Patent Publication Number: US-11398211-B2

Title: Haptic controller

Description:
FIELD 
     The present disclosure relates to the field of controllers used in the musical field, and relates more precisely to a keyboard-type device. 
     BACKGROUND 
     Equipment of the keyboard type is commonly employed in the musical field, particularly due to the fact of their capacity to allow controlling and generating multiple and varied sounds and signals. 
     However, this equipment is commonly limited by its very structure, which is that of a piano type keyboard. Numerous devices have been proposed aiming in particular to reproduced in the most faithful manner possible the sensation produced by a piano keyboard. 
     Known in particular are different devices aiming to respond to the need for continuous control for playing certain sounds other than a traditional piano, one of these functionalities being commonly designated by the term “aftertouch.” However, the devices proposed to this day have very limited functionalities and a control amplitude that is too small to really be able to offer perspectives of satisfactory play. 
     Here it is therefore desired to propose a controller allowing more numerous and varied setpoints than a conventional keyboard. 
     SUMMARY 
     The present disclosure relates to a haptic controller comprising a base, a plurality of actuators, each having a shape elongated in a main direction, each actuator being mounted pivotally relative to the base along a pivoting axis perpendicular to the main direction, a plurality of damping elements, each damping element being positioned so as to dampen a rotation movement of an actuator around the pivoting axis in a compression direction, the damping elements being elastically deformable between an initial configuration and a final configuration, each damping element comprising a body of deformable material, the body having at least one recess, and wherein each of the actuators have a protrusion suitable for coming into contact with the associated damping element, and each protrusion has a free end defining a contact, linear for example, with the associated damping element in its initial configuration. 
     According to one example, the body of each damping element has at least two recesses. 
     The recesses may have distinct shapes. 
     According to one example, the damping elements are removable. 
     According to one example, the base defines an abutment limiting the displacement in rotation of each actuator in the compression direction. 
     According to one example, the base and the actuators include means cooperating so as to define an abutment limiting the displacement in rotation of each actuator in the direction opposite to the compression direction, defining an initial position of each actuator on their associated damping elements in which the damping elements are preloaded by the actuators. 
     According to one example, each of the actuators include a tactile portion and a foot, the tactile portion being movable in translation relative to the foot in a direction defined by the pivoting axis. 
     The foot of each actuator may include a pivoting portion defining the pivoting link with the base, the pivoting portion being connected to the tactile portion by two parallel slats each extending in a plane perpendicular to the pivoting axis. 
     According to one example, the foot of each actuator includes a pivoting portion defining a pivoting link with the base, and allowing displacement in rotation of the actuator along an axis perpendicular to the pivoting axis and perpendicular to the main direction. 
     According to one example, the base includes a plurality of elements protruding from the base, each element being configured so as to be supported against two walls of the foot of an actuator in a direction parallel to the pivoting axis, there may be two internal walls or two external walls opposite to the foot of an actuator in a direction parallel to the pivoting axis. 
     According to one example, the base includes a plurality of elements protruding from the base, each element being configured so as to be supported against two internal wall of the foot of an actuator in a direction parallel to the pivoting axis. The elements may be rods. 
     As an option, the actuators are configured so as to allow variable displacement in translation depending on the rotation of the actuators around the pivoting axis. 
     As an option, the damping element is connected to the base by means of a linking portion extending in a direction perpendicular to the pivoting axis or in a direction parallel to the pivoting axis. 
     According to one example, the damping element has a variable thickness, the thickness being measured in a direction defined by the contact, possibly linear, between the actuator and the damping element, or possibly by the pivoting axis. 
     According to one example, the body of each damping element has a cylindrical shape, of revolution for example, along an axis parallel to the pivoting axis, the at least one recess of each damping element being through in a direction defined by the pivoting axis. 
     According to one example, each actuator includes two distinct linking elements forming two pivoting links separate from the base along the pivoting axis. 
     According to one example, the damping elements are configured so as to dampen the rotation movement of the actuator by opposing a damping having two distinct profiles depending on the rotation of the associated actuator, the passage from the first to the second profile defining a break in a damping curve depending on the rotation of the actuator. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The disclosure and its advantages will be better understood upon reading the detailed description provided hereafter of different embodiments of the disclosure given by way of non-limiting examples. This description refers to the appended pages of figures, in which: 
         FIG. 1  shows an example of a device according to one aspect of the disclosure; 
         FIGS. 2 to 7  are detailed views of  FIG. 1 . 
         FIG. 8  shows a variant of the device shown in  FIG. 1 . 
