CN1825257A - Information input apparatus with pressing plate and method thereof - Google Patents
Information input apparatus with pressing plate and method thereof Download PDFInfo
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- CN1825257A CN1825257A CNA2005100084991A CN200510008499A CN1825257A CN 1825257 A CN1825257 A CN 1825257A CN A2005100084991 A CNA2005100084991 A CN A2005100084991A CN 200510008499 A CN200510008499 A CN 200510008499A CN 1825257 A CN1825257 A CN 1825257A
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Abstract
The invention relates to an information input device and method with pressing board that includes pressing board, force sensitive sensor, and casing. The whole support the pressing board gained would pass through a sensor elastic body. On the elastic body or the elastic body group and carrying the strain gauge, the pressed location would be calculated and judged according to the moment and torsion moment. The device and method simplifies the structure of the device and obviously improves the working accuracy, stability and reliability.
Description
(1) technical field:
The invention belongs to the information input technology of equipment such as being used for keyboard, writing input board, microcomputer, hand telephone set.
(2) background technology:
Present message input device mainly is keyboard, touch-screen etc., for portable or hand-held or pocket equipment, these device volumes are too big, for avoiding maloperation, the width of its each button or touch bit stealing should not be less than the width of finger end, and therefore, the input media with more keys or touch position is difficult to dwindle, if obviously reduce the number of button or touch position, can increase the complicacy of operation again and reduce input speed; The pocket input media that utilizes input pen is also arranged, but input is slower, has also increased the trouble of carrying pen.
In order to solve this difficulty, the applicant once proposed a kind of scheme (Chinese patent 03121386.3,03153792.8), thereby utilization realizes many buttons or position pocketization of input media that touch at the touch pad force-bearing situation calculated touch location of the sensor measurement band key position at a plurality of positions and the method or the device of input corresponding information more.But, produce and use in because the aging and distortion of the influence of variation, temperature and the external force of environment, element, the variation of the stressed distribution of each support zone can exert an influence to precision and the reliability that this device is imported.This scheme once provided the method for utilizing program to reduce its influence, but in the face of repeated distant interference or error, it is very satisfied that its usefulness still can not be made us, and presses for more radical solving method.
(3) summary of the invention:
The objective of the invention is to propose a kind of new technical scheme, make to utilize the structure of the miniature input media that presses plate more simple, work more reliable, input precision and accuracy obviously improve.Be specifically described below.
The present invention includes a kind of message input device and method that presses plate that have.
The message input device that presses plate that has of the present invention, by accepting one or more plates 1 that press of pressing at its surperficial diverse location, directly or indirectly with press the force-sensing sensor that comprises elastic body and strainmeter 7 that plate is connected, supporting structure 3 or housing 2 etc. are partly formed, described device is by measurement and judge the described suffered position that presses of plate or position and the dynamics input information of pressing, wherein said elastic body is can containing of constituting of resilient material or is provided with the elasticity integral body that having of strainmeter is suitable for the shape of strain measurement on the surface, described strainmeter provides and the corresponding measuring-signal of deformation, describedly presses plate obtains described supporting structure or housing by Connection Element or described elastic body or other elements support;
It is characterized in that, under normal surveying work state, have at least one describedly to press whole supports of described supporting structure that plate obtains or housing all via a certain described elastic body 4, this elastomeric partial portion directly or indirectly and the described plate that presses be connected and support this and press plate, this elastomeric other position directly or indirectly is connected with described supporting structure 3 or housing and obtains to be supported, on this elastic body or on the elastomer group of the transmission anchorage force that this elastic body links, both have simultaneously strainmeter or the strainmeter group of measuring the stressed or suffered shearing force of its institute or the strainmeter brachium pontis that constitutes bridge circuit, had the strainmeter of measuring its suffered two or more different axial moments or moment of torsion or the strainmeter brachium pontis of strainmeter group or formation bridge circuit again.
In the ordinary course of things, strainmeter or the strainmeter group of measuring the stressed or suffered shearing force of its institute or the strainmeter brachium pontis that constitutes bridge circuit be can be on an independent elastic body both have simultaneously, the strainmeter of measuring its suffered different axial moments or suffered moment of torsion or the strainmeter brachium pontis of strainmeter group or formation bridge circuit had again.
