Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
  • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
  • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
  • B62M6/40—Rider propelled cycles with auxiliary electric motor
  • B62M6/45—Control or actuating devices therefor
  • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
  • A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
  • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
  • B62M3/00—Construction of cranks operated by hand or foot
  • B62M3/16—Accessories
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
  • G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
  • G01L25/003—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency for measuring torque
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
  • A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
  • A63B22/0605—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2220/00—Measuring of physical parameters relating to sporting activity
  • A63B2220/50—Force related parameters
  • A63B2220/54—Torque
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B69/00—Training appliances or apparatus for special sports
  • A63B69/16—Training appliances or apparatus for special sports for cycling, i.e. arrangements on or for real bicycles

Definitions

• Torque sensors on pedal drives detect the torque acting on the pedal drive and emit a signal that the
• Measuring error of torque sensors is determined by the well-defined torques are impressed on the pedals (by defined weights), and the corresponding signal is detected.
• the detected signal can thus be associated with the defined torques in order to determine the measurement error.
• this method is expensive, in particular due to the weights to be used, and furthermore can not easily be carried out during the usual operation of the bicycle.
• the document DE 600 32 819 T2 is described by means of a strain sensor the
• Torsion of a bicycle frame to capture Based on the torsion, a pedal force is detected; the twisting direction is bilateral (to each pedal), so that the resulting signal is symmetrical. An offset of this symmetry is detected by detecting the measurement signal while the pedals are not energized. Due to the sensor arrangement, however, the
• the invention enables a more precise detection of a pedal torque and can be realized with inexpensive and in particular easily available components. Numerous components of conventional pedal drives and controls using synergies are used. In particular, a substantial part of the functions of the invention may be by means of one processor or by another
• Programmable data processing unit can be realized, the or the other functions such as pedal monitoring, speed measurement or
• Gearbox control converts.
• the invention makes it possible to detect an offset of the sensor not only during production, but also during operation without affecting the sensor operation.
• the invention provides to determine a power-free state of the pedal drive by considering a pedal actuation value. Since in the non-powered state (ie, a state in which no torque acts on the torque sensor) and the output signal of a torque sensor of the pedal drive should correspond to a torque value of zero, an error is detected in this state.
• the error relates to an offset (also referred to as offset error), ie a value by which a signal value-force characteristic (or voltage-force characteristic) of the torque sensor is shifted in the direction of the signal value (ie the voltage) of the sensor.
• offset error also referred to as offset error
• Such offsets are triggered in particular by static mechanical stresses on the sensor, for example temperature-dependent mechanical stresses.
• the detected offset is taken into account in the later measurement by reducing the output signal of the sensor by the offset, whereby the output signal is compensated by the offset.
• the detection of the offset, together with the later consideration of the offset in further measurements is also referred to as calibration.
• the torque is detected on the bicycle pedal drive.
• the torque is detected, which is transmitted from the pedals (or the pedal crank) to the output (in particular to a chain that drives a rear wheel).
• the bicycle is preferably an electric bicycle (also known as e-bike), in which in addition to the pedal drive and an electric drive is provided.
• precise detection of the pedal torque is advantageous.
• the invention allows detection of the offset error during normal operation of the bicycle or the electric bicycle, ie in pauses of the pedal drive, in which the bicycle pedal drive is subjected to no significant torque and thus no torque on the
• Torque sensor acts. As noted above, sensor-detected zero torque is necessarily associated with pedal drive torque, while the latter prior art has a mechanical stress on the sensor in a one-sided, static load on the pedal drive (ie, the pedals), although the pedal drive not with a (drive) torque is applied.
• a drive is used with a transmission in which the
• Transmission ratio is known.
• the gear ratio results from the selected gear. Furthermore, if the driving speed is known, i. the
• Angular velocity of a wheel of the bicycle it can be easily determined whether an optionally present pedal movement leads to a closed freewheel (whereby a torque acts on the torque sensor), or if the pedal movement is too slow to close the freewheel. Thereby, a state can be determined at which no (or a minimum) torque acts on the torque sensor. Furthermore, such a condition can be detected by considering the pedal position, wherein a vertical pedal position with a (acting on the torque sensor)
• Torque of substantially zero is linked (i.e., a pedal position corresponding to a dead center of the pedal movement).
• the vertical pedal position refers to pedal positions on a line passing through the pivot point of the pedal drive (ie the pivot point of the crankshaft) and through the point where the operator is seated (more precisely: on which the operator is operating) Person has the head of the femur).