         FIG. 9  is a graph illustrating the damping of the device depending on the depression of the actuators. 
         FIGS. 10 to 14  show several views of another embodiment of a device according to an aspect of the disclosure. 
         FIGS. 15 to 19  show schematic examples of damping elements. 
     
    
    
     In all the figures, identical elements are labeled with common numerical symbols. 
     DETAILED DESCRIPTION 
       FIGS. 1 to 4  show an example of a device  1  according to one aspect of the present disclosure. 
     Represented in the figures is a device  1  comprising a base  2  and a plurality of actuators  3 , configured here so as to form a piano type keyboard, the actuators  3  forming here the keys of a piano. 
     The actuators  3  are each mounted movable in rotation relative to the base  2  via a pivoting link around the same pivoting axis  4  of the base  2 . The pivoting axis  4  can be formed from a plurality of segments with aligned axes, or by a continuous axis, provided that it allows ensuring a common axis of rotation for the actuators  3  relative to the base  2 . More generally, the pivoting axis  4  generally designates an axis of rotation of the actuators  3  relative to the base  2 , but does not necessarily correspond to a physical element. The actuators  3  each extend in a main direction, perpendicular to the pivoting axis  4 . 
     The pivoting link can be accomplished in different manners. The illustrated embodiment shows a pivoting link accomplished by means of an element forming an axis around which are positioned segments of the actuators  3  forming cylindrical sleeves. It is understood, however, that this embodiment is not limiting; the pivoting link can be accomplished in any other suitable manner, provided that the relative movement of the actuators  3  relative to the base  2  is limited to a rotation movement. 
     The actuators  3  can thus be manipulated by a user who may exert a pressure force on a portion of a given actuator in order to cause a rotation movement of the actuator  3  around the pivoting axis  4  in a direction that is designated as depression. 
     This rotation movement in the depression direction is dampened by a damping element  5  positioned between each actuator  3  and the base  2 . The device  1  thus may include as many damping elements  5  as actuators  3 . 
     The rotation movement of each actuator  3  in the depression direction may be limited by a stop (or abutment)  24  of the base  2 , configured so as to define a maximum rotation of each actuator in the depression direction. The rotation movement of each actuator  3  in the depression direction may thus be accomplished between an initial position, in which no force is exerted by a user on the actuator  3 , and a depressed position, in which the actuator  3  is in contact with the associated stop  24 . 
     In the example shown in  FIGS. 1 to 4 , the base is in two portions  2 A and  2 B, a first portion  2 A of the base forms the support of the pivoting axis  4 , while a second portion  2 B of the of the base forms a support for the damping elements  5 . In an embodiment of this type, the two portions  2 A and  2 B of the base  2  may secured to the same base in order to ensure the alignment of the different components. 
     The rotation movement in the direction opposite to the depression direction may, for its part, be limited by a stop formed by the base  2 , so as to prevent lifting of the actuators  3  or a rebound effect of the actuators  3 . In the example shown in  FIG. 1 , the base  2  has a portion forming a cover  26  covering a portion of the actuators  3  near the pivoting axis  4 . This portion forming a cover  26  may have a plurality of slots  261  allowing for example adjustable stops, such as threaded rods to be inserted into it, thus allowing limiting the rotation movement of the actuators  3  in the direction opposite to the depression direction. The addition of stops of this type allows in particular ensuring the alignment of the different actuators in their initial position (i.e. when a user is not applying a force on the actuators  3 ), and also allows defining an initial position for the actuators  3  on their associated damping elements  5  in which the damping elements are preloaded by the actuators  3 , so as to both ensure a return to the initial position and maintenance of the contact of each actuator  3  with its damping element  5 . 
     It is understood that preloading depends in particular on the shape and on the dimension of the damping elements  5 . An increase in the size of the damping element causes an increase in preloading, and conversely. 
     At present, an example of the structure of the actuators  3  is described with reference in particular to  FIGS. 2 and 3 . 
     The actuator  3  as shown includes a tactile portion  31  forming a free end of the actuator, and a foot  32  comprising a pivoting portion  33  forming the pivoting link with the pivoting axis  4  of the base  2 . 
     The tactile portion  31  is the portion of the actuator  3  intended to be manipulated by the user. Thus it may have a flat upper face and a lower face, the upper face being able to include a coating such as a wood veneer or other element surrounding the tactile portion  31  so as to improve the sensation of the user. It is understood that the user can also manipulate the actuator  3  via the foot  32 . 
