EP1614021A1 - Virtual reality system locomotion interface utilizing a pressure-sensing mat - Google Patents
Virtual reality system locomotion interface utilizing a pressure-sensing matInfo
- Publication number
- EP1614021A1 EP1614021A1 EP03724057A EP03724057A EP1614021A1 EP 1614021 A1 EP1614021 A1 EP 1614021A1 EP 03724057 A EP03724057 A EP 03724057A EP 03724057 A EP03724057 A EP 03724057A EP 1614021 A1 EP1614021 A1 EP 1614021A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- pressure
- user
- virtual reality
- locomotion interface
- sensing mat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
- A63B22/0242—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation
- A63B22/025—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation electrically, e.g. D.C. motors with variable speed control
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B2022/0271—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills omnidirectional
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
- A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
- A63B22/0242—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0285—Physical characteristics of the belt, e.g. material, surface, indicia
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
- A63B2220/13—Relative positions
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
Definitions
- This invention relates to virtual reality systems that can be used to fully immerse a user in virtual space.
- Virtual reality is a computer-generated environment in which a user is immersed. Actions of the user are translated by a computer into inputs that effect the virtual environment (NE). Virtual reality systems may stimulate naturally occurring senses, such as sight, sound, touch and movement, so that a user can navigate through a virtual environment as if in the real world.
- a major challenge to virtual reality system designers is to design a virtual reality system that allows natural human locomotion.
- Other virtual reality systems abandon the concept of natural human locomotion, using simple hardware that allow the user to navigate through the virtual environment with artificial gestures, such as flying in the virtual space in the direction the user's finger is pointing.
- Known virtual reality systems include treadmill devices that track the user's movement on the treadmill. Such a device is disclosed in U.S. Patent No. 5,562,572 to Carmein. Although these treadmill devices allow movement in the user's upright position, they do not allow movement in the user's prone position. They also cannot sense whether the user is in the standing, crawling or prone position. Further, these treadmill devices are often mechanically complicated, and are thus encumbered by the inherent lag times and momentum problems associated with moving mechanical masses.
- FIG. 1 A block diagram illustrating an exemplary virtual reality system
- FIG. 1 A block diagram illustrating an exemplary virtual reality system
- FIG. 1 A block diagram illustrating an exemplary virtual reality system
- FIG. 1 A block diagram illustrating an exemplary virtual reality system
- FIG. 1 A block diagram illustrating an exemplary virtual reality system
- FIG. 1 A block diagram illustrating an exemplary virtual reality system
- FIG. 1 A block diagram illustrating an exemplary virtual reality system
- FIG. 1 A block diagram illustrating an exemplary motion
- FIG. 1 A block diagram illustrating an exemplary virtual reality system
- FIG. 1 A block diagram illustrating an exemplary virtual reality system
- FIG. 1 A block diagram illustrating an exemplary virtual reality system
- FIG. 1 A block diagram illustrating an exemplary virtual reality system
- FIG. 1 A block diagram illustrating an exemplary virtual reality system
- FIG. 1 A block diagram illustrating an exemplary virtual reality system
- FIG. 1 A block diagram illustrating an exemplary virtual reality system
- FIG. 1 A block diagram illustrating an exemplary virtual reality system
- the virtual reality system includes a pressure-sensing mat that outputs signals indicative of a user's position in real space.
- a virtual reality processor uses the signals output by the pressure-sensing mat to produce an output indicative of the virtual space corresponding to the user's position and movement in real space.
- a display device uses the output from the virtual reality processor to allow the user to be fully immersed in the virtual space.
- the pressure sensing mat includes a base layer, a plurality of pressure sensing elements formed over the base layer, and a top layer formed over the plurality of pressure-sensing elements.
- the plurality of pressure sensing elements output a signal indicative of pressure applied to the top layer.
- This invention provides a virtual reality system that has a simple design and that allows a user to move naturally in any direction from any posture (e.g., standing, crawling, prone).
- the virtual reality system according to this invention has many advantages over previous virtual reality systems.
- the enhanced flexibility of the various exemplary embodiments of the system according to this invention allows a user to move forward, backward, or sideways from a prone, crawling or standing position.
- the virtual reality system according to this invention has many applications, such as, for example, enhanced military training, realistic video game environments, and a broad range of medical and therapeutic applications.
- FIG. 1 illustrates one exemplary embodiment of a virtual reality system according to this invention
- Fig. 2 illustrates one exemplary embodiment of the pressure sensing mat according to this invention
- Fig. 3 shows one exemplary embodiment of a pressure sensitive resistor usable with the various exemplary embodiments of the virtual reality system according to this invention
- Fig. 4 illustrates the equivalent circuit of the pressure sensing mat according to this invention
- Fig. 5 is a block diagram of an exemplary embodiment of the virtual reality processor according to this invention.
