EP2414771B1 - Mensch-maschine-interface - Google Patents

Mensch-maschine-interface Download PDF

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Publication number
EP2414771B1
EP2414771B1 EP10715962.6A EP10715962A EP2414771B1 EP 2414771 B1 EP2414771 B1 EP 2414771B1 EP 10715962 A EP10715962 A EP 10715962A EP 2414771 B1 EP2414771 B1 EP 2414771B1
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EP
European Patent Office
Prior art keywords
module
longitudinal axis
ramp
probe
elastic
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Not-in-force
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EP10715962.6A
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English (en)
French (fr)
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EP2414771A2 (de
Inventor
Rémi DURY
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DA FACT
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DA FACT
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    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
    • G10H1/00—Details of electrophonic musical instruments
    • G10H1/32—Constructional details
    • G10H1/34—Switch arrangements, e.g. keyboards or mechanical switches specially adapted for electrophonic musical instruments
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
    • G10H2220/00—Input/output interfacing specifically adapted for electrophonic musical tools or instruments
    • G10H2220/155—User input interfaces for electrophonic musical instruments
    • G10H2220/221—Keyboards, i.e. configuration of several keys or key-like input devices relative to one another
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
    • G10H2220/00—Input/output interfacing specifically adapted for electrophonic musical tools or instruments
    • G10H2220/461—Transducers, i.e. details, positioning or use of assemblies to detect and convert mechanical vibrations or mechanical strains into an electrical signal, e.g. audio, trigger or control signal
    • G10H2220/521—Hall effect transducers or similar magnetic field sensing semiconductor devices, e.g. for string vibration sensing or key movement sensing

