CN220104690U - Surface structure physical property detection module - Google Patents
Surface structure physical property detection module Download PDFInfo
- Publication number
- CN220104690U CN220104690U CN202321387273.7U CN202321387273U CN220104690U CN 220104690 U CN220104690 U CN 220104690U CN 202321387273 U CN202321387273 U CN 202321387273U CN 220104690 U CN220104690 U CN 220104690U
- Authority
- CN
- China
- Prior art keywords
- electrode
- upper electrode
- detection module
- physical property
- sensor unit
- 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.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 54
- 230000000704 physical effect Effects 0.000 title claims abstract description 23
- 238000005259 measurement Methods 0.000 claims abstract description 20
- 238000006243 chemical reaction Methods 0.000 claims abstract description 8
- 238000012545 processing Methods 0.000 claims abstract description 5
- 210000003491 skin Anatomy 0.000 claims description 29
- 230000008859 change Effects 0.000 claims description 11
- 241001465754 Metazoa Species 0.000 claims description 5
- 210000002615 epidermis Anatomy 0.000 claims description 5
- 239000003990 capacitor Substances 0.000 abstract description 3
- 210000001519 tissue Anatomy 0.000 description 11
- 239000000523 sample Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 238000007373 indentation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 230000037394 skin elasticity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The utility model relates to a surface structure physical property detection module, comprising: the first sensor unit is provided with a flexible multifunctional layer, an upper electrode with curved surface elasticity is arranged in the multifunctional layer, an insulating layer and a lower electrode are arranged below the upper electrode, the upper electrode projects downwards to cover part of the area of each lower electrode, and at least one of the upper electrode and the lower electrode is a plurality of capacitors so as to form different capacitors to reflect components of force in different directions; a tangential actuator for driving the first sensor unit during measurement in a tangential movement in contact with the surface structure; a first normal actuator for driving the first sensor unit to move in a normal direction perpendicular to the tangential direction; the capacitance-to-digital conversion circuit is coupled with each electrode through the switch array and used for forming different capacitances between the upper electrode and the lower electrode in the first sensor unit; and the processing module is respectively coupled with the capacitance-to-digital conversion circuit, the tangential actuator and the first normal actuator.
Description
Technical Field
The utility model relates to a surface structure physical property detection module, which is particularly suitable for detecting the tightness or smoothness of animal skin or plant epidermis.
Background
Such as the surface structure of the skin of a human body or the epidermis of a plant fruit, etc., it is important to analyze the physical properties of the surface. Taking human skin as an example, the physical properties of the surface of the skin include elasticity, smoothness and the like, and have measurement values in the beauty field or the dermatological field. Elasticity can be divided into the measurement of longitudinal (normal) elasticity of the skin and the measurement of transverse (tangential) elasticity of the skin.
For the measurement of the longitudinal elasticity of the skin, the most common device belonging to CK in the market at present, as shown in US5054502A, the related patent adopts a negative pressure and optical measurement mode to detect the skin elasticity.
For the measurement of the elasticity of the skin in the transverse or tangential direction (which may reflect the tightness of the skin), patent US20020029924A1 proposes to analyze the elasticity characteristics of the surface structure by means of the time span of the propagation of the acoustic pulses on the surface structure, and to determine the elasticity values in the transverse and longitudinal directions, in which case the duration of the propagation of the sound in the skin is not only related to the folds of the skin, but also to the content ratio of the components of the skin, so that an indirect measurement of the transverse elasticity with the duration of the acoustic propagation is prone to errors.
Patent US10463276B2 proposes a device for measuring mechanical properties of tissue, useful for testing skin tissue, plant tissue (e.g. fruits and vegetables) or any other biological tissue of an animal, comprising a probe configured to perturb the tissue by a movement relative to the tissue surface; an actuator coupled to the probe to move the probe; a detector configured to measure a tissue-to-tissue response; and a controller coupled to the actuator and the detector. In use the controller drives the actuator using a random sequence and uses the measured response received from the detector to determine the mechanical properties of the tissue. In the above, the literature suggests that the probe may comprise a set of interchangeable heads, including a head for moving the probe laterally and a head for moving the probe vertically, that the perturbation may comprise extending (longitudinally) tissue with the probe or sliding the probe across (transversely) the tissue surface, and may further comprise indentation of the tissue with the probe. It is considered that the patent US10463276B2 is a tactile detection method, the detection means is directly related to the detection target (the elasticity of the surface structure), but the structure of the sensor used in the patent US10463276B2 is not disclosed, and the resolution performance of the detection of the elastic force is very high in the elastic detection of the skin, especially in the transverse elastic detection, so that the conventional tactile sensor is basically difficult to reach.