- Fig. 6 illustrates a cross section of an exemplary embodiment of a locomotion interface according to this invention.
- Fig. 1 illustrates one exemplary embodiment of a virtual reality system according to this invention.
- the virtual reality system 1 includes a pressure sensing mat 100, a virtual reality (NR) processor 200, and a display 400.
- NR virtual reality
- the various exemplary embodiments of the virtual reality system according to this invention can have any number and configuration of components that use a pressure sensing mat to sense the user's movement in order to generate a virtual environment.
- Fig. 2 illustrates one exemplary embodiment of the pressure sensing mat 100 according to this invention.
- the pressure sensing mat 100 includes a semirigid base layer 120.
- any suitable material can be used for the base layer 120, such as, for example, plastic, hardwood, and polycarbonate (lexan).
- a grid 140 i.e., a two- dimensional array of pressure sensing elements 150-1 to 150-n is formed over the base layer 120.
- a top layer 160 is formed over the grid 140. Any suitable layer can be used for the top layer 160, such as, for example, rubber, natural rubber, buna's rubber, and fabric reinforced negro rubber, is preferred.
- the pressure sensing elements 150-1 to 150-n of the grid 140 detect the pressure applied to fixed points on the top layer 160 of the pressure sensing mat 100.
- Any suitable pressure sensing device can be used for the pressure sensing elements 150-1 to 150-n, such as, for example, electro-mechanical pressure sensors. In general, any known or later discovered pressure sensing device can be used for the pressure sensing elements 150-1 to 150-n.
- the pressure sensing elements 150-1 to 150-n include force sensitive resistors. As is known in the art, force sensitive resistors include elements that act as simple voltage dividers. Fig.
- FIG. 3 shows one exemplary embodiment of a pressure sensitive resistor 180 usable with the various exemplary embodiments of the virtual reality system according to this invention.
- the pressure sensing elements 150-1 to 150-n include corresponding pressure sensitive resistors 180-1 to 180-n.
- Each pressure sensitive resistor 180 includes an upper film 181, a lower film 182, a first electrode pattern 183 formed over the lower film 182, a second electrode pattern 184 formed over the upper film 181 so as to oppose the electrode pattern 183, and a pressure-sensitive conductor 185 formed over the second electrode pattern 184.
- the pressure sensitive conductor 185 is compressed between the first and second electrode patterns.
- the resistance of the pressure sensitive conductor 185 is lowered when compressed. Accordingly, voltage output of the pressure sensitive resistor 180 will vary with applied pressure.
- U.S. Patent No. 5,948,990 the disclosure of which is incorporated herein by reference.
- Fig. 4 illustrates the equivalent circuit of the pressure sensing mat 100.
- the voltage outputs Nout-1 to Nout-n correspond to respective pressure sensing elements 150-1 to 150-n that make up the grid 140.
- a user applies pressure to points on the pressure sensing mat 100 as the user navigates through the virtual reality environment.
- the applied pressures alter the resistance of the pressure sensitive resistors 180-1 to 180-n, and thus the voltage output of each of the corresponding pressure sensing elements 150-1 to 150-n varies as the user moves.
- the grid 140 produces a voltage output that can be analyzed to generate a pattern that shadows the user's movements in the virtual space.
- Fig. 5 is a block diagram of an exemplary embodiment of the virtual reality processor 200.
- the virtual reality processor includes a controller 210, a memory 220 (including RAM and ROM, for example), a pattern generation device 230, a motion identification device 240, a virtual environment rendering device 250, an input interface 260, and an output interface 270.
- the controller 210 interfaces with the other components 220-270 using a control/data bus 280.
- the exemplary virtual reality processor 200 uses a bussed architecture, it should be appreciated that the exemplary virtual reality processor 200 can use any known or later developed architectures, including ASIC, a programmed general purpose computer, discrete logic devices, etc.
- the input interface 260 can receive analog voltage signals from the pressure sensing elements 150-1 to 150-n.
- the input interface 260 can include an analog to digital converter that converts the analog voltage signals to digital signals.
- the input interface 260 can input the digital signals to the memory 220 for storage.
- the controller 210 can provide the digital signals stored in the memory 220 to the pattern generation device 230.
- the pattern generation device 230 samples the digital signals stored in the memory 220 at regular intervals and generates a pattern based on the digital signals at the regular intervals.
- the patterns generated by the pattern generation device 230 represent various positions of the user on the pressure sensing mat 100.
- the controller 210 transfers the patterns generated by the pattern generation device 230 to the motion identification device 240.
- the motion identification device 240 can include a pattern recognition device (not shown) that identifies a given pattern with a corresponding position of the user.