Definitions

  • the invention relates to a human-machine interface for controlling electronic equipment, and in particular for controlling musical equipment.
  • the invention relates to a man-machine interface comprising a first body, a second body, and at least a first control member, the first and second bodies being connected to each other, aligned along a longitudinal axis. , and movable in rotation relative to one another about the longitudinal axis, the first body carrying a helical ramp extending away from the longitudinal axis in a plane inclined with respect to this axis, the second body carrying a probe mounted in sliding contact on the ramp, and the first control member comprising a first sensor delivering a first signal depending on a position adopted by the probe on the ramp.
  • Such a man-machine interface is known to those skilled in the art, as shown by the international application WO 2005/109398 .
  • Moving the probe on the helical ramp of the known man-machine interface to generate the first signal changes the axial spacing between the first and second bodies. This is inconvenient for an operator of the man-machine interface.
  • the movement of the two bodies relative to each other along the longitudinal axis facilitates the penetration of dust or liquid inside the man-machine interface, which gives rise to a risk tampering of the man-machine interface as well as problems of premature wear and aging.
  • the present invention which is based on this original observation, aims in particular to provide a human-machine interface to overcome at least one of the limitations previously mentioned.
  • the first and second bodies remain immobile in translation relative to each other along the longitudinal axis during movement of the probe on the ramp (to generate the first signal).
  • the operator has a better grip of the man-machine interface. Being less tired, the operator controls more easily and more precisely his commands during prolonged use of the human-machine interface (for example, during several hours of rehearsal and performance on stage during a concert).
  • the first and second bodies being stationary in axial translation, the penetration of dirt inside the man-machine interface is much less likely, which contributes to reducing the problems of premature wear and aging and makes the man-machine interface more robust.
  • the man-machine interface further comprises second biasing means, different from the first biasing means and capable of exerting a second elastic support force bringing the first and second ones closer to one another. body along the longitudinal axis.
  • the first and second bodies are kept close together axially with each other in a controlled manner, with the second elastic support force controlled by the second biasing means, independently of the first elastic support force. soliciting the probe and the ramp against each other.
  • the man-machine interface further comprises a module including first and second parts and the second biasing means.
  • the first and second parts are respectively attached to the first and second bodies.
  • the first and second parts are fixed in translation and movable in rotation relative to each other about the longitudinal axis.
  • the second elastic support force brings the first and second parts of the module closer to each other along the longitudinal axis.
  • the module may further comprise an axial shaft
  • the second biasing means may comprise at least one spring and two stop members carried by the shaft and at least one of which includes a nut engaged on a thread of the tree.
  • the two parts of the module and the spring together form a stack traversed axially by the shaft and sandwiched between the two abutment members.
  • the second resilient biasing force is controllably exerted by spring stress resulting from screwing the nut onto the shaft.
  • the first and second parts of the module have friction surfaces respectively applied against each other, of identical or different natures, and each of which is at least made of a material selected from the group consisting of: aluminum, metal or metal alloy, plastic, and polyoxymethylene.
  • the frictional force between the first and second parts of the module is defined by two parameters independent of each other, namely by the second elastic bearing force already mentioned above on the one hand, and by a coefficient friction between the friction surfaces on the other hand.
  • a selective choice of the nature of the friction surfaces makes it possible to modify the coefficient of friction and, consequently, to further regulate said frictional force.
  • the latter makes it possible to adjust a minimum muscular effort that the operator using the man-machine interface must provide to rotate relative to the first and second bodies.
  • a satisfactory adjustment of this "threshold" of muscular effort makes it possible at the same time to avoid premature fatigue of the operator manipulating the human-machine interface and to prohibit an uncontrolled free rotation of the two bodies. relative to the other, for example, under the effect of gravity. This results in a reduction of a rate of the erroneous signals emitted by the man-machine interface.
  • the helical ramp takes the form of a front surface formed on the first part of the module
  • the feeler takes the form of a sliding stud, under the stress of the first elastic support force, parallel to the longitudinal axis and in a housing of the second part of the module
  • the first sensor is responsive to the sliding position of the stud.
  • the ramp offers the probe a useful stroke corresponding to a relative rotation of the two bodies about the longitudinal axis at most equal to 70 °.
