TW202402367A - Somatosensation generation system having temperature control effect that effectively enhances user experience of immersive sense of presence - Google Patents
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Abstract
Description
本發明是有關體感回饋的技術領域,尤指一種具備溫控效應的體感生成系統。The present invention relates to the technical field of somatosensory feedback, and in particular, to a somatosensory generating system with a temperature control effect.
隨著科技之進步與發展,人機互動的體感回饋技術可在影視覺基礎上增加了互動效果,被有效結合應用於動感電影及動感遊戲上。體感,也可稱軀體感覺,是觸覺、壓覺、溫覺、痛覺和本體生理感覺的總稱。如早期IMAX電影以巨大螢幕搭配特殊設計之4D座椅,配合電影劇情發展進行振動、傾斜、搖動等,讓人觀賞過程融入電影角色,產生身臨其境逼真驚險刺激的特殊感受。With the advancement and development of science and technology, the somatosensory feedback technology of human-computer interaction can add interactive effects on the basis of film and vision, and is effectively combined and used in dynamic movies and dynamic games. Somatosensory, also known as somatosensory, is a general term for touch, pressure, temperature, pain and proprioceptive physiological sensations. For example, early IMAX movies used a huge screen with specially designed 4D seats, which vibrated, tilted, and rocked according to the development of the movie plot, allowing people to immerse themselves in the movie characters during the viewing process, creating a special immersive, realistic and thrilling experience.
近年來遊戲機,AR/VR和電腦3D影像處理技術上取得長足的進步,為了讓玩家能有更真實的感官刺激,在遊戲的控制介面上如滑鼠、搖桿、方向盤等,增加了觸覺回饋( haptic feedback ) 的項目,使遊戲同時可針對動作或事件産生相對振動傳到玩家的手腕上,加強感官刺激以提升遊戲操作模擬的逼真度。In recent years, game consoles, AR/VR and computer 3D image processing technology have made great progress. In order to provide players with more realistic sensory stimulation, tactile sensations have been added to game control interfaces such as mice, joysticks, steering wheels, etc. The haptic feedback project allows the game to generate relative vibrations in response to actions or events and transmit them to the player's wrist, strengthening sensory stimulation and improving the fidelity of game operation simulation.
目前的體感反饋裝置大都是使用單頻左右振動之偏心馬達來達成體感振動,使用上雖可配合電影或遊戲的相關場景,利用指令傳達驅動馬達振動來加強影音動作或事件的真實感,但其結構設計上只能透過偏心馬達左右擺動產生震動並無法達到複製真實體感的效果,同時對物體溫度感受及觸摸效應上也無法達成,以致不能將場景內容有效模擬真實體現到玩家身上。Most of the current somatosensory feedback devices use single-frequency left-right vibration eccentric motors to achieve somatosensory vibrations. Although they can be used in conjunction with relevant scenes in movies or games, commands can be used to transmit the drive motor vibrations to enhance the realism of audio-visual actions or events. However, its structural design can only generate vibration through the left and right swing of the eccentric motor and cannot achieve the effect of replicating the real body feeling. At the same time, it cannot achieve the temperature sensation and touch effect of the object, so it cannot effectively simulate the scene content and truly reflect it on the player.
此外,現在的體感反饋裝置上的體感振動器大多是單個或幾數個,例如只能在身體部分區域產生振動,效應作用點較少所能達到的真實感有限,並且所提供的振動效果侷限在單頻率擺動,設計上振動強度又僅能針對某些動作或事件提供最基本的大小調整設定。In addition, most of the somatosensory vibrators on current somatosensory feedback devices are single or several. For example, they can only produce vibrations in certain areas of the body. There are few effect points, the realism that can be achieved is limited, and the vibration provided is limited. The effect is limited to a single frequency vibration, and the vibration intensity is designed to only provide the most basic size adjustment settings for certain actions or events.