• “vertical” is the direction in which an extended leg of the rider extends when sitting on a saddle of the bicycle and places his foot on the pedal , from the driver) therefore different from the direction of gravity (eg in a recumbent bike).
• an absolute minimum of the torque signal (within a predetermined length of time window) may be considered as a torque-free point, with the signal value at that minimum being taken as an offset.
• Embodiment provides to detect the pedal movement direction as an indicator for a torque-free state. If this is negative, the freewheel is open and essentially no torque acts on the torque sensor.
• a non-receding pedal drive is used, i. with a freewheel, which not only over a free Wnkel Suite (until reaching a Wnkels, at which the wrkung of the resignation begins) acts, but with a freewheel, which works independent of angle without braking effect.
• the window of time between reversing the direction of rotation and engaging the resignation may be used for the offset correction, or the window extending through the backward one
• Angle of rotation results, which is swept by the pedal crank until the coaster brake engages.
• the engagement of the withdrawal is recognizably characterized by a negative torque at pedal speed zero.
• Driving acceleration or a wheel angular velocity below a predetermined value wherein the vehicle speed or the wheel angular velocity with a may be linked to another criterion that relates to the selected gear.
• This ensures that a torque of substantially zero results from an open freewheel (and possibly an open coaster brake).
• the invention therefore relates to a method for detecting an offset error of a
• Torque sensor of a bicycle pedal drive detects the torque that is transmitted from the pedals to the output of the bicycle.
• a state is determined in which essentially no torque acts on the torque sensor. This condition is determined by detecting at least one pedal operation value, which is the pedal position, the pedal speed, or the
• Pedal rotation of the pedal drive reproduces.
• the height of the pedal actuation value thus reflects the strength of the operation of the pedals, from which the torque can be derived, which is applied to the torque sensor.
• the type of drive i. no rigid connection but a freewheel drive, considered.
• a torque signal of the torque sensor is detected during this (load-free or torque-free) state.
• Torque signal reflects the offset error.
• the value that the torque sensor outputs while substantially no torque acts on the torque sensor i.e., no torque is transmitted from the pedals to the output of the bicycle
• the offset value i.e., the offset error.
• the signal of the torque sensor is falsified by this offset value (the offset value representing a constant DC component), so that the torque output by the sensor is used to determine the torque output by the sensor, corrected by the offset error.
• the signal emitted by the torque sensor is subtracted from the offset error.
• a specific embodiment of the invention provides that the torque signal is detected in a state in which the pedal position corresponds to a substantially vertical position of the bicycle pedal drive.
• the pedal position is detected by means of an angle sensor on the pedal drive.
• the torque signal is in one
• the power transmission threshold indicates a
• Decoupling state of a freewheel of the bicycle (pedal) drive such as a chain drive.
• the decoupling state corresponds to the transition of the open freewheel to the closed freewheel. Wrd the pedal drive operated at an angular speed, which, based on the movement of the impeller, is smaller than the related Angular speed on the impeller (or drive wheel of the bicycle), so the freewheel remains open.
• the relevant reference results from the transmission ratio of the gearbox.
• the decoupling state occurs when the freewheel is open. Even in the case of execution without precise knowledge of the selected gear, this method can be used if only the maximum gear ratio is known. If, at a driving speed, the cadence falls below the value required for the maximum gear ratio to close the freewheels, it can be concluded that the freewheels are open. The maximum possible translation then takes the place of the predetermined or detected by sensor transmission ratio.
• the torque signal (for detecting the offset error) is detected in a state where the operation amount has a relative minimum.
• Actuating force is a relative amount and is represented by the relative course of the signal of the torque sensor.
• the minimum is detected by continuous comparison of successive sensor values of the torque sensor and / or by temporally deriving the sensor signal, for example by changing the sign of the first time derivative of the sensor signal.
• the minimum is assumed, preferably the smallest minimum of a plurality of relative minima. This detection is preferably combined with other quantities indicative of a zero torque load, such as a vertical pedal angle or a
• Angular velocity of the pedal drive associated with an open freewheel i.e., an angular velocity of the pedal drive less than one
• Angular velocities are transmitted by means of the translation to the same reference point as the other angular velocity).
• the pedal speed is detected by means of a transducer (i.e., by time derivative of the signal of the encoder) or by means of a speed sensor on the pedal drive.
• the gear ratio is provided by an actuator of the gearbox, through which the pedal movement is transmitted to the output (i.e., the wheel / rear wheel) of the bicycle, or by a controller that controls the actuator, or by a gearbox sensor that detects the set gear.
