Classifications

• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
  • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
  • F16F9/32—Details
  • F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
  • F16F9/535—Magnetorheological [MR] fluid dampers
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
  • Y10T74/00—Machine element or mechanism
  • Y10T74/20—Control lever and linkage systems
  • Y10T74/20528—Foot operated

Definitions

• the present invention relates to a semi-active device in translation and in rotation, able to generate a resistance to linear and rotational movements by modifying the apparent viscosity of a magnetorheological fluid controlled by the modulation of a magnetic field.
• a device is said to be semi-active when it is only able to absorb energy.
• the semi-active devices can be implemented in tactile simulation systems or haptic systems to oppose in advance of a manual control member, a reaction reflecting the progress of the command, or be used as a shock absorber in a motor vehicle.
• Such devices comprise a movable element in contact with the magneto-rheological fluid, and whose displacement is slowed down when the apparent viscosity of the fluid increases.
• linear brake devices in which the element is movable only in translation.
• the element has a rectangular section, the dynamic guidance and sealing of such an element are difficult to achieve.
• these devices do not allow rotational movement.
• the document FR 2902538 describes a musical instrument comprising a simulation device implementing a movable blade in a magneto-rheological liquid. This device does not make it possible to generate resistance to rotational movements.
• its realization is complex in terms of guiding and sealing.
• the blade has a low rigidity and is therefore difficult to integrate into complete systems.
• a semi-active device comprising a movable element with a circular cross section of longitudinal axis able to move about its axis and along its axis and received in a correspondingly shaped housing, a magneto-magnetic fluid. rheological filling the space between the housing and the movable element, the housing being delimited directly by means for generating a magnetic field through the fluid.
• the means for generating the magnetic field are such that they generate a magnetic field through the magnetorheological fluid, causing the appearance of shear forces on the surface of the movable member.
• the field lines are oriented radially so that they are orthogonal to the surface of the movable element, the braking force is then increased.
• the means for generating the magnetic field may be formed by pairs of electromagnets diametrically opposed two by two with respect to the movable element.
• the device may also be associated with an actuator capable of moving the movable element.
• the present invention relates to a semi-active device capable of generating a force resistant to displacements of a mobile element, comprising:
• said movable element having a longitudinal axis provided with at least one part having a circular section
• a body delimiting a longitudinal axis housing receiving said portion of the movable element having a circular section so that the movable element is able to move in translation along its axis and in rotation around said axis (X) in housing, means for generating a magnetic field in said annular space, said means for generating the magnetic field comprising at least one electromagnet, said at least one electromagnet comprising a coil and a magnetic core, said housing being formed directly in said magnetic core,
• each flange being provided with a passage in which the mobile element slides and pivots in a sealed manner, the longitudinal ends of the movable element being located outside the dwelling,
• sealing means arranged in the passages and providing frictional sealing with the movable element, said housing delimiting with the mobile element a sealed annular space,
• the coils are oriented so that the generated fields are oriented radially with respect to the movable element.
• the annular space has a substantially constant thickness.
• the annular space has for example a thickness of between 200 ⁇ m and 2 mm.
• the semi-active device comprises for example at least one pair of diametrically opposite electromagnets in pairs relative to the movable element, said control means controlling the power supply so that the poles of the diametrically opposed electromagnets, which are oriented on the side of the movable element, are of opposite polarity.
• the semi-active device comprises at least two pairs of electromagnets opposite diametrically two by two with respect to the movable element.
• said control means control the power supply so that the pole of each electromagnet oriented towards the mobile element is surrounded by two poles of the adjacent electromagnets of opposite polarity.
• the cores of magnetic material comprise a curved face each forming an angular portion of the housing over its entire height.
• the body of the semi-active device is formed directly by the magnetic core or nuclei.
• the semi-active device may comprise a plurality of magnetic cores in the form of sectors angularly integral with each other.
• the end flanges then advantageously ensure the joining of the magnetic cores and the sealing of the body of the device is obtained by means of a putty disposed on an outer surface of the cores.
• the cores of all the electromagnets are in one piece.