應用時,每個體感反饋裝置都必須單獨設定缺乏相容性,不能與身體其他部分的體感反饋裝置配合進行協同感受,無法配合情節內容發展應用,例如被子彈擊中貫穿前胸後背時,身體各部位反應點的受力大小、先後順序、及路徑變化等,個人應用真實度感受不強。當然更無法提供大型戰鬥遊戲時,模擬炸彈爆破威力四射擴散,多人臨場位置不同感受波幅強弱差別不同的沉浸式體驗,造成的體感模擬真實性和有效性不足的技術問題。When used, each somatosensory feedback device must be set independently. It lacks compatibility and cannot cooperate with somatosensory feedback devices in other parts of the body for collaborative sensing. It cannot be developed and applied in conjunction with plot content. For example, when a bullet penetrates the chest and back, The magnitude of the force, sequence, and path changes of the reaction points in various parts of the body, etc., personally do not feel the realism of the application. Of course, it cannot provide an immersive experience in large-scale combat games where the power of simulated bomb explosions spreads in all directions, and multiple people can experience different wave amplitudes at different locations, resulting in technical problems such as insufficient authenticity and effectiveness of somatosensory simulation.
有鑑於此,本發明的主要目的,在提供一種具備溫控效應的體感生成系統,此系統最佳實施主要安裝於穿戴式物件,如背心(Vest)、下著、或連體全身衣(Body Suit) 等,或是座椅等,但實際並不以此為限。其系統主要包括:一體感效果控制器、一體感效應轉化裝置、及至少一體感效應裝置;其中In view of this, the main purpose of the present invention is to provide a somatosensory generating system with a temperature control effect. The best implementation of this system is mainly installed on wearable items, such as vests, bottoms, or one-piece body suits. Body Suit), etc., or seats, etc., but are not actually limited to this. The system mainly includes: an integrated sense effect controller, an integrated sense effect conversion device, and at least an integrated sense effect device; wherein
該體感效果控制器提供套裝軟體透過API或SDK(Software Development Kit )介面方式,讓遊戲、電影、AR/VR、或應用軟體開發人員將其音訊特效寫入,並將對應音訊動作或事件的專屬訊號產生之音訊或控制命令訊號,輸入至該體感效果控制器,並且以有線或無線型式傳輸至體感效應轉化裝置;The motion-sensing effect controller provides package software through API or SDK (Software Development Kit) interface, allowing developers of games, movies, AR/VR, or application software to write their audio special effects and generate corresponding audio actions or events. The audio or control command signal generated by the dedicated signal is input to the somatosensory effect controller and transmitted to the somatosensory effect conversion device in a wired or wireless manner;
該體感效應轉化裝置內建一DSP數位訊號處理器,負責解碼控制命令訊號並轉化為對應體感波型、振幅、位置、溫度等,透過體感反應裝置以驅動體感效應裝置;The somatosensory effect conversion device has a built-in DSP digital signal processor, which is responsible for decoding the control command signal and converting it into the corresponding somatosensory wave type, amplitude, position, temperature, etc., and driving the somatosensory effect device through the somatosensory response device;
該體感效應裝置上設有交錯分佈的複數個體感傳感器,以對應於緊貼人體軀幹及四肢部位,該每一體感傳感器由一下殼體、一內置T鐵、及一上蓋體所組成,其中該上蓋體內側凸設一圓筒上繞線圈以套置到該T鐵的溝槽中,使該體感傳感器接收該動作或事件的專屬訊號產生相應的波形及振幅;同時該上蓋體上設有一加熱裝置以對應該動作或事件的專屬訊號產生相應的瞬間加熱。The somatosensory effect device is provided with a plurality of staggered somatosensory sensors to correspond to the parts close to the human body's trunk and limbs. Each somatosensory sensor is composed of a lower shell, a built-in T-iron, and an upper cover, wherein A cylindrical winding coil is protruding from the inside of the upper cover body to be placed in the groove of the T-iron, so that the somatosensory sensor receives the exclusive signal of the action or event and generates the corresponding waveform and amplitude; at the same time, the upper cover body is provided with a The heating device generates corresponding instantaneous heating with a dedicated signal corresponding to the action or event.
較佳實施,其中該體感效應裝置進一步為一衣服、一座椅、或一座椅與衣服的合體,但實際並不以此為限。In a preferred implementation, the somatosensory effect device is further a piece of clothing, a seat, or a combination of a seat and clothing, but is not limited to this.
較佳實施,其中詤體感效應轉化裝置可為Audio音頻或命令指令(command data)雙模式來驅動,但實際並不以此為限。In a preferred implementation, the somatosensory effect conversion device can be driven by dual modes of Audio audio or command data, but it is not limited to this in practice.