On the other hand, for the detection of skin smoothness, the conventional technology basically adopts an optical mode, as described in patent US6251070B1, the change of skin is recorded by an optical photographing device for analysis, and interference caused by ambient light and darkness exists, and meanwhile, direct detection is not performed by a tactile mode.
Disclosure of Invention
The utility model aims to provide a device for detecting physical characteristics (such as transverse elasticity or smoothness) of a surface structure in a tactile manner, so that the device has multiple functions, and can obtain higher measurement accuracy by utilizing direct correlation and higher force resolution based on a sensor structure.
To this end, there is provided a surface structure physical property detection module comprising: the flexible multifunctional layer is deformed by external force to drive the upper electrode to change the contact area with the insulating layer, at least one of the upper electrode and the lower electrode is at least two, and different capacitances are formed between the upper electrode and the lower electrode to reflect the components of the force in different directions; a tangential actuator for driving the first sensor unit during measurement in a tangential movement in contact with the surface structure; a first normal actuator for driving the first sensor unit to move in a normal direction perpendicular to the tangential direction; the capacitance-to-digital conversion circuit is coupled with each electrode through the switch array and used for forming different capacitances between the upper electrode and the lower electrode in the first sensor unit; and the processing module is respectively coupled with the capacitance-to-digital conversion circuit, the tangential actuator and the first normal actuator.
In the module, for the detection of the transverse elasticity, the tangential actuator can drive the first sensor unit to perform very small displacement in the tangential direction, the displacement is small enough to keep the first sensor unit not to slide relative to the surface structure (the surface structure such as skin is driven by friction to perform transverse displacement) under the transverse elasticity of the surface structure such as skin, in the process, the deformation of the flexible multifunctional layer and the formation of different capacitances between the upper electrode and the lower electrode can reflect the components of the force in different directions such as the tangential direction, the normal direction and the like, and the capacitance value of each electrode is acquired by matching with CDC, so that higher force resolution is achieved. The lateral elastic force is large, and the surface structure such as skin is considered to have high tightness or compactness, and the lateral elastic force is small, so that the tightness or compactness is reflected.
For the detection of the smoothness, the first sensor unit can be driven to slide on a surface structure such as skin through the tangential actuator, the flexible multifunctional layer generates tiny vibration in the normal direction and the tangential direction in the sliding process, and the deformation of the flexible multifunctional layer is also utilized to form different capacitors to be matched with CDC to detect the tangential force and the normal force in a high-resolution mode, so that the smoothness is measured.
In the process of detecting the transverse elastic force or the smoothness, the first sensor unit can be driven by the first normal actuator to perform normal movement to be basically the same as the normal force detected last time (the tangential force detection is only meaningful under the condition that the stable normal force is basically the same in each detection, and basically the relation between the tangential force and the normal force is calculated in the detection of the transverse elastic force and the smoothness).
The module of the utility model can be suitable for detecting the transverse elasticity and smoothness, thereby achieving multiple purposes.
As one of the improvements of providing the anchor point, the detection module may be provided with a fixing member which is driven by a first normal actuator to perform normal movement and is used for pressing the surface structure when driving the first sensor unit to perform tangential movement during measurement.
As a further development of providing an anchor point, the detection module may be provided with a fixture for pressing the surface structure during the measurement when the first sensor unit is driven in tangential movement, e.g. the detection module surface protrudes out of the fixture, by controlling its protruding length, the pressing of the surface structure when the first sensor unit is moved in tangential direction over the surface structure provides an anchor point effect. Further, the detection module is provided with a second normal actuator for driving the fixing piece to perform normal movement, so that the fixing piece is controlled to perform independent normal movement. More preferably, the fixing member is configured to include a pressure detecting sensor fixed to and driven by the second normal actuator to move in the normal direction, in which case the fixing member as an anchor point is also provided with pressure detecting capability by the pressure detecting sensor, which is also aimed at maintaining the same pressing force for each measurement to maintain the same measuring environment for each measurement (surface structures such as tissues of the skin are correlated, pressing to a certain place will affect elasticity, wrinkling condition, etc. of the adjacent skin, and thus the force for each pressing needs to be maintained stable). More optionally, in order to achieve detection of normal force with high resolution, the pressure detection sensor is configured as a second sensor unit, the second sensor unit is provided with a flexible multifunctional layer, a curved elastic electrode electrically connected with the multifunctional layer is arranged in the flexible multifunctional layer to serve as an upper electrode, a lower electrode is arranged below the upper electrode, an insulating layer is arranged between the upper electrode and the lower electrode, the downward projection of the upper electrode at least covers part of the area of the lower electrode, and the flexible multifunctional layer is deformed by external force to drive the upper electrode to change the contact area with the insulating layer; the capacitance-to-digital conversion circuit is coupled to each electrode in the second sensor unit through the switch array for capacitance formed between the upper electrode and the lower electrode in the second sensor unit.
