DE4243832A1 - Push button arrangement - Google Patents
Push button arrangementInfo
- Publication number
- DE4243832A1 DE4243832A1 DE19924243832 DE4243832A DE4243832A1 DE 4243832 A1 DE4243832 A1 DE 4243832A1 DE 19924243832 DE19924243832 DE 19924243832 DE 4243832 A DE4243832 A DE 4243832A DE 4243832 A1 DE4243832 A1 DE 4243832A1
- Authority
- DE
- Germany
- Prior art keywords
- arrangement according
- sensors
- film
- light
- light guide
- 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- Withdrawn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
- 239000010408 film Substances 0.000 claims description 33
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 claims description 4
- 239000011368 organic material Substances 0.000 claims description 4
- 239000004065 semiconductor Substances 0.000 claims description 3
- 239000010409 thin film Substances 0.000 claims description 3
- 238000011156 evaluation Methods 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 239000011888 foil Substances 0.000 description 3
- 238000000149 argon plasma sintering Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 229920003227 poly(N-vinyl carbazole) Polymers 0.000 description 2
- QSNAVZQFIDCTQI-UHFFFAOYSA-N 1,2,3-trinitro-9h-fluorene Chemical compound C1=CC=C2C(C=C(C(=C3[N+]([O-])=O)[N+]([O-])=O)[N+](=O)[O-])=C3CC2=C1 QSNAVZQFIDCTQI-UHFFFAOYSA-N 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 239000002178 crystalline material Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036039 immunity Effects 0.000 description 1
- 238000003698 laser cutting Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
- 239000004945 silicone rubber Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
- G01L5/228—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping using tactile array force sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
- G01L1/247—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet using distributed sensing elements, e.g. microcapsules
Description
Die Erfindung betrifft eine Tastsensoranordnung nach dem Oberbegriff des Patentanspruchs 1.The invention relates to a push-button arrangement according to the Preamble of claim 1.
Derartige Tastsensoranordnungen sind insbesondere von Be deutung in der Robotik um einerseits den auf ein Objekt, z. B. durch Handhabung mit einem Greifer, ausgeübten Druck quantitativ zu detektieren und anderseits aus der Druck verteilung bei flächiger Berührung auch Form und Lage ei nes Objekts erfassen zu können.Such touch sensor arrangements are in particular from Be interpretation in robotics on the one hand to the object, e.g. B. by handling with a gripper, pressure applied detect quantitatively and on the other hand from the pressure distribution with flat contact also shape and position to be able to capture an object.
Ein Überblick über bekannte Lösungen oder Lösungsansätze für Tastsensoranordnungen findet sich beispielsweise in "The International Journal of Robotics Research", Vol. 8, No. 1, S. 38-62, Feb. 1989. Unter anderem sind dort auch Tastsensoranordnungen mit Lichtleitfolien beschrieben, bei welchen eine Druckübertragungsfolie bei externer Druckein wirkung durch ein Objekt die Lichtleitfolie lokal berührt und an den Berührungsflächen deren Lichtleiteigenschaften stört. An diesen Berührungsflächen gestreutes Licht tritt an der gegenüberliegenden Fläche der Lichtleitfolie aus und wird als ein Tastbild mit einer Kamera aufgenommen. Die Anordnung ist damit aber nur mit starken Einschränkun gen bezüglich der räumlichen Gegebenheiten einsetzbar und insbesondere in der Robotik bei Greifvorrichtungen kaum verwendbar.An overview of known solutions or approaches for push button arrangements can be found, for example, in "The International Journal of Robotics Research", Vol. 8, No. 1, pp. 38-62, Feb. 1989. Among other things, there are Touch sensor arrangements described with light guide films, at which is a pressure transfer film for external printing effect of an object locally touches the light guide film and on the contact surfaces their light-guiding properties disturbs. Scattered light occurs at these contact surfaces on the opposite surface of the light guide film and is taken as a tactile image with a camera. The arrangement is only with strong restrictions can be used with regard to the spatial conditions and especially in robotics with gripping devices usable.
Der Erfindung liegt daher die Aufgabe zugrunde, eine Tast sensoranordnung anzugeben, die kompakt aufgebaut und viel seitig einsetzbar ist.The invention is therefore based on the object, a touch Specify sensor arrangement, the compact structure and a lot can be used on both sides.