藉此,當體感效果控制器接入遊戲、電影、AR/VR、或應用軟體之內建音訊或控制訊號時,可對應提供動作或事件的專屬訊號輸出以驅動該體感效應裝置,透過交錯分佈的複數個體感傳感器,用來接收該動作或事件的專屬訊號產生相應的特定波形及振幅之外;並用其上裝設有加熱裝置可對應該動作或事件產生相應的瞬間加熱,使可真實反應場景內容及角色動作的影音效果,即時產生沉浸式體感回饋,譬如:觸碰、格鬥、槍擊、爆破等,在緊貼人體軀幹及四肢部位分別產生不同對應的振動或熱感效果,傳導擴大突顯其反應點分佈、波形模式、力道強度、時間長短、擴散模式、及擴散範圍等,而大幅度提高遊戲、電影、或應用軟體之實景效應的擬真度,有效強化用戶體驗的沉浸臨場感。In this way, when the motion-sensing effect controller is connected to the built-in audio or control signal of a game, movie, AR/VR, or application software, it can correspondingly provide a dedicated signal output for the action or event to drive the motion-sensing effect device. A plurality of staggered somatosensory sensors are used to receive the exclusive signal of the action or event to generate a corresponding specific waveform and amplitude; and a heating device is installed on them to generate corresponding instantaneous heating in response to the action or event, so that it can Audio and video effects that truly reflect the content of the scene and the actions of the characters can instantly produce immersive somatosensory feedback, such as touching, fighting, shooting, blasting, etc., and produce different corresponding vibration or heat effects on the torso and limbs of the human body. The conduction expansion highlights its reaction point distribution, waveform mode, force intensity, duration, diffusion mode, and diffusion range, etc., thereby greatly improving the fidelity of real-life effects in games, movies, or application software, and effectively enhancing the immersion of the user experience. Sense of presence.
為方便了解本發明之內容,及所能達成之功效,茲配合圖式列舉具體實施例,詳細說明如下:請參圖1至圖4所示,本發明所設之一種具備溫控效應的體感生成系統100,主要包括:一體感效果控制器1、一體感效應轉化裝置2、及至少一體感效應裝置3;其中In order to facilitate the understanding of the content of the present invention and the effects that can be achieved, specific embodiments are listed in conjunction with the drawings, and the detailed description is as follows: Please refer to Figures 1 to 4, a body with a temperature control effect provided by the present invention. The sense generation system 100 mainly includes: a sense of unity effect controller 1, a sense of unity effect conversion device 2, and at least a sense of unity effect device 3; wherein
該體感效果控制器1提供套裝軟體11透過API或SDK(Software Development Kit )介面方式,讓遊戲、電影、AR/VR、或應用軟體開發人員將其音訊特效寫入,並將對應音訊動作或事件的專屬訊號產生之音訊或控制命令訊號由播放設備如影音播放器、電腦PC、遊戲主機(game console) 等,以有線方式接入,其輸出端以有線如使用但不限於USB Type C介面,或無線傳輸方式,提供對應該音訊(audio stream)或控制命令(command data)之動作或事件的專屬訊號輸出,相連驅動該體感效應轉化裝置2;The somatosensory effect controller 1 provides package software 11 through API or SDK (Software Development Kit) interface, allowing developers of games, movies, AR/VR, or application software to write their audio special effects and perform corresponding audio actions or The audio or control command signal generated by the exclusive signal of the event is connected in a wired manner by a playback device such as a video player, computer PC, game console, etc., and its output end is wired, such as using but not limited to the USB Type C interface. , or wireless transmission method, providing exclusive signal output corresponding to the action or event of the audio stream or control command (command data), and connected to drive the somatosensory effect conversion device 2;