• the torque signal is detected in a state in which the pedal position is substantially vertical, that is located in the blind spot of the pedal drive (see above).
• the pedal speed is less than the quotient of a detected wheel angular velocity and a set pedal drive / output ratio. This corresponds to the set gear, see above.
• the pedal speed can also be less than or equal to the quotient of the detected
• Impeller angular velocity and the adjusted pedal drive / output gear ratio to provide a state in which the offset error is detected.
• the freewheel of the pedal drive is due to lack of strong movement on Lauf- or
• the torque signal is detected when the pedal speed is below the predetermined power transmission threshold, and the power transmission threshold represents the quotient of the wheel angular velocity and the adjusted pedal drive / output ratio.
• the power transmission threshold thus reflects the angular velocity with which the pedal drive would at least have to be operated to transmit torque from the pedal drive to the wheel, i. to close the freewheel.
• Angular speeds must be taken into account that the angular velocity changes according to the ratio of the gearbox and is changed in such a way given to the freewheel or to the impeller or drive wheel. It will therefore
• Angular speeds compared one of which is multiplied by the gear ratio or with its reciprocal, depending on the reference point (pedal drive or drive wheel) of the comparison.
• the torque signal is detected when a negative pedal rotation direction is detected.
• This embodiment is used in particular for bicycles or electric bicycles without resignation (eg with chain transmission). Further, this embodiment can be used with bicycles having a coaster brake provided that the torque signal is not detected when the coaster brake applies a brake torque.
• the torque signal is detected when a pedal speed of substantially zero is detected or when the pedal position does not change substantially in time. A backward movement or a lack of movement of the pedal drive is with an open freewheel so that an external torque of zero can be assumed, with a simultaneous signal detection of the torque sensor generates the offset error.
• the process of the invention is particularly useful in a process for
• Torque detection integrated the above method is used for calibration or adjustment, to clean up measurement results of the offset error.
• the invention is therefore also realized by a method for determining a torque acting on a bicycle pedal drive.
• the inventive method for detecting the offset error is performed.
• the torque is determined by means of the rotary sensor.
• the offset error is subtracted from the torque thus determined. It results (after compensation, i.e. after deduction of the offset error) a torque whose offset error is compensated according to the detected offset error. Since usually no torque values are determined with unloaded pedal drive, the detection of the offset error according to the invention adversely affects the usual operation of the offset error
• An embodiment of such an apparatus for detecting an offset error of a torque sensor of a bicycle pedal drive comprises a data interface.
• the data interface is adapted to receive a signal from an angle sensor, from a speed sensor, or from a direction of rotation sensor located on the pedal drive.
• the interface can be analog or digital.
• the data interface is further configured to receive a signal from the torque sensor.
• the apparatus further comprises a load detection means based on the signal from the angle sensor, the speed sensor and / or the
• Direction of rotation sensor can detect a state in which essentially no
• Torque on the torque sensor acts.
• the device further comprises a
• Offset detection means connected to the load detection means for detecting trigger signals. These trigger signals are generated by the
• Torque acts on the torque sensor; ie the load detection means is arranged to deliver such trigger signals.
• the load detecting means may be further connected to the data interface to detect the signal from the torque sensor, wherein the
• Load detection device is adapted to detect a relative minimum in this signal and to release the trigger signal upon detection of the minimum.
• the minimum torque applied to the sensor is zero, so that the relative minimum represents the no-load condition.
• the load detection means is arranged to deliver a trigger signal when the smallest minimum of a plurality of relative minima is detected.
• the load detection device can be set up to emit a trigger signal o only if the minimum or the minimum minimum is detected and at the same time the signal of the oscillator reproduces a vertical position of the pedals.
• the load detection device comprises a logical AND operation.
• the offset detection means is arranged to detect the signal from the torque sensor as the offset error upon receipt of the trigger signal.
• the trigger signal indicates the state in which substantially no torque is applied to the
• Torque sensor acts and can be implemented in numerous types of signals or commands.
• the load detection device comprises a comparator unit (or a comparator).
• the comparator unit is set up to compare the signal of the angle transmitter with values representing a substantially vertical pedal position.
• the comparator unit is arranged to compare the signal of the speed sensor to substantially zero or to a value at which it can be assumed that a freewheel of the pedal drive is opened.
• the comparator unit may be configured to compare the signal of the direction of rotation sensor with a sign which corresponds to an open-freewheeling backward. In the latter case, the comparator unit is set up, the relevant one
• a particularly preferred embodiment further provides a memory which is arranged for retrievably storing the offset error.