• the semi-active device may comprise at least one permanent magnet disposed in one of the magnetic circuits of each of the electromagnets.
• the movable element may for example be a tube.
• the present invention also relates to an active device comprising a semi-active device according to the present invention and an actuator traversed by the movable element.
• the actuator may comprise a stage provided with at least two electromagnets diametrically opposed with respect to the movable element and another stage provided with at least two electromagnets diametrically opposite with respect to the movable element, and the portion of the moving element 1 through the actuator having two zones of opposite polarities succeeding one another axially.
• the present invention also relates to a control system for a motor vehicle, comprising at least one control pedal of a system of said motor vehicle and at least one semi-active device according to the present invention, the movable element being connected to said pedal for apply a force against the movement of said pedal.
• the present invention also relates to a control system comprising a control member intended to be handled by an operator and by which he transmits these commands, and a first and a second semi-active device according to the present invention, said control member being attached to one end of the movable element of the first semi-active device, said element being movable along and around a first axis, said movable element being integral with the movable element of the second semi-active device, said element being movable along and about a second axis the first and second axes being perpendicular, the control member then being able to move along and around the first and second axes perpendicular to each other.
• FIG. 1 is a longitudinal sectional view of an exemplary embodiment of a semi-active device according to the present invention
• FIG. 2 is a detail view of FIG. 1,
• FIG. 3A is a view of an isolated part of the device of FIG. 1
• FIG. 3B is a perspective view of an element of the magnetic field generation means implemented in a semi-active device
• FIG. 3C is an alternative embodiment of the element of FIG. 3B.
• FIG. 4 is a cross-sectional view along the plane A-A of the device of FIG. 1 at the level of the magnetic field generation means
• FIG. 5 is a schematic representation of the field lines of the magnetic field generated by the magnetic field generation means of FIG. 4;
• FIG. 6 is a cross-sectional view of another example of magnetic field generating means
• FIG. 7 is a cross-sectional view of an alternative embodiment of the device.
• FIG. 8A is a cross-sectional view of another example of magnetic field generating means
• FIG. 8B is a cross-sectional view of a variant of the device of FIG. 8A.
• FIG. 9 is a longitudinal sectional view of an exemplary embodiment of a device capable of applying a force resisting to the movable element to slow its displacement and a motor force to cause its displacement
• FIGS. 10A to 10E are examples of application of the semi-active device according to the invention.
• FIG. 11 is a top view of another embodiment of a semi-active device.
• FIG. 1 an exemplary embodiment of a semi-active device D according to the present invention can be seen
• the device is intended for example to form a haptic interface, or a tactile simulation system, for example in a braking system.
• the semi-active device D comprises a mobile element 2, a body in which is formed a housing 4 receiving the mobile element 2, and means for generating a magnetic field 6 within the housing 4.
• the movable element 2 is intended to be mechanically connected to an outer element by one of its longitudinal ends 2.1, 2.2, for example to a handle in a joystick type control system or a brake pedal intended to be handled by an operator or to the rocket of a wheel of a motor vehicle in the case of a shock absorber.
• the movable element 2 has an elongate shape with a longitudinal axis X and a circular cross section with an outside diameter D 2 .
• the housing 4 has a circular cross section corresponding to that of the movable element 4 and inner diameter D 4 , D 4 being greater than D 2 .
• FIG. 2 a detail of the device of FIG. 1 can be seen.
• a clearance j is provided between the outer surface of the movable element 2 and the surface of the housing 4, defining an annular space 8.
• This clearance is advantageously the order of 1mm.
• the game 1 is advantageously between 200 ⁇ m and 2 mm.
• the clearance j is identical or substantially identical over the entire height of the housing, making it possible to obtain a homogeneous distribution of the resistant forces applied to the movable element 2.
• the movable element 2 is able to slide along the X axis and to rotate around the X axis.
• the movable element 2 is preferably made of magnetic material.
• the housing 4 surrounds the movable element 2 on a longitudinal portion only, the longitudinal ends 2.1, 2.2 of the element being located outside the housing 4.
• the movable element has a circular section over its entire length, it may have such a section that on only one part, that intended to enter the housing.