     An intermediate portion 34  comprising two parallel slats 341  and  342  and extending in two distinct planes and each perpendicular to the pivoting axis  4  may realize the link between the tactile portion  31  and the foot  32  of each actuator  3 . The slats  341  and  342  may be made of elastic material, or more generally of material allowing elastic deformation to occur when subjected to a moderate force on the part of a user, of plastic material (for example of acrylonitrile butadiene styrene, polycarbonate or polyoxymethylene) for example, of metallic material (for example steel or stainless steel). 
     An intermediate portion of this type  34  allows a translation movement  31  relative to the foot  32  in the direction defined by the pivoting axis  4 , and therefore offers an additional degree of freedom for the actuators  3 . By way of an example, this translation movement can allow transmitting a signal of the “vibrato” type for music processing. 
     Alternatively, the pivoting link accomplished between each actuator  3  and the pivoting axis  4  is configured so as to allow a limited rotation movement along an axis perpendicular to the pivoting axis  4  and perpendicular to the main direction of the actuator  3  in question. An embodiment of this type thus allow obtaining a moderate displacement of the free end of the actuator  3 , to allow a vibrato effect to be achieved. 
     The tactile portion  31  of the actuators  3  may have a decreasing cross section from the upper face toward the lower face, which allows offering a greater translation displacement when an actuator  3  has been subjected to a pressure force by the user and has therefore performed a rotation movement around the pivoting axis  4  relative to the adjacent actuators  3 .  FIGS. 6 and 7  thus illustrate the difference in translation displacement between an actuator  3  in its neutral position (i.e. in the absence of a force exerted by a user), and an actuator  3  in the depressed position (i.e. having performed a rotation movement around the pivoting axis  4  under the influence of a force exerted by a user). Denoted respectively by d 1  and d 2  in  FIG. 6  are the possible displacements in these two positions toward an adjacent actuator. It is seen that the amplitude of this displacement is increased as a function of the reduction of cross section of the actuator adjacent to the actuator in question. The change in cross section can be adjusted, depending on whether it is desired to have a displacement amplitude that varies progressively, or which attains its maximum value directly. The change in cross section can thus form a slope or a notch. 
     In the example shown, it is seen that the upper face  3  of each actuator  3  is a thin plate, followed by an isosceles trapezoid transition portion  35  thus reducing the thickness of the actuator  3  from the upper surface toward the lower surface of the actuator  3 , then a portion with a rectangular cross section in the continuation of the smallest foot of the trapezoidal portion. 
     In terms of application, these features thus allow a user to accomplish a greater vibrato movement when he exerts a greater pressure on the actuator in question. 
     In the example shown, the foot  32  of the actuator  3  includes two distinct arms 321  and  322  each forming a link element with the pivoting axis  4  and thus defining two distinct pivoting links separate from the base  2 . 
     Such an embodiment allows increasing the width of the pivoting link between the base  2  and the actuator  3 , which allow minimizing the radial clearance resulting from this pivoting link. 
     In an embodiment of this type, the different arms of the actuators  3  may be positioned staggered (as can be seen in particular in  FIG. 3 , which is a partially exploded view of one zone of  FIG. 1 ), so that one or two arms of adjacent actuators are interposed between two arms  321  and  322  of the same actuator, which thus allows increasing the width of the pivoting link as previously indicated, while minimizing the necessary volume for making all the pivoting links between the actuators  3  and the base  2 . 
     Depending on the desired configuration for the device  1 , the latter can have actuators  3  having different shapes. In the example shown in  FIG. 1 , two distinct types of actuators  3  are distinguished, so as to form a keyboard similar to a piano keyboard. 
     As previously indicated, damping elements  5  are positioned between each actuator  3  and the base  2  so as to dampen the rotation movement of the actuators  3  in a direction characterized as the depression direction, which corresponds to the direction of rotation of the actuator  3  when a user exerts a pressure force on the upper face of the tactile portion  31  of the actuator  3  in question. 
     The different damping elements  5  can be separate, or be grouped into subassemblies linked by a foot or strip. It is possible for example to create all or a portion of the damping elements  5  in a single piece, the different damping elements  5  being linked by a strip or a bar extending along the axis of rotation. 
     In the example shown, the damping elements  5  are positioned below the tactile portion  31  of the actuators  3 , the lower face of each actuator comprising here a protrusion  315  having a free end  316  suitable for coming into contact with the associated damping element  5 . 
     Defined for each damping element  5  is an initial configuration, corresponding to the shape of the damping element in the absence of deformation, which may be when no force is applied to the associated actuator  3 , and a final configuration, corresponding to the maximum deformation of the damping device  5  upon displacement of the associated actuator  3 , the final configuration may be determined by the stop  24  associated with the actuator  3 . 
     The protrusions  315  and the damping elements  5  are configured to define a contact, which may be linear, when the damping element  5  is in its initial configuration. Each of the protrusions  315  thus protrudes from a surface of the associated actuator  3 , and has a free end  316  coming into contact with a damping element  5 . 
     What is meant by linear contact is at least one linear contact between the protrusions  315  and the damping elements  5 . It is understood that the linear contact necessarily extends over a given surface due to the deformation of the components. The notion of linear is to be understood with reference to the respective dimensions of the components. 
     The free end  316  of each protrusion may have a cross section forming a circular arc, which thus allows not damaging the damping element  5 . 
     The protrusions  315  may have:
     a length, measured in a vertical direction, which is greater than the height of the associated damping element  5 , or may be greater than half the height of the associated damping element,   a width measured in the direction defined by the pivoting axis  4  greater than the width of the associated damping element  5  measured in the direction defined by the pivoting axis  4  or included between 1 and 4 times or between 1 and three times the width of the associated damping element  5  measured in the direction defined by the pivoting axis  4 ,   a thickness measured in a horizontal direction and perpendicular to the pivoting axis  4  less than a third or a quarter of the maximum thickness of the cylinder measure in a horizontal direction perpendicular to the pivoting axis  4 , corresponding in the illustrated example to a diameter of the cylindrical body  51  of the damping element  5 .   

     The damping element  5  as shown has the general shape of a cylinder equipped with a linking portion  52  forming her an excrescence having the general shape of a T, allowing facilitating its attachment to the base  2 .  FIG. 5  shows a side view of the damping element  5  illustrated in  FIGS. 1 and 4 . Also defined for the damping element  3  is a contact portion  53  corresponding to a portion of the damping element  3  suitable for coming into contact with the actuator  3 . In the example illustrated, the contact portion  53  is the portion of the damping element  5  suitable for coming into contact with the protrusion  315  of the actuator  3 . The contact portion  53  and the linking portion  52  may be positioned at two ends of the body  51  of the damping element  5 ; here these two portions are diametrically opposed. A compression direction of the damping element  5  is defined, corresponding to the direction defined by the contact portion  53  and the linking portion  52 . In the example illustrated in particular in  FIGS. 4 and 5 , the compression direction is vertical and forms a diameter of the cylindrical section of the body  51  of the damping element  5 . The compression direction is designated by an axis Z-Z in  FIG. 5 . 
     The protrusion  315  may extend in a compression direction defined by the axis Z-Z. 
     The damping element  5  includes a body  51  made of deformable material, for example a silicone or an elastomeric material, having the general shape of a cylinder. The body  51  in the shape of a cylinder may be positioned so that one axis of revolution of the cylindrical body is collinear with the pivoting axis  4 . The body  51  has at least one recess. In the example illustrated, the body  51  has two separate recesses  55  and  57  having distinct shapes, the recesses may be through. 
     In the example illustrated, the two recesses  55  and  57  are formed so as to be superimposed relative to one another in the compression direction of the damping element  5 . Thus the body  51  of the damping element can be subdivided into two portions; a first portion  5 A and a second portion  5 B each may correspond to a half-cylinder having a contact along a plane perpendicular to the compression direction. The two portions  5 A and  5 B are not necessarily equal; they can generally consist of two portions of the body  51  which is divided along a plane perpendicular to the compression direction. An example of such a plane and of division of the body  51  into two portions is shown by the axis X-X. 
     The first portion  5 A is defined as being the portion of the body  51  comprising the contact portion  53 , while the second portion  5 B is defined as being the portion of the body  51  comprising the linking portion  52 . The first portion  5 A includes a first recess  55 , which has a cross section having the general shape of a half-cylinder, the corners formed between the curved portion and the diameter of the half-cylinder having been rounded. The first recess  55  therefore has a cross section with a semicircular shape, the ridges of which have been rounded, and having a foot perpendicular to the compression direction. The second portion  5 B includes a second recess  57  which has an oval cross section centered on and symmetric relative to the axis Z-Z defining the compression direction. 
     In the embodiment shown in  FIG. 5 , the first recess  55  occupies a large part of the first portion  5 A, while the second recess  57  occupies a smaller part of the second portion  5 B. The result is that the first portion  5 A has less stiffness than the second portion  5 B of the body  51  of the damping element  5 . 
     In practice, during the displacement of the actuator  3 , the latter will cause a compression of the damping element  5  in the compression direction. The first portion  5 A, having a smaller stiffness, will be deformed first of all, thus defining a first damping profile. Once the first profile  5 A is entirely deformed, which is manifested by matter continuity in the first portion  5 A in the compression direction, the second portion  5 B will be deformed, thus defining a second damping profile provided that the stiffness of the second portion  5 B is greater than the stiffness of the first portion  5 A. 
     The protrusion  315  is configured so as to retain a reduced contact surface with the damping element  5 , particularly in order to avoid the formation of a planar contact during the deformation of the damping element  5 , which would then limit the possible deformation of the damping element  5 . 
       FIG. 8  shows an alternative configuration of the device shown in  FIG. 1 . Shown on this figure is a device  1  comprising a single actuator  3 , it being understood that this variant can be applied to a device  1  comprising a plurality of actuators  3  as already shown with reference to  FIG. 1 . 
     In this embodiment, the damping elements  5  in what is qualified as a “rear” zone of the actuators, i.e. opposite to the tactile portion  31 . Here the damping element is also secured to the base  2  (here the portion  2 A of the base  2  forming the support of the pivoting axis  4 ), but the compression direction is horizontal here, and substantially perpendicular to the force application direction to the actuator  3  by the user. As for the embodiment already described previously, it is seen here that the protrusion  315  extends in the continuation of the compression direction defined by the axis Z-Z. This embodiment allows de-correlating the rotation movement of the actuators  3  from the translation movement of the tactile portion  31  of the actuators  3 . 
     In fact, in the embodiment shown in particular in  FIG. 1 , the damping element  5  is positioned in contact with the protrusion  315  extending from the tactile portion  31  of the actuators  3 . Consequently, the damping elements  5  will oppose a resistance force to the translation movement along the pivoting axis  4  of the actuators  3 , this force being variable depending on the deformation of the damping element  5 . The resistance force opposed by the damping element  5  will thus depend on the properties of the damping element  5  and on the position of the actuator  3 . 
     Furthermore, it is noted that the damping can vary depending on the link between the damping element  5  and the base  2 . If the linking portion  52  of the damping element  5  is considered, this may define a link extending along the pivoting axis  4  or perpendicular to the pivoting axis  4 . In the case of a linking portion  52  extending perpendicular to the pivoting axis  4 , this can allow a slight displacement in rotation of the damping element  5  around a junction point with the base  2 ; the damping element  5  can thus accompany the displacement in translation of the actuator  3  in a movement of the vibrato type. Conversely, in the case of a linking portion  52  extending parallel to the pivoting axis  4 , the displacement in translation of the actuator  3  will cause a deformation of the damping element  5 , and the latter will therefore oppose a resistance greater than that of an identical damping element  5  but having a linking portion extending perpendicular to the pivoting axis  4 . The stops  24  adjacent to the damping element  5  in question then have an impact in that the limit the possible deformation of the damping element  5 . It is understood, in fact, that the higher the stops  24 , the more the portion of the damping element  5  is limited, and therefore the more the latter will oppose a considerable force to the translation movement of the tactile portion  31 . 
     By contrast, in the embodiment shown in  FIG. 8 , the protrusion  315  coming into contact with the damping element  5  does not extend from the tactile portion  31 , or more generally does not extend from the portion of the actuator  3  that is movable in translation along the pivoting axis  4 . Consequently, the translation movement of the tactile portion  31  of the actuator  3  is not impacted by the damping element  5 , inasmuch as the part of the actuator  3  in contact with the damping element  5  does not perform a translational motion. 
     The operation of this configuration remains unchanged relative to the operation of the embodiment described previously. 
       FIG. 9  is a graph illustrating schematically the behavior of the damping element  5  when subjected to a compression force as exerted by the operator  3 . 
     Shown in this graph is the deformation of the damping element  5  on the horizontal axis, and the force applied by the actuator  3  to the damping element  5  on the vertical axis. The graph is therefore a graph that is designated force/depression. For the purpose of illustration several examples of deformation of the damping element  5  are also shown at different points of the graph. 
     Shown on the graph is a first section S 1  in which the curve has a nonlinear profile, then a point P at which the curve may take on a linear profile for a second section S 2 . 
     The first section S 1  has a general profile similar to a curve of the square root type. Thus it can be seen that the damping element  5  opposes a relatively high stiffness when the deformation of the damping element  5  is initiated, then that the stiffness is less, the deformation them being able to be modulated to a relative large degree with a very small variation of the force applied by the user. This first section S 1  corresponds to the deformation of the first portion  5 A of the damping element  5 . It is understood in fact that the initiation of the deformation corresponds to a bending of the material in the compression direction. Once an initial deformation is accomplished, the damping element  5  will be able to deform over then entire height of the first recess  55  (the height being measured here in the compression direction), until the deformation of the first recess causes a continuity of matter on the first portion  5 A in the compression direction. 
     The second section S 2  corresponds to the deformation of the second portion  5 B of the damping element  5 , i.e. to the crushing of the second recess  57 . The trace stops when the protrusion  315  comes into contact with the stop  24  associated with the base  2 . The stop  24  being rigid, no displacement of the actuator  3  is then possible. In the absence of a stop  24  on the base  2 , the trace stops when the damping element  5  is entirely compressed, which can in particular be manifested by the fact of having a continuity of matter in the second portion  5 B in the compression direction, i.e. a crushing of the second recess  57  as shown schematically in  FIG. 9 . 
     As previously indicated, the cross section of the second recess  57  is reduced relative to the cross section of the first recess  55 . 
     The damping element  5  therefore has a greater stiffness here, which is manifested by the high slope of the trace in the second section S 2 . Moreover, in this example the second recess  57  is dimensioned so that the second section S 2  is linear. 
     This trace, having two distinct sections S 1  and S 2 , is characteristic of the system according to the disclosure. In fact it allows obtaining two distinct sensations for a user actuator a controller  3 , and thus to define two distinct levels of control. The point P symbolizes a break in the curve of the trace, which can be felt by the user. The proposed device  1  thus allows for example defining a first type of control when situated in the first section S 1  of the graph and a second type of control when situated in the second section S 2  of the graph. More generally, the device  1  allows obtaining two distinct profiles for damping the displacement of the actuator  3  in addition to a stop sensation during the curve break and thus conferring a force feedback to the user, and therefore conferring two distinct control sensations for a user. 
     It is understood, upon seeing the graph shown in  FIG. 9 , that the dimensioning of the elements forming the stops limiting the rotation movement of the actuators  3  will bound the curve, and can thus define portion of the curve that cannot be accomplished due to the presence of stops which prevent the actuator  3  from attaining the required positions for accomplishing the level of compression corresponding to the damping elements  5 . The dimensioning of the elements forming the stops limiting the rotation movement of the actuators  3  as well as the dimensioning of the damping elements  5  thus allowing modifying the sensation of a user. 
       FIGS. 10, 11, 12, 13 and 14  show another example of a device  1  according to one aspect of the disclosure. 
     In this embodiment, the pivoting link between the actuators  3  and the base  2  is accomplished by means of surfaced defining a shape protruding from one of these elements, and a counter-shape accomplished in the other of these elements. In the example illustrated, the actuators thus have a fin  361  having a triangular cross section. The base  2  has grooves  261  also having a triangular cross section, but with a larger cross section. Thus, when the actuators  3  or set on the base  2 , these surfaces allow a rotation movement of the actuators  3  relative to the base  2  along an axis corresponding to the contact at the tips of the fins and grooves. 
     In order to ensure maintenance in contact of the actuators  3  on the base  3 , a tension spring  6  is positioned so as to exert a tension force, the direction of which is centered on the pivoting axis defined by the surfaces in contact between each actuator  3  and the base  2 . The tension spring  6  thus ensures the durability of the system without impacting the pivoting movement, inasmuch as the direction of the force exerted by the tension spring  6  passes through the pivoting axis  4 . 
     The base  2  as shown has a plurality of vertical rods  8  configured so as to define lateral stops for the foot  32  of each actuator  3 . More precisely, the vertical rods  8  have a free end received in a recess provided in each actuator  3 , the rods  8  being dimensioned so as to be in contact with internal walls of the foot  32  of each actuator  3  in the direction defined by the axis of rotation  4 . Thus provision may be made for two rods  8  inserted in the foot  32  of each actuator  3 . The rods  8  thus ensure retention in position of the feet  32  of the actuators  3  relative to the base  2 , by allowing only a rotation movement along the pivoting axis  4 . The rods  8  ensure in particular retention of the foot  32  of the actuators  3  when the user applies a translation movement of the tactile portion  31  of the actuators  3  as already previously described. An embodiment of this type allows in particular concentrating the stresses at the rods  8  and the slats  341  and  342  of the intermediate portion  34 , and not at the pivoting link. It is understood that this embodiment is not to be interpreted in a limiting manner; the function achieved by the rods  8  can be achieved by any other suitable means. 
     When the translation movement of the foot  32  is thus limited by the rods  8 , if the user manipulates the actuator  3  via the foot  32 , he can then apply only a rotation movement to the actuator  3 . 
     In the embodiment shown, each of the actuators  3  has a slot  37  extending from the lower face of the tactile portion  31 . This slot faces a lug  27  formed on the base, and suitable to be inserted into the slot  37 . The slot  37  has a cross section that increases from its lower end toward its upper end. In the example shown, the cross section of the slot  37  at its lower end corresponds to the cross section of the lug  27 . The slot  37  and the lug  27  are configured to that in the absence of an outside force applied to the system  1 , the lug  27  is positioned in abutment against the lower portion of the slot  37 . Thus the lug  27  accomplishes a stop function preventing the movement of the actuator  3  in the form of a rotation movement in the direction opposite to the depression direction. Moreover, the association of the lug  27  and the slot  37  allows ensure an alignment of each of the actuators  3  in its initial position (i.e. when a user does not apply a force to the actuators  3 ), and also allows defining a preloaded initial position for the actuators  3  on their associated damping elements  5 , so as to ensure both a return to the initial position and maintenance in contact of each actuator  3  on its damping element  5 . 
     When a user applies a force tending to depress the actuator  3 , the slot  37  moves with the actuator  3 ; thus the lug will no longer be in abutment against the lower end of the slot  37 . The cross section of the slot  37  then increases, which allows displacement of the lug  27  in the slot  37 , and therefore allows a translation movement of the actuator in a direction defined by the pivoting axis  4  which becomes greater as the cross section of the slot  37  increases. It is thus possible to create a slot  37 , the cross section of which increases progressively so that the possible amplitude of translation increases with the depression of the actuator  3 . 
     The lugs  27  may have a cylinder-of-revolution cross section, along an axis parallel to the main direction of the associated actuator  3 . 
     In a variant (not shown) the slot  37  can have a fin forming a stop limiting the displacement of the actuator  3  in the depression direction. The lug  27  then moves between a high stop and a low stop, which delimits the angular amplitude of the rotation of the actuator  3 . 
       FIGS. 15 and 16  show views of the exemplary embodiments of the damping elements  5  visible in this embodiment. The device  1  may have several damping elements  5  having distinct shapes, particularly depending on the configuration of the actuators  3 . 
     Found on these two figures are two examples of damping elements  5  having in particular the different features already described with reference to  FIG. 5 , and designated with the same numerical symbols. 
     In these embodiments, the linking portion  52  forms an excrescence on the lower portion of the body  51 . This linking portion  52  may have through bores to insert holding elements into it, or be mounted clamped between clamping elements of the base  2 . 
     Here the contact portion  53  is a substantially flat ( FIG. 15 ) or curved ( FIG. 16 ) portion. It is surrounded by two bosses  56  suitable for improving the centering of the damping element  5  relative to the protrusion  315  of the associated actuator. 
     In these two variants, the second recess  57  has an oval cross section. In the embodiment shown in  FIG. 16 , the first recess has a generally semicircular section, of which the corners are rounded. In the embodiment shown in  FIG. 17 , the first recess  55  as shown has a trapezoidal shaped cross section of which the larger base is curved, which may be so as to conform to the external contour of the second recess, and the linking portions of which, between the large base and the sides, are rounded. 
     The operation is similar to the operation already described with reference to the preceding figures. 
       FIGS. 17, 18 and 19  show three variants of the damping element already shown in  FIG. 15 . 
       FIG. 17  is a perspective view of the damping element shown in  FIG. 15 . This damping element  5  may have a substantially constant thickness over its entire height, the height being the dimension along the axis Z-Z (or compression direction), and the thickness being measured along the axis Y-Y perpendicular to the axis Z-Z and the axis X-X, corresponding if appropriate to the direction defined by the linear contact between the damping element  5  and the actuator  3 . 
       FIG. 18  is a variant of the damping element shown previously in  FIG. 17 , in which the thickness of the damping element decreases over its first portion  5 A. More precisely, the thickness of the damping element  5  decreases from the limit between the second portion  5 B and the first portion  5 A until the upper end of the damping element  5 . 
     An embodiment of this type allows for example to vary the resistance exerted by the damping element  5  to a translation movement along the pivoting axis  4 . The more the damping element  5  is compressed, the more it will exert a resistance opposing a translation movement due to the increase in its cross section. 
       FIG. 19  shows another variant of the damping element previously shown in  FIG. 17 . In this embodiment, the second portion  5 B has a greater thickness than that of the first portion  5 A. A shoulder  58  is thus formed between the first portion  5 A and the second portion  5 B. This shoulder thus causes an abrupt variation of thickness, and therefore an abrupt variation of the resistance force exerted by the damping element  5  to a translation force when the compression of the damping element  5  (and therefore its deformation) reaches a given level. 
     It is understood that the examples presented in the different figures can be combined, and that the different structural and functional details shown in the different embodiments can be associated in different combinations. The embodiments shown are thus not to be interpreted in a limiting manner. 
     It is understood, upon reading the foregoing, that the proposed device  1  allows offering a haptic controller suitable for use in particular in the musical environment, allowing improved and modulable control due to the fact of the different degrees of freedom and behavior of the actuators  3 . The example illustrated in the figures allows in particular reproducing the force feedback of a conventional piano for a user, which the various known controllers and keyboards do not allow. 
     Moreover, the different damping elements  5  are removable. It is thus possible for the same device  1  to replace the damping elements  5  if the latter are worn of if it is desired to modify the behavior of the device  1 . 
     It is also understood that the shape of the damping elements  5  can vary. In the example illustrated, these are elements having the general shape of a cylinder, having two recesses. More generally, each damping element has at least one recess. As a variant, it is also possible to create a damping element by means of two materials or more having distinct mechanical properties, which can also allow modifying the stiffness opposed to the compression force applied by the actuator  3  to the damping element  5  depending on the deformation of the damping element  5 . 
     The device  1  may include a plurality of sensors suitable for measuring the displacement in rotation and in translation of the actuators  3  and deliver a signal depending on this displacement. 
     The sensors can for example be magnetic sensors coupled to a magnetic element such as a magnet positioned on each actuator  3 . The sensors can also be sensors measuring the force applied to the associated actuator  3 . 
     As a variant, the sensors can be positioned so as to measure the rotation of the actuators  3  around the pivoting axis  4 ; sensors of this type can be positioned so as to measure the rotation of the actuators  3  around the pivoting axis  4 ; sensors of this type can for example be positioned at the pivoting axis  4 , or be coupled to a dedicated surface of each actuator which can for example have graduations or markings thus allowing defining the position of each actuator  3  by means of an optical sensor. 
     In the example shown in  FIG. 1 , each actuator  3  includes a measuring portion  37  extending from the lower surface of the tactile portion  31  of the actuator  3 . The measuring portion  37  includes a flat surface which can for example be provided with visual references such as graduations or indentations. The base  2  includes an optical sensor  23  positioned facing each measuring portion  37 , so as to measure the displacement of the measuring portion  37  and therefore the displacement of the actuator  3  in rotation around the pivoting axis  4 . The actuators  3  can also have a reflecting surface, which thus allows measuring, with the help of a sensor, the displacement in translation along the pivoting axis  4  of the tactile portion  31  of the actuator  3 . 
     Generally, the device includes a set of sensors suitable for supplying information relating to the displacement in rotation of the actuator  3  around the pivoting axis  4  and to the movement in translation of the tactile portion  31  of the actuator  3  along the pivoting axis  4 , this information being able to include in particular the position of each actuator at a given instant, as well as the displacement speed of each actuator and its acceleration. 
     The device  1  can also include a computer, or more generally a signal processing unit, suitable for correlating the displacement of the actuators  3  to predetermined gestures such a musical gestures. The device  1  can then modulate the signal delivered depending in particular on the speed and the acceleration during the displacement of each actuator  3 , in addition to its position. 
     The proposed device therefore forms a haptic controller offering a large and modulable control amplitude, and allowing in particular proposing an association between two distinct damping profiles, differentiated by a stop sensation resulting from the break in the damping curve, coupled with the possibility of achieving a vibrato effect. 
     These different levels of movement may thus be able to be translated through different actuating and sound control messages. The two damping profiles then offer two continuous control levels for sonic parameters, such as for example volume information or the cutoff frequency of a filter. According to one example, a speed or an acceleration is calculated shortly before the stop sensation to launch a discrete velocity information, currently used in conventional keyboard to actuate a note. Finally, the translation may allow continuously varying the height of a note (controls commonly designated “vibrato” and “bending”). 
     Although the present disclosure has been described by referring to specific exemplary embodiments, it is obvious that modifications an changes can be carried out on these examples without departing from the general scope of the disclosure as defined in the claims. In particular, individual features of the different embodiments illustrated/mentioned can be combined into additional embodiments. Consequently, the description and the drawings must be considered in an illustrative, rather than a restrictive sense. 
     It is also obvious that all the features described with reference to a method are transposable, alone or in combination, to a device, and conversely, all the features described with reference to a device are transposable, alone or in combination, to a method.