• the current offset error can be accessed during measurements in order to take it into account in a measuring method.
• the device may further provide a memory into which a
• a minimum detector connected to the memory and configured to determine the minimum torque value of the plurality of torque values and to provide as offset errors.
• This variant is in particular combined with a load detection device which is able to detect a torque load-free state of the pedal drive on the basis of (relative) minima.
• a device comprises a device for determining a freewheeling limit. This has an interface for connecting a
• the device is provided from a
• Freewheeling limit evaluates and detects the load detection device, the signal that comes from the angle encoder or the speed sensor when substantially no torque acts on the torque sensor.
• the coasting limit is exceeded, a torque acts on the torque sensor (since the coasting is closed), so that the load detecting means is arranged to output no signal from the torque sensor as the offset in this case.
• the load detecting means is capable of recognizing an exceeded overrun limit as a condition having a loaded torque sensor (and not detecting a respective offset error), and is further capable of not
• the invention is realized by means of a device for determining a torque acting on a bicycle pedal drive, said device comprising an inventive device for detecting an offset error.
• Device for determining a torque further has a
• Torque sensors deduct the offset error (by means of a subtractor) and provide as a torque signal. As a result, the device eliminates the offset error in the torque signal.
• the device according to the invention and the method according to the invention are preferably at least partially implemented by components of a drive control of an electric bicycle, in particular by a programmable processor and associated software. In particular, these components see the step of
• the memories may also be provided by a memory device of the processor or a memory device associated with the processor. Furthermore, these components can realize the device for determining the torque.
• the relevant signals can be reused, i. the sensor signals and the signal representing the selected gear of the gearbox.
• the device may further comprise the respective sensors connected to the interface.
• the drive control by means of the invention is able to precisely control the electric power of the electric drive in order to enable an intuitively detectable drive assistance. In particular, in the support of the footstep actuation pauses are correctly detected, since any offset that suggests an operation despite lack of pedal support, can be suppressed according to the invention.
• the invention is suitable for vehicles with hybrid drive, in which an electric drive supports a pedal drive, especially two-wheeled vehicles such as electric bicycles.
• FIG. 1 shows an embodiment of the device according to the invention, which serves to explain the method according to the invention and which is used in an exemplary application.
• FIG. 1 schematically shows an embodiment of the device according to the invention.
• a pedal drive 10 drives via a chain 12 a rear sprocket 14 of a derailleur (not shown), which is connected via a freewheel with a rear wheel 16 of an electric bicycle.
• the derailleur is operated via an actuator 18 which adjusts the selected gear.
• the actuator can be an electromechanical actuator be provided or by a gearshift actuating element which actuates a user.
• the pedal drive 10 includes a pedal crank 20 with pedals 22.
• the pedal crank is connected to a pedal crankshaft 24.
• a symbolic illustrated torque sensor 26 detects the torque (axis of rotation along the shaft 24) which is transmitted from the pedal crankshaft 24 to a drive gear 28 of the pedal drive 10.
• the drive gear 28 is engaged with the chain 12 which is driven by this.
• Torque sensor 26 is disposed between pedal crank 20 and drive gear 28 and may be designed as a strain gauge.
• an angle sensor 30 which determines the absolute angle, i. the position of the pedal crank 20 detected.
• the sensor 30 is used as a speed sensor (for detecting the
• a device 40 according to the invention comprises an interface 42 which
• Gearbox control can originate, which drives the actuator 18. Further, instead of the actuator 18, a sensor may be provided for detecting the set gear. Therefore, the connection between actuator 18 and the device 40 is symbolic. Other forms of gait recognition are also conceivable. The gear recognition can also be omitted entirely, as mentioned above.
• the device 40 includes a load detection device 44 that detects a no-load condition by looking at the signal from the angle sensor 30 and detecting the times at which the encoder detects a vertical position of the pedal crank 20, as shown in FIG. This position is assumed as a state where no torque is transmitted from the crank 20.
• Detection of this state is transmitted via a line to an offset detection device 46 (for example in the form of a trigger signal), whereupon the
• Offseter upsets acquired 46 detects the signal of the torque sensor 26 as an offset error.
• the load detection device 44 may be arranged, also the angular velocity from the signal of the angle sensor 30 capture. Is this below a predetermined threshold, while the
• Angle encoder 30 indicates a vertical orientation of the crank 20, it is assumed that a load-free state.