該體感效應轉化裝置2內建一DSP數位訊號處理器25,負責解碼控制命令訊號並轉化為對應體感波型、振幅、位置、溫度等,透過體感反應裝置以驅動體感效應裝置3;The somatosensory effect conversion device 2 has a built-in DSP digital signal processor 25, which is responsible for decoding the control command signal and converting it into the corresponding somatosensory wave type, amplitude, position, temperature, etc., and driving the somatosensory effect device 3 through the somatosensory response device. ;
該體感效應裝置3上設有交錯分佈的複數個體感傳感器30,以對應於緊貼人體軀幹及四肢部位,該每一體感傳感器30由一下殼體31、一內置T鐵32、及一上蓋體33所組成,其中該上蓋體33內側凸設一圓筒34上繞線圈35以套置到該T鐵32的溝槽中,使該體感傳感器30接收該動作或事件的專屬訊號產生相應的波形及振幅;同時該上蓋體33上設有一加熱裝置36以對應該動作或事件的專屬訊號產生相應的瞬間加熱。The somatosensory effect device 3 is provided with a plurality of staggered
較佳實施,其中該加熱裝置36為加熱絲或石墨烯電熱片所構成,但實際並不以此為限。In a preferred implementation, the
較佳實施,如圖5至圖7所示,其中該體感效應裝置3進一步為一衣服310、一座椅320、或一座椅310與衣服320的合體,但實際並不以此為限。In a preferred implementation, as shown in Figures 5 to 7, the somatosensory effect device 3 is further a piece of
較佳實施,如圖1所示,其中該體感效應裝置3進一步附加有一靠枕330,其上同樣設有交錯分佈的複數個體感傳感器30,以供用戶可將之置於座椅或沙發上作背部的體感回饋。In a preferred implementation, as shown in Figure 1, the somatosensory effect device 3 is further attached with a pillow 330, which is also provided with a plurality of staggered
較佳實施,如圖1及圖4所示,其中該體感效應轉化裝置2進一步具有一DSP數位訊號處理器25以連接一記憶體26,該記憶體26內建複數動作或事件的專屬訊號,至少包含具有不同動作或事件種類輸出波形的WAV、MP3、或MID播放音效,該每一動作或事件的專屬訊號長度界在50ms至2000ms之間但不限定,分別對應不同影音動作或事件的體感反饋效果。A preferred implementation is as shown in Figures 1 and 4, in which the somatosensory effect conversion device 2 further has a DSP digital signal processor 25 connected to a memory 26, which has built-in dedicated signals for multiple actions or events. , including at least WAV, MP3, or MID playback sound effects with output waveforms of different action or event types. The exclusive signal length of each action or event is between 50ms and 2000ms but is not limited, corresponding to different audio and video actions or events. Somatosensory feedback effect.
較佳實施,本發明設計上體感效果控制器1提供套裝軟體11,針對每一動作或事件可提供表格式選單勾選設定,使複數個體感傳感器30作用時同時驅動,但彼此的反應點分佈、波形模式、力道強度、時間長短、擴散模式、及擴散範圍等參數控制不同,使其可依動作或事件情節內容實現人體動感重現或模擬,基本至少包括:物體在人體皮膚上移動感覺的觸感溫度資訊及其代碼,人體位置變化和作用力關係的運動資訊及其代碼,及物體發出振動並作用於人體的感覺的振動資訊及其代碼,譬如,觸碰、格鬥、槍擊、巨大爆破聲音的震動感等,但實際並不以此為限。In a preferred implementation, the present invention is designed to provide a package software 11 for the somatosensory effect controller 1, which can provide tabular menu check settings for each action or event, so that a plurality of
較佳實施,其中該體感效應轉化裝置2可為有線或無線的雙模式輸入,其輸入端至少具有一音頻訊號接收器211以連接一A/D線性數位訊號轉換器212將類比訊號轉換為I 2S數位積體電路內置音頻匯流排213饋入的第一訊號源,使可接收影音故事依情節發展產生動作或事件相對的體感反饋效果,如格鬥、槍擊、爆破等,但實際並不以此為限。以及一命令指令接收器214經一I 2C或SPI之串列匯流排215饋入的第二訊號源,使可接收來自影音播放器、電腦PC、遊戲主機(game console) 等操作命令指令產生動作或事件相對的體感反饋,如觸碰、拳打、射擊反作用力等,但實際並不以此為限。 In a preferred implementation, the somatosensory effect conversion device 2 can be a wired or wireless dual-mode input, and its input end has at least one audio signal receiver 211 connected to an A/D linear digital signal converter 212 to convert the analog signal into The first signal source fed by the built-in audio bus 213 of the I 2 S digital integrated circuit can receive the somatosensory feedback effect relative to the action or event according to the plot development of the audio-visual story, such as fighting, shooting, blasting, etc., but it is not actually Not limited to this. And a second signal source fed by a command receiver 214 through an I 2 C or SPI serial bus 215, so that it can receive operation commands from audio and video players, computers, PCs, game consoles, etc. Somatosensory feedback relative to actions or events, such as touch, punch, shooting reaction force, etc., but is not limited to this in practice.