  • the human-machine interface has an ergonomics consistent with an anatomical constitution of the operator (it being understood that said anatomical constitution determines, inter alia, an optimum amplitude of the movements of the operator). Therefore, the operator can easily manipulate the human-machine interface taken in his hands. This helps to reduce the fatigue of the operator using the man-machine interface in a prolonged manner, for example, during several hours of presentation on stage during a concert, especially when the operator spreads his forearms and elbows. , to ensure said relative rotation of the two bodies of the man-machine interface (each of the hands of the operator remaining on one or the other, first or second body of the human-machine interface).
  • the module further comprises at least a first limit stop elastic stop limiting the stroke of the probe at a first end of the ramp.
  • the first elastic stop at least is provided with a second sensor delivering a second control signal depending on a first force exerted on the first elastic stop.
  • the operator can, in a single rotation of the first body relative to the second body in a privileged sense (and, therefore, in a single privileged movement of the arms, for example, by spreading the forearms and the bends from each other), transmit at least two signals: firstly, the first signal generated by the first sensor sliding along the useful stroke of the probe on the ramp and, secondly, the second signal generated by the second sensor under the action of the first elastic limit stop of the probe. This enriches a range of commands offered to the operator by the human-machine interface.
  • the module further comprises at least a second limit stop elastic limit limiting the stroke of the probe at a second end of the ramp, at a distance from the first end, and the second elastic stop at least is provided with a third sensor delivering a third control signal depending on a second force exerted on the second elastic stop.
  • the operator can emit the third signal generated by the third sensor under the action of the second elastic stop. This further enriches the range of commands offered to the operator by the human-machine interface.
  • each elastic stop may be adapted to limit the relative rotation of the two bodies about the longitudinal axis at most equal to 17 ° beyond the useful stroke of the probe on the ramp.
  • the ergonomics of the man-machine interface is more in line with the anatomical constitution of the operator, which contributes to making the manipulation of the interface easier, to reduce the fatigue of the operator and to keep the freedom of action of all the left and right hand fingers, even when the operator manipulates the man-machine interface so as to incline the longitudinal axis of the man-machine interface with respect to gravity .
  • each elastic stop is provided on one of the two parts of the module, and one lug, parallel to the stud and fixed to the other part of the module, is provided to press each resilient abutment at the end of travel of the stud on the ramp.
  • the bearing force on the elastic stop is exerted, transversely to the longitudinal axis, by the lug and not by the stud. This helps to protect the stud from inadvertent deformation that can damage it during relative rotation of the first and second bodies. As a result, the man-machine interface becomes more robust.
  • the invention relates to a man-machine interface 1 comprising a first body 10, a second body 11, and at least a first control member 12.
  • the first and second bodies 10, 11 are connected to each other and are aligned along a longitudinal axis AB ( figure 1 ), having a total axial length typically less than 0.6 m.
  • the first and second bodies 10 and 11 are preferably tubular, each having a cross sectional area to the longitudinal axis AB of less than 8 centimeters.
  • the axial length of the man-machine interface 1, the tubular shape of the first and second bodies 10 and 11, their respective cross-sections are adapted to the human morphology, to allow an operator (for example, a musician in a standing position or sitting) holding the human-machine interface 1 in his hands, to easily manipulate the human-machine interface 1 for a long time (for example, during a concert lasting several hours).
  • the first anatomical handle 14 is disposed at the operator's chest and the second anatomical handle 17 is disposed at the waist of the operator, the longitudinal axis AB can be parallel to the gravity G ( figure 2 ) or inclined relative to gravity G (case not shown).
  • the first and second bodies 10, 11 are movable in rotation (arrow ⁇ on the figures 2-3 ) relative to each other about the longitudinal axis AB.
  • the first body 10 carries a helical ramp 100 extending at a distance from the longitudinal axis AB in a plane inclined with respect to this axis AB ( figure 4 ).
  • the second body 11 carries a feeler 110 mounted in sliding contact on the ramp 100 ( figures 3 , 5 , 8-9 , 11-12 , 14-15 ).
  • the first control member 12 comprises a first sensor 120 (for example, that of the "Hall effect" type) delivering a first signal depending on a position adopted by the probe 110 on the ramp 100 ( figures 5 , 14 ). To deliver the first signal, it is sufficient for the operator to move his forearms and elbows away from or toward each other, thereby putting the first and second bodies 10, 11 in rotation. relative according to the arrows referenced " ⁇ " on the figure 2 .
  • the man-machine interface 1 may comprise a second and a third control members 2 and 3, respectively disposed on the second and the first body 11 and 10.
  • the second and third control members 2 and 3 each comprise at least a first and a second series of sensors (for example, pressure sensors) adapted to be actuated by the fingers (of the left hand and of the right hand respectively on the figures 1-2 ) to emit signals (for example, depending on the pressure forces exerted by the fingers on the sensors).