Described strainmeter can be common foil gauge, also can be other strain sensors or material; Described elastic body also can be the semiconductor material that has the stress sensitive p-n junction; Described elastic body can be made of single piece of material, and also can be combined closely by the polylith homogeneous material forms.The described plate that presses can link together by welding or riveted joint or bonding or other modes with described elastic body, even can be the configuration that is bonded to each other by a starting material direct forming.
By above arrangement, describedly press that the power that presses that plate is subjected to all can be delivered to and via a certain elastic body, be presented as the suffered stress of this elastic body, single elastic body stress is convenient to measure, its suffered various interference are very concentrated, be convenient to get rid of or reduction, be very beneficial for improving measurement effect with the strainmeter bridge circuit.
Message input device of the present invention can have the circuit or the device of built-in or external signal that links to each other with described sensor or strainmeter or Data Detection or transmission or calculating or processing or correction or display message.
The measuring-signal data of and moment stressed according to relevant elastic body institute, treating apparatus can calculate position and the size that presses the power that presses on the plate, imports corresponding information.
Described elastic body of message input device of the present invention or elastomer group can be I-shaped or have slotted eye for beam shape or tubular or rod or cylindricality or X-shaped or S shape or L shaped or N shape or H shape or U-shaped or plate ring type or cross section.
The described elastic body of message input device of the present invention can be the crossbeam with or without bending, have along up and down corresponding surface or both sides corresponding tables over glaze to or the strainmeter or the strainmeter group of its suffered moment of oblique measurement of laying or suffered moment of torsion or constitute the strainmeter brachium pontis of bridge circuit, perhaps have that different distance upper surface vertically or lower surface axially lay or its institute of the corresponding oblique measurement of laying in surface stressed or the strainmeter of suffered shearing force or the strainmeter brachium pontis of strainmeter group or formation bridge circuit in both sides.
Message input device of the present invention stops or limits and describedly press that plate or described elastic body or other Connection Elements excessively move or the configuration or the element 8 of deformation when external force is excessive can having on described supporting structure or the housing.
Can prevent elastic body or other element generation plastic deformations like this and reduce measuring accuracy.
On described supporting structure or housing, also can have and stop or limit described plate or other Connection Elements of pressing to the frame or configuration or the element that are parallel to the horizontal direction skew that presses the plate surface.
The described surface of plate or the figure plane or the band convex-concave that part surface can have prompting kinds of characters or zone of pressing of input media of the present invention.
Like this, this input media is suitable for using as keyboard.Press the convex-concave figure on plate surface, help improving feel.In case of necessity, press plate and can have flexible member or resilient material, to improve the comfortableness of clicking.
Input media of the present invention can have voice signal or optical signalling takes place or display device, presses the different of power or presses difference or the difference of input information or the difference of input mode of position with prompting.
Message input device of the present invention can have on described housing and carries out zero and press that power is proofreaied and correct or standard presses button or the switch or the knob of position or the operation of key bit correction.Described treating apparatus can have the program of " zeroing " or " contraposition ", makes things convenient for the debugging or the use of this device.
The present invention also comprises a kind of data inputting method, comprising:
(i) be provided with can its surperficial diverse location accept to press press plate, directly or indirectly with press the force-sensing sensor that comprises elastic body and strainmeter that plate is connected and to the supporting structure or the housing of its support, make and describedly press whole supports of described supporting structure that plate obtains or housing all via a certain described elastic body, this elastomeric partial portion directly or indirectly is connected and supports this and press plate with the described plate that presses, and this elastomeric other position is direct or indirect to be connected with described supporting structure or housing and to obtain support.
(ii) on this elastic body or on the elastomer group that this elastic body links, strainmeter or the strainmeter group of measuring the stressed or suffered shearing force of its institute or the strainmeter brachium pontis that constitutes bridge circuit are set simultaneously, and measure the strainmeter of its suffered different axial moments or suffered moment of torsion or the strainmeter brachium pontis of strainmeter group or formation bridge circuit; And the signal that links to each other with described strainmeter of arrangement or the circuit or the device of Data Detection or transmission or processing.
(iii) when pressing plate and be subjected to pressing, measurement data according to each strainmeter, calculate or judge elastic body the numerical value of stressed numerical value and suffered different axial moment or moment of torsion or their ratio or the position that presses power, and, judge input information according to the data of presetting or debugging actual measurement.