• the load sensing device 44 further receives the signal from the torque sensor 26 (via a line, not shown), and is capable of detecting the relative minima of the signal of the torque sensor 26.
• the load detecting device 44 detects the times at which a minimum occurs and outputs to the offset detecting means 46 a signal for detecting the offset error.
• the stress detecting device 44 may include a memory connected to a memory of the device 40 in which a plurality of relative minima are stored and the signal of the torque sensor is detected as an offset which occurs during the smallest minimum of the minima.
• Another embodiment provides that instead of sensor 30, a direction of rotation sensor is provided. If this detects a reverse rotation of the pedals (i.e., a negative speed), a corresponding signal is output to the device 40 and the offset error is detected.
• the direction of rotation sensor may be provided as a speed sensor whose sign indicates the direction of rotation.
• a speed sensor 50 i.e., a sensor for detecting the angular velocity of the rear wheel 16 connected to the device 40 via the interface 42 may be provided.
• the load detecting device 44 is configured, the angular velocity of the rear wheel 16 and the
• Offseter applieds Pain Engineering Pain
• Sensors 18 and 50 are preferably provided only when the
• load-free state is further detected by means of a Wnkelsensors 30 or by means of a relative minimum of the speed sensor 26. If the no-load condition is detected by determining the direction of rotation (using a signed speed sensor at the location of the sensor 30), then no further determination is necessary as to whether the freewheel is open, since a negative speed is already required indicates an open freewheel. In particular, then no comparison of the speed of the pedal drive with the speed of the rear wheel is necessary.
• angular speed (or speed) n_R of the rear wheel is equal to the gear ratio V (depending on the selected gear and determined by actuator 18) multiplied by the Wnkel mecanical n_P of the closed freewheel
• Pedal crank The same ratio applies to the respective speeds. Furthermore, it can be concluded directly from the vehicle speed over the rear wheel circumference to the speed or to the Wnkel Fern. Thus, if n_R is greater than V * n_P, the freewheel is open and the torque sensor 26 is unloaded.
• n_P is smaller than n_R / V.
• the driving speed can be determined (by means of a sensor connected to a wheel of the bicycle or by means of a vehicle speed measuring device such as a GPS receiver), and the rotational speed or Angular velocity of the rear wheel can be determined by the wheel diameter.
• the device according to the invention comprises an output 48 (for example as part of the interface 42) at which the detected offset error is output.
• the possibilities for detecting a condition in which substantially no load acts on the rotational speed sensor 26 can be combined with one another as desired and can be combined with one another, for example, via a UN D link.
• the above-described possibilities for detecting the load-free state can furthermore be used individually and alternatively to each other.
• the application environment illustrated in FIG. 1 further includes a drive controller 60 (shown in phantom) which receives from the above-described offset error detecting apparatus via a line 62 (shown in phantom) and which is connected to the output 48.
• the drive controller 60 includes a
• Compensation device 64 (shown in dashed lines), which receives the offset error via the line 62 and the torque sensor signal via the line 66 (shown in phantom) from the torque sensor 26.
• the compensation device 64 is set up to subtract the offset error from the torque sensor signal.
• the thus error-compensated signal is output to an output controller 68 (shown in dashed lines), the power from an accumulator 70 (shown in dashed lines), which is connected to the Drive control 60 is connected, controlled and passes in accordance with the detected (corrected) torque to an electric drive 72, which is shown schematically, and which acts on the drive of the electric bicycle, see. the outgoing from the electric motor arrow.
• the drive controller 60 may be further connected to the actuator 18 so as to set a gear.
• the drive controller 60 may further include an input for inputting the desired operating mode (not shown).
• Drive control 60 and the device for detecting the offset error 40 are shown here only symbolically and functionally; In one implementation, both components are integrated with each other in a common circuit.

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• Engineering & Computer Science (AREA)
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• General Health & Medical Sciences (AREA)
• Physical Education & Sports Medicine (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Force Measurement Appropriate To Specific Purposes (AREA)
• Mechanical Control Devices (AREA)

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• 2010
  • 2010-08-27 DE DE102010039852A patent/DE102010039852A1/de not_active Withdrawn
• 2011
  • 2011-07-21 WO PCT/EP2011/062500 patent/WO2012025314A1/de active Application Filing
  • 2011-07-21 JP JP2013526383A patent/JP2013536445A/ja not_active Ceased
  • 2011-07-21 EP EP11740868.2A patent/EP2609002A1/de not_active Withdrawn
  • 2011-08-25 TW TW100130417A patent/TW201226874A/zh unknown

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