較佳實施,其中該體感效應轉化裝置2輸出端具有一音頻輸出分配器221,以線性連接DSP數位訊號處理器25,經複數個OP運算放大器222以對應輸出驅動該複數個體感傳感器30,以及一熱反應溫控輸出器223以對應輸出驅動該複數個體感傳感器30上之每一個該加熱裝置36以產生相應的瞬間加熱。In a preferred implementation, the output end of the somatosensory effect conversion device 2 has an audio output distributor 221, which is linearly connected to the DSP digital signal processor 25, and drives the plurality of
較佳實施,其中該體感效果控制器1進一步內建一控制命令輸出模組10,模組接收傳送之控制命令封包(packet) 內容,至少包含:一控制器ID指令輸出控制101、一體感效應轉化裝置ID指令輸出控制102、一時間戳記指令輸出控制103、一體感傳感器ID指令輸出控制104、一波形模式指令輸出控制105、一振動級數指令輸出控制106、以及一溫度級數指令輸出控制107。In a preferred implementation, the somatosensory effect controller 1 further builds a control
較佳實施,使本發明應用時,該體感效果控制器1及該體感反應效應轉化裝置2,可呈資訊相連一對一、一對多配置。特別值得一提的是,本發明的體感效應轉化裝置2為雙模式設計可以分別以一般標準的Audio音頻或命令指令(command data) 雙模式來驅動,並且針對每一該動作或事件又可以表格式選單提供勾選設定,使複數個體感傳感器30作用時同時驅動,但彼此各個該體感傳感器30分別具有自己的反應點分佈、波形模式、力道強度、時間長短、擴散模式、及擴散範圍等參數控制命令可以不同,應用上可依情節內容真實重現動作或事件,及其時空距離遠近反應在人體反饋上的動感模擬。In a preferred implementation, when the present invention is applied, the somatosensory effect controller 1 and the somatosensory response effect conversion device 2 can be configured in one-to-one or one-to-many information connection. It is particularly worth mentioning that the somatosensory effect conversion device 2 of the present invention has a dual-mode design and can be driven in dual modes of general standard Audio audio or command data, and can be used for each action or event. The table format menu provides check settings so that multiple
藉此,如圖1至圖7所示,當體感效果控制器1接入遊戲、電影、AR/VR、或應用軟體之音訊或控制訊號時,可以有線或無線方式輸出訊號至體感效應轉化裝置2,驅動對應提供動作或事件的專屬訊號,透過交錯分佈的複數個體感傳感器30,接收該動作或事件的專屬訊號並產生相應的特定波形及振幅之外;並用其上裝設有加熱裝置36可對應該動作或事件產生相應的瞬間加熱,使可真實反應場景內容及角色動作的影音效果,即時產生沉浸式體感回饋,譬如:觸碰、格鬥、槍擊、爆破等,在緊貼人體軀幹及四肢部位分別產生不同對應的振動或熱感效果,傳導擴大突顯其反應點分佈、波形模式、力道強度、時間長短、擴散模式、及擴散範圍等,而大幅度提高遊戲、電影、或應用軟體之實景效應的擬真度,譬如被子彈擊中貫穿前胸後背時,身體各部位反應點的受力大小、先後順序、及路徑變化等,或是在大型戰鬥遊戲時,模擬炸彈爆破威力四射擴散,多人臨場位置不同分別感受到不同的振幅強弱,而有效強化用戶體驗的沉浸臨場感。Thereby, as shown in Figures 1 to 7, when the somatosensory effect controller 1 is connected to audio or control signals from games, movies, AR/VR, or application software, it can output signals to the somatosensory effect in a wired or wireless manner. The conversion device 2 drives an exclusive signal corresponding to the action or event, receives the exclusive signal of the action or event through a plurality of staggered
綜上所述,本發明新穎實用完全符合專利要件,爰提出發明專利申請。惟以上所述者,僅為本發明之較佳實施例而已,當不能以此限定本發明實施之範圍;故凡依本發明申請專利範圍及創作說明書內容所作之等效變化與修飾,皆應屬本發明專利涵蓋之範圍內。To sum up, the invention is novel and practical and fully meets the patent requirements, and an invention patent application is filed. However, the above are only preferred embodiments of the present invention, and should not be used to limit the scope of the present invention; therefore, all equivalent changes and modifications made based on the patent scope of the present invention and the content of the creation specification shall be It is within the scope covered by the patent of this invention.
100:具備溫控效應的體感生成系統 1:體感效果控制器 10:控制命令輸出模組 11:套裝軟體 101:控制器ID指令輸出控制 102:體感效應轉化裝置ID指令輸出控制 103:時間戳記指令輸出控制 104:體感傳感器ID指令輸出控制 105:波形模式指令輸出控制 106:振動級數指令輸出控制 107:溫度級數指令輸出控制 2:體感效應轉化裝置 211:音頻訊號接收器 212:A/D線性數位訊號轉換器 213:積體電路內置音頻匯流排 214:命令指令接收器 215:串列匯流排 221:音頻輸出分配器 222:OP運算放大器 223:熱反應溫控輸出器 25:DSP數位訊號處理器 26:記憶體 3:體感效應裝置 30:體感傳感器 31:下殼體 32:內置T鐵 33:上蓋體 34:圓筒 35:線圈 36:加熱裝置 310:衣服 320:座椅 330:靠枕 100: Somatosensory generation system with temperature control effect 1: Somatosensory effect controller 10: Control command output module 11: Packaged software 101: Controller ID command output control 102: Somatosensory effect conversion device ID command output control 103: Timestamp instruction output control 104: Motion sensor ID command output control 105: Waveform mode command output control 106: Vibration series command output control 107: Temperature series command output control 2: Somatosensory effect conversion device 211:Audio signal receiver 212:A/D linear digital signal converter 213:Integrated circuit built-in audio bus 214: Command instruction receiver 215:Serial Bus 221:Audio output splitter 222:OP operational amplifier 223: Thermal reaction temperature control output device 25:DSP digital signal processor 26:Memory 3: Somatosensory effect device 30: Motion sensor 31: Lower shell 32: Built-in T iron 33: Upper cover body 34:Cylinder 35: coil 36:Heating device 310: Clothes 320: Seat 330:Cushion
圖1 為本發明系統的配置圖。 圖2 為本發明體感傳感器的立體分解圖。 圖3 為本發明體感傳感器的組合剖示圖 圖4 為本發明系統的方塊圖。 圖5 為本發明體感效應裝置衣服的示意圖。 圖6 為本發明體感效應裝置座椅的示意圖。 圖7 為本發明體感效應裝置座椅與衣服合體的示意圖。 Figure 1 is a configuration diagram of the system of the present invention. Figure 2 is a three-dimensional exploded view of the somatosensory sensor of the present invention. Figure 3 is a combined cross-sectional view of the somatosensory sensor of the present invention. Figure 4 is a block diagram of the system of the present invention. Figure 5 is a schematic diagram of the clothes with the somatosensory effect device of the present invention. Figure 6 is a schematic diagram of the somatosensory effect device seat of the present invention. Figure 7 is a schematic diagram of the combination of the seat and clothes of the somatosensory effect device of the present invention.
100:具備溫控效應的體感生成系統 100: Somatosensory generation system with temperature control effect
1:體感效果控制器 1: Somatosensory effect controller
10:控制命令輸出模組 10: Control command output module
11:套裝軟體 11: Packaged software
101:控制器ID指令輸出控制 101: Controller ID command output control
102:體感效應轉化裝置ID指令輸出控制 102: Somatosensory effect conversion device ID command output control
103:時間戳記指令輸出控制 103: Timestamp instruction output control
104:體感傳感器ID指令輸出控制 104: Motion sensor ID command output control
105:波形模式指令輸出控制 105: Waveform mode command output control
106:振動級數指令輸出控制 106: Vibration series command output control
107:溫度級數指令輸出控制 107: Temperature series command output control
2:體感效應轉化裝置 2: Somatosensory effect conversion device
3:體感效應裝置 3: Somatosensory effect device
30:體感傳感器 30: Motion sensor
310:衣服 310: Clothes
320:座椅 320: Seat
330:靠枕 330:Cushion
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US4860748A (en) * | 1988-02-23 | 1989-08-29 | Thermapeutics, Inc. | Thermal pattern generator for pain relief |
US5269369A (en) * | 1991-11-18 | 1993-12-14 | Wright State University | Temperature regulation system for the human body using heat pipes |
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