Data inputting method of the present invention can also comprise:
Analog divider or multiplier or divider circuit are set in described data processing circuit, it is stressed that it is input as suffered moment of elastic body or moment of torsion and institute, it is directly output as the ratio of moment or moment of torsion and power, according to elastic body stressed numerical value and suffered moment or moment of torsion and stressed ratio or the position that presses power, and, judge input information according to the data of presetting or debugging actual measurement.
When clicking input, can be according to preassigned, by processor according to the coordinate position of touch point and press the dynamics of power or variation (comprising the variation of poor, touch point position of the time interval, peak value and the peak valley of the peak value of dynamics, adjacent peak value), judge whether click is effective, click for single still repeatedly, and the input information of representative, and send into interface circuit;
Can divide the scope of various criterion to the dynamics of clicking, the click of same position when dynamics is in different range, can be represented different input informations or instruction.
The present invention also comprises keyboard or handwriting pad or mouse or controller or computer or PDA or notebook computer or electronic dictionary or e-book or mobile phone or wrist mobile phone or digital camera or other devices that comprises above any described message input device or described data inputting method.
Message input device of the present invention can be handwriting pad, and this moment, the described plate surface that presses should be smooth, is suitable for writing thing or finger and slides and to press, and writes thing or finger and slides the track that presses with detected calculating and input.
Message input device of the present invention can be mouse or cursor control, cursor will press moving and move on the plate along with finger on screen this moment, when the power that presses of finger surpasses certain limit, be regarded as left button and click cursor, when the power that presses of finger surpasses higher scope, be regarded as clicking by right key cursor.
From the above description as can be seen, the solution of the present invention allows the plate that presses of input information only to be supported by a sensor elastomer (or elastomer group), utilize corresponding strainmeter to measure the suffered stress of this elastic body and moment or moment of torsion simultaneously, judge touch point and input information, not only construct more simple rigid, and single-sensor elastic body (or elastomer group) measured, the synchronism of easier its several measurements of assurance, dynamic property, the consistance of temperature and other interference, thereby can utilize the bridge circuit eliminating or reduce environmental impact greatly, precision and the stability measured are improved about order of magnitude, make miniature density and resolving accuracy and the repeatable obviously raising that presses the key position of plate input media, volume further dwindles, be more suitable for one-handed performance, use accurately and reliably more conveniently, effect is very remarkable.
(4) description of drawings:
Fig. 1 is the partial schematic sectional view of the embodiment 1 of this device.
Fig. 2 is the schematic appearance that the sensor of the embodiment 1 of this device amplifies.
Fig. 3 is the schematic appearance that the L beam shape sensor among the embodiment 2 of this device amplifies.
Fig. 4 is the circuit diagram of bridge circuit A.
Fig. 5 is the circuit diagram of bridge circuit B.
Fig. 6 is the circuit diagram of bridge circuit C.
Fig. 7 is the circuit diagram of bridge circuit D.
Fig. 8 is the circuit theory synoptic diagram of the embodiment 1 of this device.
Wherein 1 for pressing plate, and 2 is housing, and 3 is supporting construction, 4 is elastic body, and 5 is Connection Element, and 6 is supporting plate, 7 is strainmeter, and 8 is limit element, and 9 is slotted eye, 10 for connecting screw, 11,12,13,14 is each strainmeter of dynamometry, and 15,16,17,18 is each strainmeter of the moment of turning axle for measuring with the Y-axis, and 19,20,21,22 and 23,24,25,26 are respectively not on the same group the strainmeter that measurement is the moment of turning axle with the X-axis, U is the supply voltage of bridge circuit, U.Signal output voltage for bridge circuit.
(5) embodiment:
Embodiment 1 (referring to Fig. 1) presses input keyboard for a kind of miniature circumscribed that is used for equipment such as micro computer of the present invention, wherein, acceptance presses a cross beam type aluminium matter elastic body 4 with 12 sheet strainmeters that presses plate 1 process supporting plate 6, Connection Element 5 and sensor, this elastomeric supporting construction 3 of connection and housing 2 are supported; Function button is arranged on housing; Press that plate 1 has 60 characters that indicate each keypads and grid and press and control cursor or write the shiny surface of input by slip; Pressing the plate surface with this is rectangular coordinate system, it is the bridge circuit B (Fig. 5) of the moment of axial rotary with the Y-axis that the strainmeter 15,16,17,18 that lays on the elastic body 4 is formed measurement, it is the bridge circuit C (Fig. 6) of the moment of axial rotary that strainmeter 19,20,21,22 is measured with the X-axis, and strainmeter 11,12,13,14 is formed the bridge circuit A (Fig. 4) that direction finding is exerted oneself; This housing bottom has limit element 8, reduces measuring accuracy to prevent elastic body or other element generation plastic deformations.
Have on the housing of embodiment 1 and carry out zero and press that power is proofreaied and correct or standard presses the button of position or the operation of key bit correction.
The circuit of embodiment 1 (referring to Fig. 8) is except bridge circuit A, bridge circuit B, the bridge circuit C (being denoted as electric bridge A, electric bridge B, electric bridge C respectively) of the sensor, interface circuit that the processor that also comprise coupled operational amplifier, sampling maintenance and analog to digital conversion circuit, measurement data is calculated, analyzes, judged and being used for is connected with outer computer and cable etc.
The logical order of the information input of the device of embodiment 1 is:
(i) starting switch, the output signal of each bridge circuit are amplified into sampling through operational amplifier and keep and analog to digital conversion circuit;
(ii) processor according to each constantly the data computation of power, Y-axis moment, X-axis moment go out the Y-axis arm of force ratio of power (the Y-axis moment with), the X-axis arm of force ratio of power (the X-axis moment with), dynamics or the variation judging the coordinate of touch point and press power;
(iii) according to preassigned, by processor according to the coordinate position of touch point and press the dynamics of power or variation (comprising the variation of poor, touch point position of the time interval, peak value and the peak valley of the peak value of dynamics, adjacent peak value), judge whether click is effective, click for single still repeatedly, and the input information of representative, and send into interface circuit;
(iv) input information is imported external computing machine through the interface circuit coding via external cable;
(v) at the oncontacting pressure condition and press zeroing during button, processor will this moment the force measurement data be benchmark, when pressing thereafter, calculate as the power of pressing with the increment of force measurement data;
When the standard of pressing pressed the button of position or the operation of key bit correction, treating apparatus can be according to the program of " contraposition ", and the memory standard presses the error of position or key position coordinate, in touch point coordinate Calculation thereafter, revised automatically or compensation;
Enter when writing state pressing function key, (i), (ii) step is the same, (iii) be according to preassigned, when slip presses power above predetermined lowest value, the continuous series data of the coordinate figure of its touch point will be recorded and be sent to computing machine by interface circuit, like this, writing the slide central point locus of the power press of thing or finger will be transfused to;
During as mouse or cursor control, input is similar with writing, cursor will move on screen pressing moving of smooth areas on the plate along with finger, when the power that presses of finger surpasses certain limit, be regarded as left button and click cursor, when the power that presses of finger surpasses higher scope, be regarded as clicking by right key cursor.
The wrist mobile phone of selecting two kinds of input modes for use of the input keyboard of the similar embodiment 1 that embodiment 3 dwindles greatly for a kind of use, the processor of its keyboard and hand-set host are same processor; When it presses plate (an about postage-stamp-sized) and clicks input, when the power of pressing is the 40-60 gram, input be telephone number; When restraining for 10-25, input be a part of letter; When restraining for 25-40, input be another part letter.Press power not simultaneously, inner sounder can send the prompt tone of different tones.Press on the plate at it, can write input with pen or finger even thumb, input this moment will be track or the stroke that thumb presses the power center.
Claims (10)
1, a kind of message input device that presses plate that has, by accepting one or more plates that press of pressing at its surperficial diverse location, directly or indirectly with press the force-sensing sensor that comprises elastic body and strainmeter that plate is connected, supporting structure or housing etc. are partly formed, described device is by measurement and judge the described suffered position that presses of plate or position and the dynamics input information of pressing, wherein said elastic body is can containing of constituting of resilient material or is provided with the elasticity integral body that having of strainmeter is suitable for the shape of strain measurement on the surface, described strainmeter provides and the corresponding measuring-signal of deformation, describedly presses plate obtains described supporting structure or housing by Connection Element or described elastic body or other elements support;
It is characterized in that, under normal surveying work state, have at least one describedly to press whole supports of described supporting structure that plate obtains or housing all via a certain described elastic body, this elastomeric partial portion directly or indirectly and the described plate that presses be connected and support this and press plate, this elastomeric other position directly or indirectly is connected with described supporting structure or housing and obtains to be supported, on this elastic body or on the elastomer group of the transmission anchorage force that this elastic body links, both have simultaneously strainmeter or the strainmeter group of measuring the stressed or suffered shearing force of its institute or the strainmeter brachium pontis that constitutes bridge circuit, had the strainmeter of measuring its suffered two or more different axial moments or moment of torsion or the strainmeter brachium pontis of strainmeter group or formation bridge circuit again.
2,, it is characterized in that having the circuit or the device of the built-in or external signal that links to each other with described sensor or strainmeter or Data Detection or transmission or calculating or processing or correction or display message according to the described message input device of claim 1.
3,, it is characterized in that described elastic body or elastomer group are that beam shape or tubular or rod or cylindricality or X-shaped or S shape or L shaped or N shape or H shape or U-shaped or plate ring type or cross section are I-shaped or have slotted eye according to the described message input device of claim 1.
4, according to the described message input device of claim 1, it is characterized in that described elastic body is the crossbeam with or without bending, have along up and down corresponding surface or both sides corresponding tables over glaze to or the strainmeter or the strainmeter group of its suffered moment of oblique measurement of laying or suffered moment of torsion or constitute the strainmeter brachium pontis of bridge circuit, perhaps have that different distance upper surface vertically or lower surface axially lay or its institute of the corresponding oblique measurement of laying in surface stressed or the strainmeter of suffered shearing force or the strainmeter brachium pontis of strainmeter group or formation bridge circuit in both sides.
5,, it is characterized in that having on described supporting structure or the housing and stop or limit and describedly press that plate or described elastic body or other Connection Elements excessively move or the configuration or the element of deformation when external force is excessive according to the described message input device of claim 1.
6,, it is characterized in that the described surface of plate or the figure plane or the band convex-concave that part surface has prompting kinds of characters or zone of pressing according to the described message input device of claim 1.
7,, it is characterized in that having on the described housing and carry out zero and press that power is proofreaied and correct or standard presses button or the switch or the knob of position or the operation of key bit correction according to the described message input device of claim 1.
8, a kind of utilization presses the data inputting method of plate, comprising:
(i) be provided with can its surperficial diverse location accept to press press plate, directly or indirectly with press the force-sensing sensor that comprises elastic body and strainmeter that plate is connected and to the supporting structure or the housing of its support, make and describedly press whole supports of described supporting structure that plate obtains or housing all via a certain described elastic body, this elastomeric partial portion directly or indirectly is connected and supports this and press plate with the described plate that presses, and this elastomeric other position is direct or indirect to be connected with described supporting structure or housing and to obtain support.
(ii) on this elastic body or on the elastomer group that this elastic body links, strainmeter or the strainmeter group of measuring the stressed or suffered shearing force of its institute or the strainmeter brachium pontis that constitutes bridge circuit are set simultaneously, and measure the strainmeter of its suffered different axial moments or suffered moment of torsion or the strainmeter brachium pontis of strainmeter group or formation bridge circuit; And the signal that links to each other with described strainmeter of arrangement or the circuit or the device of Data Detection or transmission or processing.
(iii) when pressing plate and be subjected to pressing, measurement data according to each strainmeter, calculate or judge elastic body the numerical value of stressed numerical value and suffered different axial moment or moment of torsion or their ratio or the position that presses power, and, judge input information according to the data of presetting or debugging actual measurement.
9, according to the described data inputting method of claim 8, be included in analog divider or multiplier or divider circuit are set in the described data processing circuit, it is stressed that it is input as suffered moment of elastic body or moment of torsion and institute, it is directly output as the ratio of moment or moment of torsion and power, according to elastic body stressed numerical value and suffered moment or moment of torsion and stressed ratio or the position that presses power, and, judge input information according to the data of presetting or debugging actual measurement.
10, the keyboard or handwriting pad or mouse or controller or computer or PDA or notebook computer or electronic dictionary or e-book or mobile phone or wrist mobile phone or digital camera or other devices that comprise claim 1 or 2 or 3 or 4 or 5 or 6 or 7 described message input devices or claim 8 or 9 described data inputting methods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100084991A CN100381993C (en) | 2005-02-23 | 2005-02-23 | Information input apparatus with pressing plate and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100084991A CN100381993C (en) | 2005-02-23 | 2005-02-23 | Information input apparatus with pressing plate and method thereof |
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| Publication Number | Publication Date |
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| CN1825257A true CN1825257A (en) | 2006-08-30 |
| CN100381993C CN100381993C (en) | 2008-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100084991A Expired - Fee Related CN100381993C (en) | 2005-02-23 | 2005-02-23 | Information input apparatus with pressing plate and method thereof |
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| CN (1) | CN100381993C (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102033639A (en) * | 2009-09-28 | 2011-04-27 | 北京汇冠新技术股份有限公司 | Touch system and method for preventing false touch |
| CN102033638A (en) * | 2009-09-28 | 2011-04-27 | 北京汇冠新技术股份有限公司 | Method for awakening touch and touch system |
| CN102652300A (en) * | 2009-12-14 | 2012-08-29 | 辛纳普蒂克斯公司 | System and method for measuring individual force in multi-object sensing |
| CN102918478A (en) * | 2010-06-09 | 2013-02-06 | 阿尔卑斯电气株式会社 | Pressing input device |
| CN101546371B (en) * | 2008-03-28 | 2013-05-08 | 爱国者数码科技有限公司 | Encoding identification device controlled by force sense |
| CN106909109A (en) * | 2017-03-30 | 2017-06-30 | 上海龙东光电子有限公司 | Photoelectric nacelle push-button control system and its control method |
| CN112894806A (en) * | 2021-01-11 | 2021-06-04 | 穆特科技（武汉）股份有限公司 | Six-degree-of-freedom parallel robot washout algorithm parameter adjusting method and system |
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| TWI663504B (en) * | 2018-06-15 | 2019-06-21 | 致伸科技股份有限公司 | Touch pad module |
| TWI788708B (en) * | 2020-09-29 | 2023-01-01 | 群光電子股份有限公司 | Touch pad module |
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| US5543589A (en) * | 1994-05-23 | 1996-08-06 | International Business Machines Corporation | Touchpad with dual sensor that simplifies scanning |
| CN2363316Y (en) * | 1998-12-15 | 2000-02-09 | 刘中华 | touch force action point position coordinate detection sensing device |
| EP1382007A2 (en) * | 2001-04-13 | 2004-01-21 | 3M Innovative Properties Company | Touch screen with rotationally isolated force sensor |
| CN1221884C (en) * | 2003-03-27 | 2005-10-05 | 刘二中 | Device possessing character input function and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101546371B (en) * | 2008-03-28 | 2013-05-08 | 爱国者数码科技有限公司 | Encoding identification device controlled by force sense |
| CN102033639A (en) * | 2009-09-28 | 2011-04-27 | 北京汇冠新技术股份有限公司 | Touch system and method for preventing false touch |
| CN102033638A (en) * | 2009-09-28 | 2011-04-27 | 北京汇冠新技术股份有限公司 | Method for awakening touch and touch system |
| CN102652300A (en) * | 2009-12-14 | 2012-08-29 | 辛纳普蒂克斯公司 | System and method for measuring individual force in multi-object sensing |
| US9377888B2 (en) | 2009-12-14 | 2016-06-28 | Synaptics Incorporated | System and method for measuring individual force in multi-object sensing |
| CN102652300B (en) * | 2009-12-14 | 2016-09-28 | 辛纳普蒂克斯公司 | The system and method for single power is measured in many subject-induced |
| CN102918478A (en) * | 2010-06-09 | 2013-02-06 | 阿尔卑斯电气株式会社 | Pressing input device |
| CN102918478B (en) * | 2010-06-09 | 2015-08-19 | 阿尔卑斯电气株式会社 | Push input device |
| CN106909109A (en) * | 2017-03-30 | 2017-06-30 | 上海龙东光电子有限公司 | Photoelectric nacelle push-button control system and its control method |
| CN112894806A (en) * | 2021-01-11 | 2021-06-04 | 穆特科技（武汉）股份有限公司 | Six-degree-of-freedom parallel robot washout algorithm parameter adjusting method and system |
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