As a further development, the detection module is provided with a limiting groove for limiting the movement direction of the first sensor unit in the tangential direction, so that the stretching direction is controlled not to deflect.
As another improvement scheme, on the basis of forming the capacitive combinations in different vector directions, the flexible multifunctional layer is configured to comprise a sphere or an ellipsoid, at least one of the upper electrode and the lower electrode below the flexible multifunctional layer is at least three, and at this time, the flexible multifunctional layer can achieve a good deformation effect of being stressed in the XYZ three-dimensional direction in a sphere or ellipsoid arrangement. Or the flexible multifunctional layer is configured to comprise a strip shape, at least one of the upper electrode and the lower electrode is arranged in at least two, each electrode of the upper electrode and the lower electrode is distributed on two sides of the strip of the flexible multifunctional layer, the flexible multifunctional layer can drive the upper electrode to change the contact area with the insulating layer through stress deformation in the radial direction of the strip shape, and the strip shape of the flexible multifunctional layer affects the stress deformation in the strip shape extending direction and only has the stress deformation effect in the XZ or YZ two-dimensional direction. The optimal choice of the upper electrode is to form the same shape with the flexible multifunctional layer, for example, when the flexible multifunctional layer is arranged in a spherical shape or an ellipsoidal shape, the upper electrode is also arranged in the spherical shape or the ellipsoidal shape to achieve the optimal resolution effect, or when the flexible multifunctional layer is in a strip shape, the upper electrode is arranged in a strip shape parallel to the flexible multifunctional layer.
In the utility model, the flexible multifunctional layer and the upper electrode are integrally arranged, and/or the lower electrode is a curved electrode or a planar electrode. In the utility model, the upper electrode can be used as a common electrode, the lower electrodes are provided with at least two mutually insulated electrodes, and the common electrode forms different capacitances for the lower electrodes to reflect the components of the force in different directions; alternatively, the lower electrode is used as a common electrode, and the upper electrodes are at least two and insulated from each other, and the common electrode forms different capacitances for the respective upper electrodes to reflect components of force in different directions. In the present utility model, the surface structure is configured to include the skin of an animal or the epidermis of a plant.
Drawings
FIG. 1 shows a schematic diagram of a surface physical structure characteristic detection module;
fig. 2 shows a schematic structural diagram of a second detection unit;
FIG. 3 shows a schematic diagram of the distribution relationship of a common flexible upper electrode and a grouped lower electrode;
FIG. 4 shows a schematic diagram of the distribution relationship of the grouped flexible upper electrodes and the common lower electrode;
FIG. 5 shows a schematic diagram of the grouping distribution relationship of the common strip electrodes and the grouping lower electrode;
FIG. 6 shows a schematic view of a limit chute of the securing device;
fig. 7 shows a schematic diagram of the relative positions of the detection module and the surface structure.
Detailed Description
The surface physical structure characteristic detection module shown in fig. 1 mainly comprises a first sensor unit 100, a second sensor unit 200, a tangential actuator 300, a first normal actuator 400, a second normal actuator 500, a fixing device 600 and a processing module 700. The second detection unit 200 and the fixing device 600 are both rigidly connected with the second normal actuator 500, the fixing device 600 can press the surface structure under the drive of the second normal actuator 500, and the second sensor unit 200 can measure the capacitance value change according to the deformation difference of the surface flexible body to obtain the pressure of the second sensor unit 200 and the surface structure, so that the measurement at the same position each time is ensured. The first sensor unit 100 can adjust the compaction state of the skin structure according to the position information of the second sensor unit 200 through the first normal actuator 400, so as to perform measurement with different degrees under the condition of ensuring that the measurement conditions are basically consistent each time, meanwhile, the first sensor unit 100 is driven by the tangential actuator 300 to perform tangential direction motion parallel to the skin structure, drive the skin structure to realize operations such as stretching, and the like, and the surface physical structure characteristics are determined through the relationship between the normal force and the tangential force of the first sensor unit 100 due to the difference of capacitance value change caused by different deformation due to different surface physical structure characteristics.