  • the man-machine interface 1 is provided with a telecommunication module 4, preferably wireless, with a remote information processing center (for example, with a remote computer 40 adapted to process data) which is linked in turn with electronic equipment (for example with a musical electronic equipment 41 adapted to reproduce sounds and / or lights).
  • the telecommunication module may comprise an on-board central unit, data transmission and reception means for ensuring an exchange of signals between the control elements 12, 2, 3 and the information processing center 40.
  • the man-machine interface 1 further comprises second biasing means 150, different from the first biasing means 13 and able to exert a second elastic support force bringing the first and the second closer to one another. body 10 and 11 along the longitudinal axis AB ( figure 2 ).
  • the man-machine interface 1 may further comprise a module 15 including first and second parts 151 and 152 and the second biasing means 150.
  • the first and second parts 151 and 152 are respectively fixed to the first and second bodies 10 and 11 (for example, using the fixing screws 101 and 111 respectively, as shown in FIG. figure 2 ).
  • the first and second parts 151 and 152 are fixed in translation and movable in rotation relative to one another about the longitudinal axis AB (arrow ⁇ on the figure 3 ).
  • the second elastic bearing force brings the first and second portions 151 and 152 of the module 15 closer to each other along the longitudinal axis AB.
  • the module 15 further comprises an axial shaft 153.
  • the second means of bias 150 comprise at least one spring 1500 and two stop members, 1501 and 1502, carried by the shaft 153 and at least one includes a nut 1530 engaged on a thread 1531 of the shaft 153.
  • the two parts 151 and 152 of the module 15 and the spring 1500 together form a stack 16 traversed axially by the shaft 153 and sandwiched between the two members 1501, 1502 abutment.
  • the second resilient biasing force is controllably exerted by a stress of the spring 1500 resulting from screwing the nut 1530 onto the shaft 153.
  • the first and second portions 151, 152 of the module 15 have friction surfaces 1511, 1520 respectively applied against each other, of identical or different natures, and each of which is at least made of a material chosen from the assembly comprising: aluminum, metal or metal alloy, plastic, and polyoxymethylene.
  • the module 15 may further comprise a friction pad 156 disposed, along the longitudinal axis AB, between the first and second parts 151, 152 ( Figures 4-5 ).
  • the friction pad 156 is integral with one of the first or second parts 151, 152 (with the second part 152 on the Figures 4-6 ).
  • At least one of the friction surfaces 1511, 1520 can be that of the friction pad 156.
  • a friction torque "friction pad 156 / first part 151 of the module 15” can be chosen so that the friction pad 156 wears more easily than the first portion 151 of the module 15.
  • the first part 151 of the module 15 becomes almost indestructible which makes easier maintenance operations of the human-machine interface 1.
  • the helical ramp 100 takes the form of a frontal surface formed on the first part 151 of the module 15 ( Figures 4-5 , 8-9 , 11-12 , 14-15 , 17-18 , 20-21 ).
  • the probe 110 takes the form of a bolt 110 slidably mounted, under the stress of the first elastic bearing force, parallel to the longitudinal axis AB and in a housing 1521 of the second portion 152 of the module 15.
  • the first sensor 120 is sensitive to the sliding position of the stud 110.
  • the ramp 100 offers the probe 110 a useful stroke 1000 corresponding to a relative rotation of the two bodies about the longitudinal axis AB at most equal to 70 ° (referenced by the angle ⁇ ⁇ 70 ° on the figures 7 , 10 , 12 , 13 , 16 , 19 ).
  • the module 15 further comprises at least one first end stop 154 limiting the stroke of the probe 110 at a first end 1001 of the ramp 100 (FIG. Figures 7 and 9 ).
  • the first elastic abutment 154 at least is provided with a second sensor 1540 delivering a second control signal depending on a first force F 1 exerted on this first elastic abutment 154 ( figure 19 ).
  • the angle ⁇ specific to the useful stroke 1000 is preferably at most equal to 65 °.
  • the module 15 further comprises at least one second end stop 155 limiting the stroke of the probe 110 to the second end 1002 of the ramp 100, away from the first end 1001.
  • the second elastic stop 155 itself may be provided with a third sensor 1550 delivering a third control signal depending on a second force F 2 exerted on the second elastic stop 155.
  • the first effort F 1 and the second effort F 2 are preferably equivalent to one another.
  • each elastic abutment 154 and 155 is adapted to limit the relative rotation of the two bodies 10 and 11 around the longitudinal axis AB by an angle ⁇ at most equal to 17 ° (angle ⁇ ⁇ 17 ° on the Figures 16, 18 , 19, 21 ) beyond the useful stroke of the probe 110 on the ramp 100.
  • the angle ⁇ of limiting the relative rotation of the two bodies 10 and 11 by each elastic stop 154 and 155 is preferably equal to 16.5 °.
  • Each elastic abutment 154 and 155 is provided on one of the two parts 152 of the module 15.
  • the second sensor 1540 delivering the second control signal and the third sensor 1550 delivering the third control signal are for example of the "Hall effect" type. It is the same for the second and third distal sensors [200, 201, 202, 210, 220, 230, 232, 233] and [300, 301, 302, 310, 320, 330, 332, 333] as well as for the second and third proximal sensors [20, 21, 22, 23, 231] and [30, 31, 32, 33, 331] discussed below in connection with the second and third control members 2 and 3.

Claims (9)

  1. Steuerungsinstrument (1) zum Steuern eines Musikgeräts (41), das einen ersten Körper (10), einen zweiten Körper (11) und mindestens ein erstes Steuerorgan (12) enthält, wobei der erste und der zweite Körper (10), (11) miteinander verbunden, gemäß einer Längsachse (AB) ausgerichtet und um die Längsachse (AB) zueinander drehbeweglich sind, wobei der erste Körper (10) eine schraubenförmige Rampe (100) trägt, die sich in Abstand zur Längsachse (AB) erstreckt und von der eine Tangentialebene bezüglich dieser Achse (AB) geneigt ist, wobei der zweite Körper (11) einen Fühler (110) trägt, der in gleitendem Kontakt auf die Rampe (100) montiert ist, und das erste Steuerorgan (12) einen ersten Sensor (120) enthält, der ein erstes Signal liefert, das von einer durch den Fühler (110) auf der Rampe (100) eingenommenen Stellung abhängt, dadurch gekennzeichnet:
    - dass das Steuerungsinstrument außerdem mindestens erste Beanspruchungseinrichtungen (13) enthält, die eine erste elastische Auflagekraft anwenden können, die den Fühler (110) und die Rampe (100) gegeneinander beansprucht,
    - dass der erste und der zweite Körper (10), (11) in Translationsrichtung zueinander entlang der Längsachse (AB) ortsfest sind,
    - dass eines der vom Fühler (110) und von der Rampe (100) gebildeten Elemente entlang der Längsachse (AB) bezüglich des ersten und des zweiten Körpers (10), (11) gleitend montiert ist, und
    - dass es außerdem zweite Beanspruchungseinrichtungen (150) anders als die ersten Beanspruchungseinrichtungen (13) enthält, die eine zweite elastische Auflagekraft ausüben können, die dahin tendiert, den ersten und den zweiten Körper (10), (11) gemäß der Längsachse (AB) einander anzunähern.
  2. Steuerungsinstrument (1) nach Anspruch 1, dadurch gekennzeichnet, dass es außerdem ein Modul (15) enthält, das einen ersten und einen zweiten Teil (151), (152) und die zweiten Beanspruchungseinrichtungen (150) umfasst, dass der erste und der zweite Teil (151), (152) am ersten bzw. am zweiten Körper (10), (11) befestigt sind, dass der erste und der zweite Teil (151), (152) in Translationsrichtung ortsfest und um die Längsachse (AB) zueinander drehbeweglich sind, und dass die zweite elastische Auflagekraft dahin tendiert, den ersten und den zweiten Teil (151), (152) des Moduls (15) gemäß der Längsachse (AB) einander anzunähern.
  3. Steuerungsinstrument (1) nach Anspruch 2, dadurch gekennzeichnet, dass das Modul (15) außerdem eine axiale Welle (153) enthält, dass die zweiten Beanspruchungseinrichtungen (150) mindestens eine Feder (1500) und zwei von der Welle (153) getragene Anschlagorgane (1501), (1502) enthalten, von denen mindestens eines eine Mutter (1530) umfasst, die auf ein Gewinde (1531) der Welle (153) eingesetzt ist, dass die zwei Teile (151), (152) des Moduls (15) und die Feder (1500) zusammen einen Stapel (16) formen, der axial von der Welle (153) durchquert wird und zwischen den zwei Anschlagorganen (1501), (1502) eingeklemmt ist, und dass die zweite elastische Auflagekraft einstellbar durch eine Spannung der Feder (1500) ausgeübt wird, die aus einem Verschrauben der Mutter (1530) auf der Welle (153) resultiert.
  4. Steuerungsinstrument (1) nach einem der Ansprüche 2 und 3, dadurch gekennzeichnet, dass der erste und der zweite Teil (151), (152) des Moduls (15) Reibungsflächen (1511) bzw. (1520) haben, die gegeneinander angelegt sind, von gleicher oder unterschiedlicher Beschaffenheit, und von denen jede mindestens aus einem Material besteht, das aus der Einheit ausgewählt wird, die enthält: Aluminium, ein Metall oder eine Metalllegierung, einen Kunststoff und Polyoxymethylen.
  5. Steuerungsinstrument (1) nach einem der vorhergehenden Ansprüche kombiniert mit Anspruch 2, dadurch gekennzeichnet, dass die schraubenförmige Rampe (100) die Form einer Stirnfläche annimmt, die auf dem ersten Teil (151) des Moduls (15) ausgebildet ist, dass der Fühler (110) die Form eines Stiftbolzens (110) annimmt, der unter der Beanspruchung durch die erste elastische Auflagekraft parallel zur Längsachse (AB) und in einer Aufnahme (1521) des zweiten Teils (152) des Moduls (15) gleitend montiert ist, und dass der erste Sensor (120) auf die Gleitstellung des Stiftbolzens (110) reagiert.
  6. Steuerungsinstrument (1) nach Anspruch 5, dadurch gekennzeichnet, dass die Rampe (100) dem Fühler (110) einen Arbeitshub (1000) bietet, der einer relativen Drehung der zwei Körper um die Längsachse (AB) höchstens gleich 70° entspricht, und dass das Modul (15) außerdem mindestens einen ersten elastischen Endanschlag (154) enthält, der den Hub des Fühlers (110) an einem ersten Ende (1001) der Rampe (100) begrenzt, und dass mindestens der erste elastische Anschlag (154) mit einem zweiten Sensor (1540) versehen ist, der ein zweites Steuersignal liefert, das von einer ersten Kraft (F1) abhängt, die auf diesen ersten elastischen Anschlag (154) ausgeübt wird.
  7. Steuerungsinstrument (1) nach Anspruch 6, dadurch gekennzeichnet, dass das Modul (15) außerdem mindestens einen zweiten elastischen Endanschlag (155) enthält, der den Hub des Fühlers (110) an einem zweiten Ende (1002) der Rampe (100) in Abstand zum ersten Ende (1001) begrenzt, und dass mindestens der zweite elastische Anschlag (155) mit einem dritten Sensor (1550) versehen ist, der ein drittes Steuersignal liefert, das von einer zweiten Kraft (F2) abhängt, die auf diesen zweiten elastischen Anschlag (155) ausgeübt wird.
  8. Steuerungsinstrument (1) nach Anspruch 6 oder 7, dadurch gekennzeichnet, dass jeder elastische Anschlag (154), (155) geeignet ist, um die relative Drehung der zwei Körper (10), (11) um die Längsachse (AB) auf höchstens gleich 17° über den Arbeitshub des Fühlers (110) auf der Rampe (100) hinaus zu begrenzen.
  9. Steuerungsinstrument (1) nach einem der Ansprüche 6 bis 8, dadurch gekennzeichnet, dass jeder elastische Anschlag (154), (155) auf einem der zwei Teile (152) des Moduls (15) vorgesehen ist, und dass ein Nocken (1512) parallel zum Stiftbolzen (110) und am anderen Teil (151) des Moduls (15) befestigt vorgesehen ist, um in der Endstellung des Stiftbolzens (110) auf der Rampe (100) auf jeden elastischen Anschlag (154), (155) zu drücken.
EP10715962.6A 2009-03-31 2010-03-23 Mensch-maschine-interface Not-in-force EP2414771B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0952060A FR2943805A1 (fr) 2009-03-31 2009-03-31 Interface homme-machine.
PCT/FR2010/050517 WO2010112731A2 (fr) 2009-03-31 2010-03-23 Interface homme-machine

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EP2414771A2 EP2414771A2 (de) 2012-02-08
EP2414771B1 true EP2414771B1 (de) 2013-08-28

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US (1) US20120103173A1 (de)
EP (1) EP2414771B1 (de)
CA (1) CA2756103A1 (de)
FR (1) FR2943805A1 (de)
WO (1) WO2010112731A2 (de)

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CA2814869A1 (en) 2010-10-22 2012-04-26 Joshua Michael Young Methods devices and systems for creating control signals
JP6715110B2 (ja) * 2016-06-30 2020-07-01 日本精機株式会社 ストロークセンサ及び鞍乗り型車両

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WO2010112731A3 (fr) 2010-11-25
EP2414771A2 (de) 2012-02-08
US20120103173A1 (en) 2012-05-03
FR2943805A1 (fr) 2010-10-01
CA2756103A1 (fr) 2010-10-07
WO2010112731A2 (fr) 2010-10-07

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