023, Abstract RUPIN Matthieu, GARCIA Pierre, GIRAUD Frédéric, GIRAUD-AUDINE Christophe, LEMAIRE-SEMAIL Betty, AMBERG Michel |
The invention relates to a touch interface comprising, on the one hand, an interfacial surface able to generate a haptic-feedback effect in response to a touch of said surface by a user, and, on the other hand, at least one piezoelectric actuator configured to generate, in said interfacial surface, at least one wave of ultrasonic frequency able to endow the particles of this surface with an elliptical movement having a movement component tangential to said surface, which component is denoted ut(t), and a movement component normal to said surface, which component is denoted un(t), wherein said wave of ultrasonic frequency is chosen so that the amplitude Ut of the tangential component ut(t) and the amplitude Un of the normal component un(t) are substantially equal. |
[2] Individual sensor-actuator for generating a haptic effect on a panel, and use of same Brevet, N° de Brevet. US11556180B2, 01/2023, Abstract GIRAUD Frédéric, GIRAUD-AUDINE Christophe, AMBERG Michel, LEMAIRE-SEMAIL Betty |
A system includes sensor-actuator units fixed onto a plate to be actuated according to at least one predetermined vibratory mode, each sensor-actuator unit having an electromechanical actuator and a deformation or vibratory speed sensor, wherein the electromechanical actuator and the sensor are colocated on the surface, that is to say that the measurement by the sensor is performed in immediate proximity to the electromechanical actuator, this proximity being such that the actuator and the sensor can respectively actuate and measure the same predetermined vibratory mode. |
[3] Interface tactile transparente French patent application, N° de Brevet. 1153963, 05/2011 GIRAUD Frédéric, AMBERG Michel, LEMAIRE-SEMAIL Betty |
[4] STATIC TOUCH BREVET, A paraître, Abstract GARCIA Pierre, GIRAUD Frédéric, LEMAIRE-SEMAIL Betty, AMBERG Michel, RUPIN Matthieu |
Dispositif pour la création de sensations haptiques sur une surface à l’aide d‘ondes ultrasonores produisant des mouvements elliptiques |
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