As shown in fig. 2, the second detection unit 200 mainly comprises a flexible upper electrode 201 (formed by integrally forming a flexible multifunctional layer at the bottom and an upper electrode located in the middle of the multifunctional layer and protruding upwards to form a curved hemisphere), an insulating layer 202, and a lower electrode 203, and the components of the first detection unit 100 are the same as those of the second detection unit 200. The flexible upper electrode 201 is made of conductive silica gel, the flexible upper electrode 201 is contacted with the lower electrode 203, and the hemispherical area is stressed and deformed to cause the contact area to change so as to cause different capacitance value changes, thereby judging the stressed direction and the stressed size. The second detecting unit 200 and the fixing device 600 are both rigidly connected to the second normal actuator 500 and are not separable, so that the relative positional relationship between the fixing device 600 and the skin structure and the actual contact condition in the actual testing process can be reflected, and the fixing device 600 and the second sensor unit 200 can provide a stable testing environment for the first sensor unit 100.
As shown in fig. 3, the lower electrode 203 may be configured as a plurality of distributed electrodes, may be configured as a strip shape or may be configured as at least 3 detection electrodes in different directions according to deformation, the flexible upper electrode 201 and the lower electrode 203 are partitioned differently, and different mutual capacitances may be formed by matching the switch arrays of the processing modules.
As shown in fig. 4, the flexible upper electrode 201 is divided into a plurality of parts, the parts are bonded together through an insulating layer, the parts are not conducted, the lower electrode 203 is a whole and is used as a common electrode, and the magnitude and direction information of the output force can be obtained according to the capacitance change values of different electrode compositions.
As shown in fig. 5, the flexible upper electrode 201 may be configured as a strip, the lower electrode 203 is configured with at least 2 electrodes distributed on two sides of the strip of the upper electrode 201, when an external force is applied, different mutual capacitances are formed between different electrodes of the flexible upper electrode 201 and the lower electrode 203, and when the flexible upper electrode 201 is deformed under the force, the variation of the mutual capacitances is different, so as to determine the magnitude and direction of the applied force.
As shown in fig. 6, the fixing device 600 includes a limit chute 601 so that the first sensor unit 100 can be fixed only in a plane direction without deflection.
As shown in fig. 7, the detection of the surface structure 800 by the surface structure physical property detection module may include normal pressing, tangential stretching, etc., and the surface structure 800 may be configured as human or animal skin or plant epidermis.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the scope of the present utility model, and although the present utility model has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the technical solution of the present utility model without departing from the spirit and scope of the technical solution of the present utility model.
Claims (11)
1. A surface texture physical property detection module, comprising:
the flexible multifunctional layer is deformed by external force to drive the upper electrode to change the contact area with the insulating layer, at least one of the upper electrode and the lower electrode is at least two, and different capacitances are formed between the upper electrode and the lower electrode to reflect the components of the force in different directions;
a tangential actuator for driving the first sensor unit during measurement in a tangential movement in contact with the surface structure;
a first normal actuator for driving the first sensor unit to move in a normal direction perpendicular to the tangential direction;
the capacitance-to-digital conversion circuit is coupled with each electrode through the switch array and used for forming different capacitances between the upper electrode and the lower electrode in the first sensor unit;
and the processing module is respectively coupled with the capacitance-to-digital conversion circuit, the tangential actuator and the first normal actuator.
2. The surface texture physical property detection module of claim 1 wherein:
the surface structure physical property detection module is provided with a fixing piece, the fixing piece is driven by the first normal actuator to perform normal movement, and the fixing piece is used for pressing the surface structure when driving the first sensor unit to perform tangential movement during measurement.
3. The surface texture physical property detection module of claim 1 wherein:
the surface structure physical property detection module is provided with a fixture for pressing the surface structure when driving the first sensor unit for tangential movement during measurement.
4. A surface texture physical property detection module as claimed in claim 3 wherein:
the surface structure physical property detection module is provided with a second normal actuator for driving the fixing piece to perform normal movement.
5. The surface texture physical property detection module of claim 4 wherein:
the fixture is configured to include a pressure detection sensor;
the pressure detection sensor is fixed to the second normal actuator and is driven by the second normal actuator to move along the normal direction.
6. The surface texture physical property detection module of claim 5 wherein:
the pressure detection sensor is configured as a second sensor unit;
the second sensor unit is provided with a flexible multifunctional layer, a curved elastic electrode electrically connected with the multifunctional layer is arranged in the flexible multifunctional layer to serve as an upper electrode, a lower electrode is arranged below the upper electrode, an insulating layer is arranged between the upper electrode and the lower electrode, the downward projection of the upper electrode at least covers part of the area of the lower electrode, and the flexible multifunctional layer is deformed by external force to drive the upper electrode to change the contact area with the insulating layer;
the capacitance-to-digital conversion circuit is coupled to each electrode in the second sensor unit through the switch array for capacitance formed between the upper electrode and the lower electrode in the second sensor unit.