• the housing is delimited directly by means capable of generating a magnetic field 6 and two annular flanges 12.1, 12.2 fixed to each of the longitudinal ends of the magnetic field generating means.
• the two flasks 12.1, 12.2 are advantageously made of non-magnetic material, avoiding a short circuit of the magnetic flux.
• the two flanges form end caps.
• the flange 12.1 particularly visible in Figure 3A, comprises a central passage 14 in which the movable member 2 is mounted able to slide and pivot tightly.
• the device comprises means for guiding the mobile element both in translation and in rotation so as to maintain the clearance j between the movable element 2 and the substantially constant housing 4.
• these guide means are formed by two guide rings 16 arranged for one in the flange 12.1 and the other in the flange 12.2, simplifying their implementation.
• Figure 3 we can see an enlarged view of the flange 12.1 and the play j formed between the housing 4 and the movable member.
• the ring 16 is mounted in a groove in the surface of the central passage 11.
• the ring 16 may advantageously be made of a material having good properties of anti ⁇ adhesion, such as Teflon®. It should be noted however that magneto-rheological fluids contain oil of which a small quantity crosses the barrier of the seals described below and lubricates the guide rings.
• a seal 18 is mounted in a groove of the surface of the central passage 14 adapted to provide a dynamic seal with the surface of the movable member 2.
• it is an O-ring, for example in nitrile or lip seal.
• the end flange 12.1 is composed of a first portion 20 formed by an annular plate 20 lined at its inside diameter by a tubular section 21 and a second portion 22 having the central passage 14 and mounted in the first portion 20.
• the second portion 22 comprises at least a portion 24 of outer diameter substantially equal to the inner diameter of the tubular section 21, this portion 24 being disposed in the tubular section 21 of the first portion 20.
• the second part 22 also has on its outer surface a radial projection 26 intended to bear on one side on the first part 20.
• a seal 28 is provided between the annular projection 26 and the first part of the flange 20.1, able to provide a static seal, it is for example a flat seal.
• a seal 27 is also disposed between the first portion 20 and the body formed by the magnetic field generating means.
• the second part 22 is composed of two elements, making it possible to better control the force on the O-ring 18 and thus the sealing with the mobile element 2.
• each flange 12.1, 12.2 in one piece, to simplify the assembly and remove the seals 28.
• the housing 4 thus defines with the element 2 a tight space 8 to the fluid.
• the annular space 8 is filled with a magnetorheological fluid, such as, for example, MRF-140CG from Lord Corporation.
• the means for generating a magnetic field are composed of four electromagnets (FIG. 4) each formed of a coil 30 and a magnetic material element 32 disposed in the coil 30.
• the elements of magnetic material 32 will be designated thereafter
• the electromagnets are arranged diametrically opposite two to two with respect to the movable element 2.
• the axis of each of the coils 30 is oriented radially relative to the movable element 2, so that the field lines of the generated magnetic field are substantially orthogonal to the lateral surface of the movable member 2.
• This orthogonal orientation of the field increases the shear forces opposing displacements of the movable member.
• the cores 32 directly delimit the housing of the mobile element 2, the magnetorheological fluid being in contact with the cores. This configuration reduces the reluctance of the magnetic circuit. The feed stream can then be reduced, as well as the diameter of the coil wires, which reduces the bulk.
• the cores form the body of the device, which reduces the necessary parts, the size of the device and its cost. It is then not necessary to provide an additional housing receiving the cores.
• the cores are made integral for example by the flanges 12.1, 12.2 and / or not screwing. The assembly is then sealed, for example at the outer surface of the body by means of a putty. This avoids inserting joints between the cores and disturbing the guiding of the field lines.
• the body has the shape of a rectangular parallelepiped of longitudinal axis X, square section.
• the body defines the housing 2 of axis X.
• the body is formed of four identical angular sectors 31 each forming a core.
• the sectors 31 are obtained by cutting the body at the diagonals of the square section.
• Each angular sector 31 extends over the entire height of the body.
• an angular sector 31 in perspective. It comprises a first portion of larger section 31.1 forming the outer wall of the body and a portion of smaller section 31.2 delimiting the housing 4.
• the part of smaller section 31.2 has a face 33 formed of an angular portion of a radius of curvature of tube D 4/2, the four sides thus form a closed cylindrical surface delimiting the housing 4.
• Each coil 30 is disposed around the second portion of smaller section 31.2 of a core, capable of generating a magnetic field whose field lines 35 are guided by the cores 32.
• the coils extend over the entire height of the housing.
• Figure 3C we can see an alternative embodiment of an angular sector 31 having a plurality of coils 30 disposed next to each other along the movable member. These coils create a homogeneous and high magnetic flux in the magnetorheological fluid contained between the movable element and the surface of the housing.
• the coils can be electrically connected in series and magnetically in parallel, which has the advantage of allowing to work at lower currents.
• the path of the field lines 35 is as follows. These flow through the cores 30, the magnetorheological fluid, the mobile element 2, again the fluid magneto-rheological and the two nuclei directly adjacent and close on their nucleus. Part of the field lines 35 of the same coil is guided by the core located above in FIG. 4 and part is guided by the core located below.
• the magnetic circuits are closed and allow to obtain a very good guidance of the magnetic flux, and to avoid leaks.
• the nuclei surrounding the movable element are alternately North and South.
• the polarities shown in the figures are only by way of example, since in the case of coils, the orientation of the polarity depends on the flow direction of the current, and can therefore easily be reversed by reversing the flow direction of the current. .
• the flow direction of the current is therefore advantageously chosen so that the polarities are alternated around the movable element.
• each core located on the side of the movable element is represented, but it is understood that each core has two poles of opposite polarity when a current flows in the coil that surrounds it.
• the magnetic field changes the apparent viscosity of the fluid. Increasing the apparent viscosity results in shear forces between the movable member 2 and the housing surface delimited by the cores, causing a force resistant to displacements of the mobile element, in translation and in rotation.
• the field lines are advantageously oriented orthogonally to the surface of the mobile element 2, increasing the shearing forces applied to the surface of the mobile element 2.
• the cores can be formed integrally for example by casting, or be composed of a stack of metal sheets. In this case, the assembly is further simplified.
• FIG 6 we can see another embodiment of the magnetic field generating means.
• they comprise six coils 30 and six cores 32 diametrically opposite two by two.
• the cores are made in one piece.
• a device comprising more than six electromagnets is not outside the scope of the present invention.
• This configuration has the advantage of reducing the size and to use a three-phase current.
• the device also comprises means for controlling the magnetic field generation means, by controlling the current delivered to the coils.
• the intensity of the magnetic field can be modulated according to a magnitude kinematic and / or dynamic representative of the movement of this element or the outer member connected to the movable member 2, such as the speed of movement or the displacement force.
• a linear brake and a rotary brake are combined in a single and compact device that can be controlled quickly and linearly. Moreover, this device can have a very important active force / passive force ratio.
• passive force is meant the external force or the external torque necessary to move the movable element in the absence of a magnetic field, that is to say without activation of the coils by an electric current.
• This force is due for example to the friction between the movable element and the guide rings and O-rings and the viscous friction in the magnetorheological fluid.
• the active force is, in turn, generated by the magnetic field.
• the aim is to obtain the lowest possible passive force so that the device is as transparent as possible in the absence of a magnetic field and the active force is as great as possible in order to be able to oppose a wide range of external forces applied to the moving element.
• the ratio between passive force and maximum active force of the device is determined in part by the distance between the poles (N and S) and the movable element. By reducing this distance to a few micrometers, it is possible to reach a maximum active force / passive force ratio higher than 500.
• It has a height of 131 mm and a width and a depth of 73 mm.
• the diameter of the movable element is 28 mm and that of the housing 30 mm, the distance between the poles of the electromagnets and the surface of the movable element is therefore 1 mm.
• the number of turns of the coils is 110.
• the electric power is 40 W.
• the core 32 has the shape of a rectangular section ring formed by four branches 32.1, 32.4.
• the coil 30 is wound around a first branch 32.1.
• the housing 4 is made directly in a second branch 32.3 parallel to the first branch 32.1.
• the core 32 alone forms a closed magnetic circuit.
• FIG. 7 shows a variant of a device of FIG. 1, in which the mobile element 2 is hollow, which makes it possible on the one hand to reduce the mass of the device without modifying the surface of the element movable 2 sheared, and secondly to release space for housing other devices such as force sensors, or cables for functional elements disposed at the end of the movable member 2, such as optical signaling or active tactile feedback by vibromotor.
• FIG. 8A shows another embodiment of a semi-active device, in which the magnetic field generation means also comprise permanent magnets 34, for which the north and south poles are designated by N and S respectively.
• a permanent magnet 34 is associated with each set coil 30 and core 32 disposed in a coil.
• the magnetization of the permanent magnets 34 is such that the field lines of the magnetic field that they generate have substantially the same direction as those of the coils in which they are arranged.
• Permanent magnets 34 generate a permanent magnetic field. Therefore, the apparent viscosity of the magnetorheological fluid is increased, in the absence of current in the coils, thereby causing a braking force on the movable member 2. The device is then normally blocked or at least normally braked. This permanent magnetic field can be decreased, even canceled or, on the contrary, reinforced by the magnetic field generated by the coils.
• the field lines of the permanent magnets and coils have the same directions.
• the magnetic fields can either add up, causing an increase in the resulting magnetic field, or be subtracted, causing a decrease or cancellation of the resulting magnetic field.
• the permanent magnets 34 may be arranged at any location in the magnetic circuits defined by the cores.
• Figure 8B we can see an alternative embodiment of the device of Figure 8A, wherein the permanent magnets 34 are not located in the coils but between the cores, which can simplify the realization of the device.
• This embodiment has the advantage of offering a normally blocked device. Furthermore, the resistance force generated by the device can be increased, since the resulting magnetic field is larger than the magnetic field generated solely by the coils when the magnetic field of the permanent magnets and that of the coils are in the same direction. Or, it can be expected to deliver the same resistance force as that of a device of Figure 1, in which case the energy consumption to produce this force is reduced, since part of the magnetic field is generated by permanent magnets.
• FIG. 9 shows an exemplary embodiment of a device 40 able both to produce a force resistant to displacement in translation and in rotation of the movable element and to produce a motor force capable of moving in rotation and in translation.
• This device is called "active device”.
• the device 40 has three stages. A first stage 42 similar to the device D of FIG. 1 and a second stage 44 and a third stage 46 forming an actuator in translation and in rotation 42.
• the device 40 comprises a movable element 102 received in a housing 104, the housing being defined by the first stage 42 and the second and third stages 44, 46.
• the three stages 42, 44, 46 are arranged along the X axis the second and third floors being contiguous.
• the second and third stages are of similar structure to that of the magnetic field generation means of FIG. 1.
• Each comprises four coils each having a core delimiting the housing.
• the supply of the coils is such that, when the actuator is active, the poles of the second stage and the third stage are angularly offset so that a south pole is above a north pole and vice versa, in the representation of Figure 8.
• the movable element 102 is magnetized at its portion 48 able to slide at the actuator.
• the portion 48 comprises two axial zones ZI, Z2 contiguous of opposite polarities.
• the zone ZI at the level of the third stage forms a north pole and the zone at the level of the second stage forms a south pole.
• this portion of the movable element 2 may be formed of a tubular permanent magnet.
• the portion of the element 102 at the first stage 42 is not magnetized but is made of magnetic material.
• first part is filled with magneto-rheological fluid.
• a seal is disposed between the first and second stages.
• the device 40 functions like that of FIG. 1, a current flows in the coils, which generates a magnetic field passing through the magnetorheological fluid, causing an increase in the apparent viscosity thereof and therefore the appearance of a resistance to movement both in translation and in rotation.
• the device when a rotation of the movable member 102 is desired, it feeds the coils of the two stages, there is appearance of a magnetization of the cores.
• the poles are identical, they repel each other and the element turns, when the poles are opposite they attract each other. But on the other floor, the polarities are shifted by n / 2, so there are always two poles identical facing causing the rotation of 1 'element 2.
• the direction of the current is chosen according to the desired direction of rotation.
• the coils of the two stages are fed so that the two stages have opposite polarities. If it is desired that the movable element 2 moves upwards, the polarity of the second stage will be South repelling the zone Z2 of the moving element opposite and the polarity of the third stage will be North attracting the zone Z2.
• This device is relatively simple to implement since the actuator stages are of identical design to that of the brake stage, only the movable element is modified.
• FIGS. 10A to 10E various examples of application of the device according to the present invention can be seen.
• FIG. 10A a practical representation of a semi-active device D suitable for use in different applications can be seen. It can be seen both ends of the movable member 2 protruding from the housing, that disposed in a tubular casing 49 to protect and facilitate its handling.
• FIG 10B there can be seen a simulator for motor vehicles implementing the brake of Figure 10A.
• the device D is arranged downstream of a brake pedal 50, the movable member 2 being connected to the brake pedal 50 and exerting a force opposing more or less to its depression.
• the device D simulates the reaction of the hydraulic braking circuit.
• the device D could be integrated in a motor vehicle with electric braking to simulate the braking force, the hydraulic circuit being only present in case of failure of the circuit.
• the device D can also be used for assisted driving.
• a PADAS (partially autonomous driving assistance system) or partially autonomous assistance system to the driver can, in such a case, give a haptic signal in case of speeding or distance too short compared to the previous vehicle.
• PADAS partially autonomous driving assistance system
• partially autonomous assistance system to the driver can, in such a case, give a haptic signal in case of speeding or distance too short compared to the previous vehicle.
• a weight bench 52 implementing two devices D.
• the bench comprises a dumbbell bar 54 slidably mounted in a vertical direction along two vertical bars 56, the sliding being braked via the two semi-active devices D, the two vertical bars 56 forming the movable elements 2.
• the devices simulate the weight of the disks of a dumbbell of known type, generating a force resistant to the lifting of the bar speaks sportsman.
• the simulated weight can easily be increased by increasing the generated magnetic field.
• This weight bench 52 is easily manipulated and space-saving compared to those of the state of the art. Moreover it is particularly safe, since the sportsman can not hurt himself by manipulating the weights.
• the operation of this bench is as follows: the athlete lies on the bench 52, grasps the barbell 54 and moves it up and down by fighting against the resistant force generated by the devices D.
• the devices also include permanent magnets, allowing the dumbbell bar to be held in a given position along the vertical bars.
• an active button 58 with four degrees of freedom comprising two devices D and D 'in series.
• the button 58 is fixed on a movable element 2, the button 58 can therefore pivot on itself and move along the axis X. Furthermore, the device D is fixed on a second element 2 'and is adapted to rotate about a Y axis perpendicular to the X axis and slide along that Y axis.
• the resistant forces opposing the displacements around and along the X axis are generated by the electromagnets of the device D, and the resistant forces along and around the Y axis are generated by the electromagnets of the device D '.
• Springs 60 in the example shown, are provided to maintain the assembly in the rest position.
• the device according to the present invention can generate in a simple manner and in a small footprint, a force resistant to both rotation and translation.

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• Engineering & Computer Science (AREA)
• General Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• Electromagnetism (AREA)
• Mechanical Engineering (AREA)
• Fluid-Damping Devices (AREA)
• Braking Arrangements (AREA)
• Regulating Braking Force (AREA)
• Pivots And Pivotal Connections (AREA)

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• 2009
  • 2009-11-25 FR FR0958352A patent/FR2952985B1/fr not_active Expired - Fee Related
• 2010
  • 2010-11-23 US US13/511,526 patent/US20120279345A1/en not_active Abandoned
  • 2010-11-23 EP EP10781904A patent/EP2504607A2/fr not_active Withdrawn
  • 2010-11-23 WO PCT/EP2010/068041 patent/WO2011064213A2/fr not_active Ceased
  • 2010-11-23 JP JP2012540403A patent/JP2013512395A/ja not_active Ceased

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