Die Erfindung ist im Patentanspruch 1 beschrieben. Die Un teransprüche enthalten vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung.The invention is described in claim 1. The Un Claims contain advantageous refinements and Developments of the invention.
Durch die Ausführung als dreilagige Folie ergibt sich eine flexible Sensoranordnung, die an weitgehend beliebige Kon turen anpaßbar ist und deren Platzbedarf vernachlässigbar ist. Da die Sensoren mit bekannten Verfahren insbesondere aus der Mikroelektronik in kleinen Strukturen herstellbar sind, ist eine hohe Flächenauflösung erzielbar.The design as a three-layer film results in a flexible sensor arrangement, which to a large extent any con doors is adaptable and their space requirements are negligible is. Since the sensors in particular with known methods can be produced from microelectronics in small structures high area resolution can be achieved.
Als optoelektrische Sensoren kommen insbesondere Photolei ter, Phototransistoren oder photovoltaische Elemente in Betracht, wobei Sensoren aus organischem Material gegen über halbleiterkristallinem Material wie Silizium oder Verbindungshalbleitern den Vorteil einfacherer Folienverarbeitung besitzen. Als organisches Material für Photoleiter käme beispielsweise Poly-N-Vinylkarbazol (PVK, n-leitend) und Trinitro-Fluoren (TNF, p-leitend) in Betracht.Photolei in particular come as optoelectric sensors ter, phototransistors or photovoltaic elements in Consider using sensors made of organic material over semiconductor crystalline material such as silicon or Compound semiconductors have the advantage of simpler Own film processing. As an organic material for Photoconductor would come, for example, poly-N-vinyl carbazole (PVK, n-type) and Trinitro-Fluorene (TNF, p-type) in Consideration.
Photovoltaische Zellen aus organischem Material sind als Farbstoff-Photovoltaik-Zellen zur Solarenergiewandlung insbesondere auf gekrümmten Flächen bekannt. Gegenüber den organischen Photoleitern zeigen sie vorteilhafterweise eine höhere Konversionseffizienz und einstellbare Absorp tionsbande. Durch den niederohmigen Quellwiderstand wird die Störsicherheit gegen Einstreuungen verbessert. Außer dem entfällt die bei organischen Photoleitern z. T. be trächtliche Betriebsspannung.Photovoltaic cells made of organic material are considered Dye-photovoltaic cells for solar energy conversion especially known on curved surfaces. Compared to the they advantageously show organic photoconductors higher conversion efficiency and adjustable absorption ties. Due to the low-resistance source resistance improves interference immunity against interference. Except this does not apply to organic photoconductors such. T. be pregnant operating voltage.
Die in der Fläche der Sensorfolie getrennten Einzelsenso ren sind vorteilhafterweise individuell adressierbar. Die Auslesung der Sensorsignale an eine Auswerteeinrichtung erfolgt bei hoher Sensorzahl vorzugsweise im Zeitmulti plex, wofür eine Matrixanordnung der Sensoren mit Zeilen- und Spaltenzuleitungen besonders günstig ist.The individual sensors separated in the area of the sensor film ren are advantageously individually addressable. The Reading of the sensor signals to an evaluation device If the number of sensors is high, this is preferably done in time multiples plex, for which a matrix arrangement of the sensors with row and column feeds is particularly cheap.
Die Beleuchtung der Lichtleiterfolie erfolgt vorzugsweise mittels einer Array-Anordnung von Leuchtdioden oder Halb leiterlasern. Gepulster Betrieb der Lichtquellen erlaubt zum einen, in den Impulspausen Dunkelstromeffekte der Sen soren zu detektiven und in den Sensorsignalen zu kompen sieren, und zum andern eine Steigerung der Beleuchtungs stärke ohne Erhöhung der thermischen Belastung. Darüber hinaus kann durch Synchrongleichrichtung (Lock-in) der elektrischen Sensorsignale eine Erhöhung des Signal- Rausch-Abstands erzielt werden.The light guide film is preferably illuminated by means of an array of LEDs or half laser cutting. Pulsed operation of the light sources allowed on the one hand, in the pulse pauses dark current effects of the sen sensors to detect and to compensate in the sensor signals sier, and secondly an increase in lighting strength without increasing the thermal load. About it In addition, by synchronous rectification (lock-in) electrical sensor signals an increase in the signal S / N ratio can be achieved.
In Fig. 1 ist der Aufbau der erfindungsgemäßen Tastsenso ranordnung als Querschnitt durch die einzelnen Folien schichten skizziert. Eine Druckübertragungsfolie 1, die beispielsweise aus Silikongummi besteht, zeigt eine glatte erste Oberfläche 11 und eine zweite Oberfläche 12 mit Re liefstruktur. Die Druckübertragungsfolie liegt mit ihrer strukturierten Seite auf einer Lichtleitfolie 2 auf. Die Lichtleitfolie 2 ist mit Licht von einer vorzugsweise ge pulst betriebenen Lichtquellenanordnung 4 geflutet. Durch Totalreflexion an den Oberflächen der Lichtleitfolie wird das Licht in dieser geführt. Die Totalreflexion ist an Flächen, an denen die Druckübertragungsfolie die Ober fläche der Lichtleitfolie berührt, gestört und Licht wird an der Berührungsfläche gestreut und tritt auf der gegen überliegenden Seite aus der Lichtleitfolie aus. An dieser gegenüberliegenden Seite der Lichtleitfolie 2 ist eine Sensorfolie 3 mit einer Mehrzahl in der Fläche der Sen sorfolie getrennter Einzelsensoren 31 angeordnet. Die Sen soren 31 können auf der Oberfläche der Folie angeordnet oder in diese eingebettet sein. Zwischen Sensorfolie 3 und Lichtleitfolie 2 kann erforderlichenfalls eine die licht leitenden Eigenschaften der Folie 2 gewährleistende Zwi schenschicht eingefügt sein. Ohne Druckeinwirkung auf die Druckübertragungsfolie 1 sind die Auflageflächen der Reli efstruktur, die im skizzierten Beispiel aus Halbkugeln be steht, minimal und die Lichtstreuung ist vernachlässigbar. Bei lokaler Druckeinwirkung F verformen sich die betroffe nen Halbkugelelemente der Druckübertragungsfolie 1 und bilden eine größere Auflagefläche auf der Lichtleitfolie, was zu verstärkter Lichtstreuung führt. Die Intensität des gestreuten Lichts ist ein Maß für den lokal einwirkenden Druck. Das gestreute Licht trifft auf die gegenüberliegend in der Sensorfolie 3 angeordneten optoelektrischen Senso ren 31, wobei im wesentlichen nur direkt gegenüberliegende Sensoren mit Licht beaufschlagt werden. Auf die Sensoren einfallendes Streulicht führt zu entsprechenden elektri schen Sensorsignalen, die somit als ein Maß für den lokal auf die Druckübertragungsfolie einwirkenden Druck ausge wertet werden können.In Fig. 1, the structure of the Tastsenso ranordnung invention is outlined as a cross section through the individual layers. A pressure transmission film 1 , which consists of silicone rubber, for example, shows a smooth first surface 11 and a second surface 12 with a reflow structure. The structured side of the pressure transmission film lies on a light guide film 2 . The light-guiding film 2 is flooded with light from a preferably pulsed light source arrangement 4 . The light is guided in this by total reflection on the surfaces of the light guide film. The total reflection is disturbed on surfaces where the pressure transmission foil touches the surface of the light-conducting foil, and light is scattered on the contact surface and emerges from the light-conducting foil on the opposite side. On this opposite side of the light guide film 2 , a sensor film 3 is arranged with a plurality of individual sensors 31 separated in the area of the sensor film. The sensors 31 may be arranged on the surface of the film or embedded therein. Between the sensor 3 and the light guiding film 2 is a light-conductive properties of the film may, if necessary 2 ensuring end Zvi rule layer be interposed. Without the effect of pressure on the pressure transmission film 1 , the contact surfaces of the relief structure, which in the sketched example consists of hemispheres, are minimal and the light scattering is negligible. At local pressure F deform the affected hemispherical elements of the pressure transmission film 1 and form a larger contact surface on the light guide film, which leads to increased light scattering. The intensity of the scattered light is a measure of the local pressure. The scattered light strikes the optoelectric sensors 31 arranged opposite one another in the sensor film 3 , essentially only directly opposite sensors being exposed to light. Scattered light incident on the sensors leads to corresponding electrical sensor signals, which can thus be evaluated as a measure of the pressure acting locally on the pressure transmission film.
Fig. 2 zeigt eine vorteilhafte rechtwinklige Matrixanord nung von Sensoren, vorzugsweise organischen Dünnfilm- Solarzellen 32, die mit Zeilenleitungen 33 und Spaltenlei tungen 34 als Dünnfilmleitungen kontaktiert sind. Die Zei len-und Spaltenleitungen sind an den Kreuzungspunkten 35 gegeneinander isoliert. Das Rastermaß der Matrix betrage beispielsweise ca. 0,5 mm. Fig. 2 shows an advantageous rectangular Matrixanord voltage of sensors, preferably organic thin-film solar cells 32 , which are contacted with row lines 33 and column lines 34 as thin-film lines. The row and column lines are isolated from one another at the intersection points 35 . The grid dimension of the matrix is, for example, approximately 0.5 mm.
Eine Multiplex-Ausleseanordnung für die in Fig. 2 skiz zierte Matrixanordnung zeigt die Fig. 3. Die Auswahl eines individuellen Sensorelements erfolgt durch Auswahl einer Spalten-und einer Zeilenleitung in der Multiplexeranord nung 5. Der Photostrom Iph eines ausgewählten Sensorele ments wird beispielsweise in einem Strom-Spannungs-Wandler 7 in eine Ausgangsspannung umgesetzt, die als Spannungs wert Unm ein Maß für den Druck am Ort des Kreuzungspunkts von Spalte n und Zeile m ist.A multiplex readout arrangement for the matrix arrangement sketched in FIG. 2 is shown in FIG. 3. The selection of an individual sensor element is made by selecting a column line and a row line in the multiplexer arrangement 5 . The photocurrent Iph of a selected sensor element is converted, for example, in a current-voltage converter 7 into an output voltage which, as the voltage value U nm, is a measure of the pressure at the point of intersection of column n and line m.
Die Erfindung ist insbesondere vorteilhaft als Sensorflä che in Greifvorrichtungen, z. B. als "Sensorhaut" für die als "dexterous hand" bekannte Greifhand des MIT-Utah, in Greifhänden von Simulatoren und zur Oberflächenabtastung in der Automatisierungstechnik geeignet, und ermöglicht sowohl die Erkennung lokaler Druckmaxima als auch über die Flächenverteilung des detektierten Drucks die Erkennung von Lage und Form eines Objekts.The invention is particularly advantageous as a sensor surface che in gripping devices, e.g. B. as a "sensor skin" for the known as "dexterous hand" gripping hand of MIT-Utah, in Gripping hands of simulators and for surface scanning suitable in automation technology, and enables both the detection of local pressure maxima and the Area distribution of the detected pressure the detection of the location and shape of an object.
Claims (13)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19924243832 DE4243832A1 (en) | 1992-12-23 | 1992-12-23 | Push button arrangement |
PCT/EP1993/003620 WO1994015187A1 (en) | 1992-12-23 | 1993-12-20 | Tactile sensor arrangement |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19924243832 DE4243832A1 (en) | 1992-12-23 | 1992-12-23 | Push button arrangement |
Publications (1)
Publication Number | Publication Date |
---|---|
DE4243832A1 true DE4243832A1 (en) | 1994-06-30 |
Family
ID=6476384
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE19924243832 Withdrawn DE4243832A1 (en) | 1992-12-23 | 1992-12-23 | Push button arrangement |
Country Status (2)
Country | Link |
---|---|
DE (1) | DE4243832A1 (en) |
WO (1) | WO1994015187A1 (en) |
Cited By (28)
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WO2002046703A1 (en) * | 2000-12-08 | 2002-06-13 | Siemens Aktiengesellschaft | Device for detecting and/or transmitting at least one environmental influence, method for producing the same and use thereof |
WO2004112609A1 (en) * | 2003-06-14 | 2004-12-29 | University Of Dundee | Tactile sensor assembly |
US6903958B2 (en) | 2000-09-13 | 2005-06-07 | Siemens Aktiengesellschaft | Method of writing to an organic memory |
US6960489B2 (en) | 2000-09-01 | 2005-11-01 | Siemens Aktiengesellschaft | Method for structuring an OFET |
US7064345B2 (en) | 2001-12-11 | 2006-06-20 | Siemens Aktiengesellschaft | Organic field effect transistor with off-set threshold voltage and the use thereof |
US7223995B2 (en) | 2002-03-21 | 2007-05-29 | Polyic Gmbh & Co. Kg | Logic components comprising organic field effect transistors |
US7229868B2 (en) | 2000-12-08 | 2007-06-12 | Polyic Gmbh & Co. Kg | Organic field-effect transistor, method for structuring an OFET and integrated circuit |
US7238961B2 (en) | 2001-02-09 | 2007-07-03 | Polyic Gmbh & Co. Kg | Organic field effect transistor with a photostructured gate dielectric, method for the production and use thereof in organic electronics |
US7298023B2 (en) | 2001-10-16 | 2007-11-20 | Polyic Gmbh & Co. Kg | Electronic device with organic insulator |
US7329559B2 (en) | 2003-01-21 | 2008-02-12 | Polyic Gmbh & Co. Kg | Use of conductive carbon black/graphite mixtures for the production of low-cost electronics |
US7442954B2 (en) | 2002-11-19 | 2008-10-28 | Polyic Gmbh & Co. Kg | Organic electronic component comprising a patterned, semi-conducting functional layer and a method for producing said component |
US7483275B2 (en) | 2001-10-18 | 2009-01-27 | Polyic Gmbh & Co. Kg | Electronic unit, circuit design for the same, and production method |
US7641857B2 (en) | 2002-11-14 | 2010-01-05 | Polyic Gmbh & Co. Kg | Measuring apparatus used for determining an analyte in a liquid sample, comprising polymer electronic components |
US7678857B2 (en) | 2003-09-03 | 2010-03-16 | Polyic Gmbh & Co. Kg | Polymer mixtures for printed polymer electronic circuits |
US7709865B2 (en) | 2002-06-13 | 2010-05-04 | Polyic Gmbh & Co. Kg | Substrate for an organic field effect transistor, use of said substrate, method of increasing the charge carrier mobility, and organic field effect transistor (OFET) |
US7724550B2 (en) | 2004-12-23 | 2010-05-25 | Polyic Gmbh & Co. Kg | Organic rectifier |
US7786818B2 (en) | 2004-12-10 | 2010-08-31 | Polyic Gmbh & Co. Kg | Electronic component comprising a modulator |
US7812343B2 (en) | 2005-04-15 | 2010-10-12 | Polyic Gmbh & Co. Kg | Multilayer composite body having an electronic function |
US7843342B2 (en) | 2005-03-01 | 2010-11-30 | Polyic Gmbh & Co. Kg | Organic clock generator |
US7846838B2 (en) | 2005-07-29 | 2010-12-07 | Polyic Gmbh & Co. Kg | Method for producing an electronic component |
US7847695B2 (en) | 2004-08-23 | 2010-12-07 | Polyic Gmbh & Co. Kg | External package capable of being radio-tagged |
US7875975B2 (en) | 2000-08-18 | 2011-01-25 | Polyic Gmbh & Co. Kg | Organic integrated circuit completely encapsulated by multi-layered barrier and included in RFID tag |
US7940159B2 (en) | 2004-12-10 | 2011-05-10 | Polyic Gmbh & Co. Kg | Identification system |
US7940340B2 (en) | 2005-07-04 | 2011-05-10 | Polyic Gmbh & Co. Kg | Multilayer body with electrically controllable optically active systems of layers |
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ITPI20070085A1 (en) * | 2007-07-23 | 2009-01-24 | Scuola Superiore Di Studi Univ | FLEXIBLE TACTILE SENSOR AND METHOD TO OBTAIN IT |
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US6903958B2 (en) | 2000-09-13 | 2005-06-07 | Siemens Aktiengesellschaft | Method of writing to an organic memory |
WO2002046703A1 (en) * | 2000-12-08 | 2002-06-13 | Siemens Aktiengesellschaft | Device for detecting and/or transmitting at least one environmental influence, method for producing the same and use thereof |
US7534034B2 (en) | 2000-12-08 | 2009-05-19 | Polyic Gmbh & Co. Kg | Device for detecting at least one environmental influence |
US7229868B2 (en) | 2000-12-08 | 2007-06-12 | Polyic Gmbh & Co. Kg | Organic field-effect transistor, method for structuring an OFET and integrated circuit |
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