- the pattern recognition device can identify a pattern by comparing the pattern with a database of patterns stored in the memory 220.
- the pattern recognition device can also recognize the pattern based on the size, shape and/or pressure distribution of the pattern. For example, if the pattern is larger than a predetermined threshold size, the pattern recognition device will recognize the pattern as a "prone user position" pattern. Similarly, if the mat outputs signals indicative of two patterns of a similar size that alternately move, the processor determines that the user is upright (e.g., walking, running or standing (if the two patterns do not move)). If more than two smaller moving patterns are detected, the user is determined to be crawling.
- the patterns stored in the memory 220 can provide examples for a neural network to learn how to identify different patterns. [0020] Based on the posture and directional information determined by the processor, the virtual environment (i.e., the displaying image) is appropriately altered.
- a series of user positions identified by the pattern recognition device can be stored in the memory 220 during fixed intervals as the user navigates through the virtual environment.
- the centroid of each of the patterns in the series of patterns is tracked as the user moves on the pressure sensing mat 100.
- the motion identification device 240 can sample the series of user positions at the end of the fixed intervals and identify the motion of the user during the fixed intervals based on the series of user positions.
- the motion includes, for example, direction (forward, backward, left, right, etc.) and speed.
- the patterns also can be analyzed to determine the posture (standing, crawling, prone) of the user.
- the direction that the user is facing is determined by a sensor that can be directly attached to the user.
- the sensor can be a magnetic tracker attached to the user's waist that determines the direction the waist is facing.
- the virtual reality system provides significant advantages over known virtual reality systems in that only a single sensor needs to be directly attached to the user. Thus, the user is relatively free from cumbersome sensor wiring and devices.
- the controller 210 can transpose the motion of the user into the virtual environment generated by the virtual environment rendering device 250. Data for the virtual environment, including virtual objects, can be stored in the memory 220.
- the virtual environment rendering device 250 can update the virtual environment at given intervals based on the data stored in the memory 220.
- the virtual environment rendering device 250 can update the virtual space each time the user's motion is identified. Thus, as the user moves through the virtual space, the user can effect, and can be effected by, the virtual environment.
- the controller 210 can control the output interface 270 to output virtual reality environment data to the display 400.
- the display 400 is shown in Fig. 1 as a head-mounted display, any known or later discovered display can be used.
- the display provides the user with the ability to see, hear, smell and/or touch in the virtual world so that the user is fully immersed in the virtual space.
- the pressure sensing mat 100 can be as large as required to allow the user to move as if the user was in the virtual space.
- the pressure sensing mat 100 can be made to cover the floor of a large field or room. Alternatively, if space is limited, the pressure sensing mat 100 can be made smaller, in which case the user would be required to move in a bounded area or move "in place”. Further, the pressure sensing mat 100 can be arranged in a belt-like manner, such as in the form of a tread-mill.
- Fig. 6 illustrates a cross section of a locomotion interface 300 according to an embodiment of this invention including a pressure sensing mat 305 wrapped around a spheroid base 330.
- the pressure sensing mat 305 includes a base layer 310, a grid 315 of pressure sensing elements 320-1 to 320-n formed over the base layer 310, and a top layer 325 formed over the grid 315.
- the pressure sensing mat 305 can be held on to the surface of the spheroid base 330 by its own elasticity, thus making the contact between the spheroid base 330 and the pressure sensing mat 305 relatively frictionless.
- the locomotion interface 300 includes a housing 335 that retains the pressure sensing mat 305 and the spheroid base 330. Passive casters 335 can be mounted in the housing 335 to allow the pressure sensing mat 305 to move freely in all directions in the housing 335.
- the locomotion interface 300 must have the capability of allowing a user to feel as if he/she can move in all directions for an "infinite" distance.
- the pressure sensing mat 305 must be able to move underneath the user as the user "moves" in the virtual environment.
- the pressure sensing mat 305 moves will little friction on the spheroid base
- the pressure sensing mat 305 is mechanically actuated to move underneath a user.
- a steerable roller 340 is disposed in the housing 335, and the steerable roller is in frictional contact with the pressure sensing mat 305.
- the roller 340 is steerable about a first axis 350 and a second axis 360.
- the first axis 350 is perpendicular to the second axis 360.
- a first motor 345 powers the roller 340 about the first axis 350
- a second motor 355 powers the roller 340 about the second axis 360.
- the thrust vectors generated by the roller 340 cause the pressure sensing mat 305 to slide around the spheroid base 330 in all directions.
- a sensor (not shown) can be placed above the locomotion interface 300 to sense the direction in which the user is facing. The sensed user direction can then be used to determine the appropriate thrust vector to be generated by the roller 340, to thereby move the pressure sensing mat 305 underneath the user. For example, if the sensor determines that the user is facing a first direction, the roller 340 can be controlled to create a thrust vector in the first direction to thereby move the pressure sensing mat underneath the user in a second direction opposite the first direction.
- the roller 340, casters 335 and other mechanical parts of the locomotion interface 300 may interfere with accurate pressure sensing by the pressure sensing mat 305. Further, the pressure sensing mat 305 will be moving underneath the user as the user "moves" in the virtual environment, which will also diminish the accuracy of the pressure sensing. In order to solve these problems, when the user first steps on the pressure sensing mat 305, an initialization procedure can be done in which the users position on the pressure sensing mat 305 is determined.
- the virtual reality system 1 can be implemented as software executing on a programmed general purpose computer, a special purpose computer, a microprocessor or the like.
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Vascular Medicine (AREA)
- Cardiology (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Input By Displaying (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
Description
Claims
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/US2003/011784 WO2004099966A1 (en) | 2003-04-17 | 2003-04-17 | Virtual reality system locomotion interface utilizing a pressure-sensing mat |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1614021A1 true EP1614021A1 (en) | 2006-01-11 |
Family
ID=33434324
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP03724057A Withdrawn EP1614021A1 (en) | 2003-04-17 | 2003-04-17 | Virtual reality system locomotion interface utilizing a pressure-sensing mat |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP1614021A1 (en) |
JP (1) | JP2006514378A (en) |
CN (1) | CN1333323C (en) |
AU (1) | AU2003230945A1 (en) |
WO (1) | WO2004099966A1 (en) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1908502A1 (en) * | 2006-10-02 | 2008-04-09 | Koninklijke Philips Electronics N.V. | Interactive modular tile system |
JP4850885B2 (en) * | 2008-10-02 | 2012-01-11 | 株式会社コナミデジタルエンタテインメント | GAME DEVICE, GAME DEVICE CONTROL METHOD, AND PROGRAM |
FR2944615B1 (en) * | 2009-04-21 | 2013-11-22 | Eric Belmon | CARPET ADAPTED TO DISPLACEMENTS IN A VIRTUAL REALITY |
US9874944B2 (en) * | 2015-05-06 | 2018-01-23 | Pedram Khojasteh | System, method and device for foot-operated motion and movement control in virtual reality and simulated environments |
CN105771240A (en) * | 2016-02-22 | 2016-07-20 | 深圳市伴悦科技有限公司 | Simulation interactive game method |
CN106249894A (en) * | 2016-08-08 | 2016-12-21 | 南方科技大学 | Virtual reality interactive system and method |
KR20180038629A (en) * | 2016-10-07 | 2018-04-17 | 최해용 | Non-motorized Omni-directional Walking System |
TR201614631A1 (en) | 2016-10-18 | 2018-04-24 | Tugra Sahiner | A VIRTUAL REALITY MOVEMENT PLATFORM |
DE202018104636U1 (en) * | 2018-08-13 | 2018-08-20 | Zebris Medical Gmbh | Treadmill arrangement and motion status detection |
US11883729B2 (en) | 2021-05-12 | 2024-01-30 | Technogym S.P.A. | Devices and system for protecting users from a treadmill conveyor |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5980256A (en) * | 1993-10-29 | 1999-11-09 | Carmein; David E. E. | Virtual reality system with enhanced sensory apparatus |
US5562572A (en) * | 1995-03-10 | 1996-10-08 | Carmein; David E. E. | Omni-directional treadmill |
AUPN298995A0 (en) * | 1995-05-16 | 1995-06-08 | Phillips, Scott | Vr walker |
GB2324373B (en) * | 1997-04-18 | 2001-04-25 | Timothy Macpherson | Position and motion tracker |
US7381152B2 (en) * | 2001-07-23 | 2008-06-03 | Southwest Research Institute | Virtual reality system locomotion interface utilizing a pressure-sensing mat |
-
2003
- 2003-04-17 CN CNB038260123A patent/CN1333323C/en not_active Expired - Fee Related
- 2003-04-17 EP EP03724057A patent/EP1614021A1/en not_active Withdrawn
- 2003-04-17 JP JP2004571639A patent/JP2006514378A/en active Pending
- 2003-04-17 AU AU2003230945A patent/AU2003230945A1/en not_active Abandoned
- 2003-04-17 WO PCT/US2003/011784 patent/WO2004099966A1/en active Application Filing
Non-Patent Citations (1)
Title |
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See references of WO2004099966A1 * |
Also Published As
Publication number | Publication date |
---|---|
AU2003230945A1 (en) | 2004-11-26 |
WO2004099966A1 (en) | 2004-11-18 |
CN1745360A (en) | 2006-03-08 |
JP2006514378A (en) | 2006-04-27 |
CN1333323C (en) | 2007-08-22 |
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