7. The surface texture physical property detection module of claim 1 wherein:
the surface structure physical property detection module is provided with a limit groove for limiting the movement direction of the first sensor unit in the tangential direction.
8. The surface texture physical property detection module of claim 1 or 6, wherein:
the flexible multifunctional layer is configured to comprise a sphere or an ellipsoid, and the number of at least one of an upper electrode and a lower electrode below the flexible multifunctional layer is at least three; or alternatively
The flexible multifunctional layer is configured to comprise a strip shape, at least one of the upper electrode and the lower electrode is arranged in at least two, each electrode of the upper electrode and the lower electrode is distributed on two sides of the strip of the flexible multifunctional layer, and the flexible multifunctional layer can drive the upper electrode to change the contact area with the insulating layer under the stress deformation of the flexible multifunctional layer in the radial direction of the strip shape.
9. The surface texture physical property detection module of claim 1 or 6, wherein:
the flexible multifunctional layer and the upper electrode are integrally arranged, and/or the lower electrode is a curved electrode or a plane electrode.
10. The surface texture physical property detection module of claim 1 or 6, wherein:
the upper electrode is used as a common electrode, the lower electrodes are provided with at least two mutually insulated electrodes, and the common electrode forms different capacitances for the lower electrodes to reflect components of force in different directions; or alternatively
The lower electrode serves as a common electrode, and the upper electrodes have at least two electrodes and are insulated from each other, and the common electrode forms different capacitances for the respective upper electrodes to reflect components of force in different directions.
11. The surface texture physical property detection module of claim 1 wherein: the surface structure is configured to include the skin of an animal or the epidermis of a plant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321387273.7U CN220104690U (en) | 2023-06-02 | 2023-06-02 | Surface structure physical property detection module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321387273.7U CN220104690U (en) | 2023-06-02 | 2023-06-02 | Surface structure physical property detection module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220104690U true CN220104690U (en) | 2023-11-28 |
Family
ID=88845738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321387273.7U Active CN220104690U (en) | 2023-06-02 | 2023-06-02 | Surface structure physical property detection module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220104690U (en) |
-
2023
- 2023-06-02 CN CN202321387273.7U patent/CN220104690U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103300835B (en) | High-precision human pulse measurement system | |
| CN103271720A (en) | Pulse instrument with adjustable measuring pressure head position | |
| Konstantinova et al. | Force and proximity fingertip sensor to enhance grasping perception | |
| CN101957682B (en) | Method for implementing load identification interactive whiteboard | |
| CN110420058B (en) | Flexible robot with hardness detection function and detection method | |
| WO2014106442A1 (en) | Device for detecting curved surface and pressure distribution of foot sole | |
| CN220104690U (en) | Surface structure physical property detection module | |
| CN103263256A (en) | Method and equipment for sensing human pulses in traditional Chinese medicine | |
| CN109030967A (en) | Test the devices, systems, and methods of piezoelectric modulus | |
| CN102151126A (en) | Pulse dynamic image information detecting device | |
| JP2003225239A (en) | Ultrasonic imaging device | |
| JP2007024606A (en) | Measuring method and instrument for viscoelastic characteristics | |
| JP4517149B2 (en) | Hardness measuring instrument, hardness measuring apparatus, and hardness evaluation method | |
| CN204007952U (en) | A kind of spring measuring pressure device | |
| CN105865923B (en) | A kind of soft substance mechanical property measurement method and its measuring system | |
| CN105547557B (en) | Imitative tongue pressure head apparatus for testing mechanical | |
| CN208799220U9 (en) | A kind of keratoderma moisture content tester | |
| CN216135874U (en) | Pulse-taking dexterous hand | |
| JP5234545B2 (en) | Material hardness distribution display system and material hardness distribution display method | |
| KR101988487B1 (en) | Apparatus for Measuring Body Impedence | |
| Sun et al. | Robust affordable 3D haptic sensation via learning deformation patterns | |
| CN220305013U (en) | Non-contact measurement module for measuring elastic parameters of surface structure | |
| JP3138898U (en) | Measuring device for viscoelastic properties | |
| CN220104691U (en) | Contact type measurement module for measuring elastic parameters of surface structure | |
| CN112284438A (en) | Multifunctional finger sensor calibration tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |