WO2014146929A1 - 3d-eingabegerät mit einem zusätzlichen drehregler - Google Patents
3d-eingabegerät mit einem zusätzlichen drehregler Download PDFInfo
- Publication number
- WO2014146929A1 WO2014146929A1 PCT/EP2014/054663 EP2014054663W WO2014146929A1 WO 2014146929 A1 WO2014146929 A1 WO 2014146929A1 EP 2014054663 W EP2014054663 W EP 2014054663W WO 2014146929 A1 WO2014146929 A1 WO 2014146929A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- control
- rotary
- input device
- actuation
- input
- Prior art date
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Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/02—Input arrangements using manually operated switches, e.g. using keyboards or dials
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03549—Trackballs
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0362—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts
Definitions
- the invention relates to a 3D input device for controlling the position of an object in space according to the preamble of patent claim 1.
- Manually operable input devices which will be referred to below, are used to control software applications such.
- CAD programs or for controlling mobile devices or machines, such.
- robots, tools, transport or other devices are used to control software applications such.
- Input devices are z. As mice, joysticks, keyboards, trackballs or 3D input devices for controlling virtual or real objects in space.
- a 3D input device which comprises a 3D control element and an additional rotary control.
- the 3D control allows the user to enter translational and rotational control presets in or around three spatial axes (i.e., in six degrees of freedom). By pressing the rotary control further functions can be performed. Thus, by turning the knob z.
- the sensitivity of the 3D control can be changed, the brightness of a screen can be set, or a zoom range can be defined on the screen in which displayed elements are enlarged or reduced depending on the direction of rotation.
- US 5 561 445 A describes a 3D input device, on which translational and rotational control specifications can be specified in a total of six degrees of freedom.
- the 3D input device includes three separate
- Input elements namely a trackball, a dial and a ball, where each control in one or more degrees of freedom
- an object can be specified. Overall, an object can be moved in six degrees of freedom.
- 3D input device for example from WO 02 065 269 A1.
- Known 3D input devices usually perform a speed control. Ie. a certain deflection of the 3D input element is converted to a certain speed with which the object is moved in space. A certain position of the 3D input element corresponds to a certain speed of the object. If the user wishes to stop the object, he must return the 3D input element to the neutral position. With such a system, however, an object can only be controlled relatively inaccurately. For the fine control of an object, such. As a robot, the method of speed control is unsuitable because it is too imprecise for pinpoint positioning and requires a very high level of skill. One reason for this is that the robot continues to move while the user still returns the 3D input element to the neutral position. In order to be able to control the robot precisely, the user would have to learn the behavior of the robot in all operating states and adjust it manually.
- a 3D input device for controlling the position of an object in the space, which comprises a manually operable SD input element on which translational and / or rotational
- Control specifications in or around at least three (Cartesian) spatial coordinates can be specified, and further comprising an additional knob, which is dependent on the rotation angle in a rotary actuator
- a control unit which controls the object as a function of the rotary control
- Rotational motion moves translationally in space. That is, the controlled object performs a linear, in particular rectilinear operation of the rotary knob Moving from a starting point to a destination point.
- the input device according to the invention thus offers the possibility of controlling or positioning the object both by means of the 3D input element and by means of the rotary control. If the dial is lower in sensitivity than the 3D input device, the object can be more precisely controlled by the knob than by the 3D input element. Depending on the sensitivity, the object moves at a certain control specification at different speeds or different distances, with a higher sensitivity meaning that the object moves comparatively faster or further.
- an "object” means any machine or device that can be moved by means of one or more actuators, such as electric motors
- the "object” according to the invention can also be a virtual object that, for example, is displayed on a screen and can be controlled by the user by means of a software application.
- the 3D input device can be configured in such a way that either one of a position control and a speed control is executed when the 3D input element or the rotary control is actuated.
- a position control is carried out, by means of which the object is moved in space in accordance with the rotary movement of the rotary control.
- the user can usually drive a desired target point much faster and more accurately than with a speed control, without having to practice for a long time.
- Porture control is understood to mean a control or control which converts a control input made by the user on the rotary control into a corresponding change in the position of the controlled object, the amount of rotation determining the distance traveled by the controlled object from a start position to an end position the tax target of the user with a predetermined scaling factor is converted into a corresponding movement of the controlled object.
- the 3D input device is configured such that a control specification executed by the user on the 3D input element is converted into a corresponding speed of the controlled object.
- a control specification executed by the user on the 3D input element is converted into a corresponding speed of the controlled object.
- a rotary operation of the rotary control is preferably carried out a position control.
- executed tax code z. B. also cause a position control.
- the sensitivity of the 3D input element is preferably higher than that of the dial.
- the object is moved further during a rotary movement of the rotary control in dependence on the previous movement path of the object. If the previous trajectory runs along a straight line, for example, the object is preferably moved further along the straight line. In contrast, in the case of a curve, the object is preferably moved along a curve with approximately the same radius of curvature. According to a special
- Embodiment could at one point of the previous trajectory, in particular the end point, z.
- an asymptote can also be calculated and the object moved along the asymptote.
- the 3D input device comprises one or more further input elements, such.
- buttons to specify a particular direction of movement, which should follow the object in a rotation of the knob.
- the further input elements z.
- a movement in the x-direction, y-direction or z-direction, or a rotation about one of said axes are given. If one of these additional input elements is actuated and the rotary knob is turned manually, the object moves in the desired direction. With the help of additional input elements and the knob, it is therefore possible to move the object in any desired spatial direction and / or the object around the respective
- the direction of movement could also be configured by software.
- the movement performed by the controlled object is preferably dependent on the direction of rotation of the rotary control. According to a preferred
- the 3D input device is designed such that the object is moved in a first direction of rotation upon actuation of the rotary knob in a first direction of rotation, and in the opposite direction in an actuation of the rotary knob in the other direction of rotation.
- the type of control i.e., position or velocity control
- / or the sensitivity of the particular input device may depend on the position where the controlled object is located.
- position control is performed with a first sensitivity when the controlled object is within a predetermined range
- position control with a second sensitivity is performed when the object is out of the range
- the sensitivity within the range is preferably lower than outside the range.
- the inventive 3D input device may also be configured such that upon actuation of the rotary control, position control is performed when the controlled object is within a predetermined spatial area, and velocity control is performed when the object is outside of other spatial
- the above-mentioned range is preferably defined such that the object to be controlled at a full rotation of the rotary knob from the edge of a spatial area can be moved to the center of the area.
- the area is preferably a spatial area, the z. B. has the shape of a sphere.
- finer or coarser translations can also be selected, as described above.
- the size and / or location of the spatial area, the type of control and / or the sensitivity within or outside the spatial area may preferably be set by the user as desired,
- the invention also relates to a method for controlling an object in space by means of a 3D input device comprising a manually operable 3D input element, to which control inputs in or around three (Cartesian)
- Spatial coordinates can be entered, and a rotary control, which generates a rotational angle-dependent output signal in a rotational operation, the method comprising the steps of: in response to an actuation of the 3D input element: moving the controlled object in dependence on the on the 3D input element in response to an operation of the knob: moving the controlled object in response to the rotation performed on the knob.
- the output signals of the 3D input element and the rotary control are processed by a controller, which then has one or more
- Actuators of the controlled object or a software application accordingly controls.
- FIG. 2 shows a robot system with a robot controlled by means of a 3D input device according to FIG. 1;
- FIG. 1 shows an exemplary embodiment of a 3D input device 1 for controlling a robot 8, as illustrated by way of example in FIG. 2.
- the 3D input device could also be used to control any other machines or software applications such.
- B. a CAD software can be used.
- the input device 1 is able to convert translational and / or rotational control specifications in or around all three Cartesian spatial axes into corresponding electrical control signals.
- the illustrated in Fig. 1 3D input device 1 comprises a base body 2 with a 3D input element 3, which is formed here in the form of a cap which is movably connected to the base body 2.
- the 3D input element 3 can be moved in the x-, y- and z-direction and pivoted or rotated about the said axes and forms part of a 3D sensor whose actual sensor element is arranged in the interior of the main body 2.
- the SD sensor may be z. B. to act in the German patent DE 10 2006 058 805 described 3D measuring system.
- a rotary control 4 in the form of a wheel is also provided, on which further control specifications can be entered.
- the rotary knob 4 is here, as well as the 3D input element 3, rotatable about the z-axis.
- the 3D input device 1 is configured such that a controlled object, such. B. the robot 8 shown in FIG. 2, both by means of the 3D input element 3 and by means of the rotary control 4 in space can be moved.
- the 3D input device 1 is designed such that the object is position-controlled when the rotary knob 4 is actuated. That is, the position of the controlled object is from the am
- Knob 4 predetermined rotation angle dependent.
- An actuation of the 3D input element 3 and the rotary control 4 can in principle either in a speed control or in a
- Position control of the controlled object 8 and 14 are implemented. According to a preferred embodiment of the invention, upon actuation of the 3D input element 3, preferably a speed control is performed, and upon actuation of the rotary control 4 a position control is performed.
- the control input entered on the 3D input element 3 or rotary knob 4 is converted into a corresponding speed or position by means of a specific transmission ratio or scaling factor.
- the sensitivity of the knob 4 is preferably lower than that of the SD input element 3.
- the user can thus by means of the 3D input element 3 a Coarse control and make a fine control of the object by means of the rotary control 4.
- control i.e., position or velocity control
- sensitivity may depend on the current position of the controlled object, as will be explained later.
- the sensor of the 3D input element 3 and / or the knob 4 may, for. Example, an optical, magnetic, piezoelectric or any other known sensor element. According to one embodiment of the
- Invention produces the knob 4 in a rotational movement z.
- B a series of pulses from which then different quantities of motion, such as a Rotation angle, can be determined.
- the output signals of the sensors of the 3D input element 3 and / or the rotary control 4 are from a
- Evaluation electronics 21 further processed and converted into corresponding control signals for controlling the actuator or actuators of the controlled object 8.
- the transmitter 21 is referred to in the context of this document as “control” or “control unit” 21 and is usually made of hardware and software components.
- the control unit 21 may, for. B. in the main body 2 or outside of the main body 2, such as. B. in an external device, be arranged.
- Fig. 2 shows a robot system with a robot 8, which can be used for example for minimally invasive surgery.
- the robot 8 comprises two arm elements 1 1 a, 1 1 b, which are connected to each other via a hinge 12a.
- the lower arm member 1 1 a is connected via a joint 12 c with a base 9.
- the individual joints 12a, 12c are each driven by an electric motor (not shown) and can, depending on the design, a swivel and / or
- the robot 8 has a free end, which is also referred to as a robot head and on which a further joint 12 b is provided. Finally, an instrument 13 is attached to the robot head. In a surgical robotic application, this may, for. As an endoscope, a laparoscopic instrument, a cutting, gripping, holding, connecting, sewing or other surgical instrument for minimally invasive surgery. The actual end effector of the instrument 13, such as. As a scalpel, a pair of scissors, a needle, a scraper, a file, a
- Gripper, etc. is designated by the reference numeral 14. Likewise, tools for non-surgical applications are possible.
- the robot system shown in FIG. 2 is controlled by means of the 3D input device 1.
- the output signals of the 3D input device 1 are thereby transmitted to an integrated in the base 9 control unit 21, which is the of the
- Input device 1 converted control signals into corresponding control signals for the individual actuators of the robot 8, so that the robot 8 and the instrument 13 moves in the manner specified by the user.
- the reference point for the control of the point A at the free end of the instrument 13. Alternatively, but also another reference point could be specified.
- the movement of the robot arm 8 or of the instrument 13 can be described in detail in relation to a stationary (eg Cartesian) coordinate system 17.
- the coordinate system 17 typically references the distal end of the tool 13, the so-called end effector 14, which represents the outermost reference point A of the robot arm 8.
- the location of the point A can be uniquely defined in the coordinate system 17 by a three-dimensional vector.
- a vertical pressing on the 3D input element 3 can, for. B. cause the end effector 14 to move down the z-axis.
- a tilting of the 3D input element 3 can, for. B. cause the end effector 14 about an axis such. B. the y-axis, pivots.
- control specifications as well as the movements of the robot 8 can overlap, so that with the end effector 14 any movement curves can be traversed in space.
- the end effector 14 can be controlled so that its outermost point A is moved to point B.
- Movement from point A to point B can, for. B. represented by a three-dimensional vector 15.
- the individual joints 12a-12c are designed such that they can each perform a rolling as well as a pivoting movement.
- the robot 8 thus has a total of 6 degrees of freedom, so that the instrument 13 can be moved freely in space within the range of the robot arm.
- FIG. 3 shows a schematic representation of various movement paths 18, 19, 22 to 24, along which the instrument 13 or its end effector 14 is moved to a destination point B.
- the end effector 14 At the beginning of the action is the end effector 14 outside of the illustrated area 16.
- the end effector 14 In a first case (see arrows 18 and 24), the end effector 14 is first moved by means of the 3D input element 3 along a movement path 18 up to a point C.
- the 3D input device 1 can perform either a speed control or a position control. In point C, the 3D input element is again in the neutral position.
- the controller 21 can determine information about the previous trajectory 18 and then the previous
- Movement direction of the end effector 14 along the movement path 18 are determined. For example, the end effector 14 would move in the direction of arrow 18 when the direction of rotation of the rotary control 4 is positive, but in the opposite direction of the arrow 18 if the direction of rotation is negative.
- the end effector 14 is first moved by an appropriate actuation of the 3D input element 3 from an external location (not shown) along a straight trajectory 19 to a point D. As can be seen in FIG. 3, the movement of the object runs along the
- Movement direction to be changed the user has several additional input elements 6, such as buttons, available, where different directions of movement can be specified, in which the object to be controlled 8 and the end effector 14 is moved when the knob 4 is rotated.
- buttons buttons
- Actuation of another key 6 may e.g. the x or y direction or a rotational movement about one of said axes are selected. in the
- the user first selects the z-direction, so that the end effector 14 moves on actuation of the rotary control 4 along a movement path 22 in the z-direction and then the y-direction, so that the
- End effector 14 along the trajectory 23 to the destination point B moves.
- the end effector 14 In order to cause the end effector 14 to move in the negative y direction, it can move the rotary control 4 in the counterclockwise direction, for example.
- the functionality of the individual keys 6 is preferably freely programmable. Thus, for example, a separate key 6 can be provided for each degree of freedom, or even a single key 6 for several degrees of freedom.
- control - i the type of control - i.
- a spatial region 16 which represents a kind of boundary for different operating modes of the SD input device 1.
- Speed control with a first sensitivity and within the range 16, a speed control is performed with a second sensitivity, the second sensitivity is preferably less than the first sensitivity.
- a certain deflection of the control knob 3 will therefore be within the range 16 to a lower speed of the controlled
- the 3D input device 1 could also be configured such that upon actuation of the 3D input element 3 outside of the region 16 a velocity control is performed and within the region 16 a position control is performed.
- the region 16 is preferably selected such that, on the one hand, the target point B corresponds to the midpoint of the region 16 and, on the other hand, that the controlled object 8, 14 is rotated from the edge of the rotary knob 4 during one complete rotation
- Area 16 can be moved to the center B of the area 16.
- the area 16 is advantageously freely parameterizable.
- the region 16 may be defined as a sphere with a parameterizable radius so that skilled users may choose a larger radius and inexperienced users a smaller radius.
- the parameters can be stored in the controller 21.
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- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Position Input By Displaying (AREA)
- Manipulator (AREA)
- Input From Keyboards Or The Like (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016503602A JP2016519813A (ja) | 2013-03-19 | 2014-03-11 | 補足的な回転コントローラを有する3d入力装置 |
KR1020157030066A KR20150131381A (ko) | 2013-03-19 | 2014-03-11 | 추가 조절 다이얼이 있는 3d 입력 장치 |
CN201480016407.1A CN105190490B (zh) | 2013-03-19 | 2014-03-11 | 具有附加调节旋钮的3d‑输入设备 |
US14/778,315 US10133359B2 (en) | 2013-03-19 | 2014-03-11 | 3D input device having an additional control dial |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013004692.0A DE102013004692B4 (de) | 2013-03-19 | 2013-03-19 | 3D-Eingabegerät mit einem zusätzlichen Drehregler |
DE102013004692.0 | 2013-03-19 |
Publications (1)
Publication Number | Publication Date |
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WO2014146929A1 true WO2014146929A1 (de) | 2014-09-25 |
Family
ID=50272606
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2014/054663 WO2014146929A1 (de) | 2013-03-19 | 2014-03-11 | 3d-eingabegerät mit einem zusätzlichen drehregler |
Country Status (6)
Country | Link |
---|---|
US (1) | US10133359B2 (de) |
JP (1) | JP2016519813A (de) |
KR (1) | KR20150131381A (de) |
CN (1) | CN105190490B (de) |
DE (1) | DE102013004692B4 (de) |
WO (1) | WO2014146929A1 (de) |
Families Citing this family (13)
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KR101806195B1 (ko) * | 2012-07-10 | 2018-01-11 | 큐렉소 주식회사 | 수술로봇 시스템 및 수술로봇 제어방법 |
DE102013004692B4 (de) * | 2013-03-19 | 2024-02-01 | Abb Schweiz Ag | 3D-Eingabegerät mit einem zusätzlichen Drehregler |
CN106272432B (zh) * | 2016-09-28 | 2019-03-01 | 哈尔滨云控机器人科技有限公司 | 一种六自由度机械手 |
WO2018136028A1 (en) * | 2017-01-17 | 2018-07-26 | Hewlett-Packard Development Company, L.P. | Model controller |
CN107065650B (zh) * | 2017-02-28 | 2024-01-30 | 珠海格力电器股份有限公司 | 控制旋钮的方法、装置及旋钮 |
WO2018194638A1 (en) | 2017-04-21 | 2018-10-25 | Hewlett-Packard Development Company, L.P. | Determining orientation of a trackball |
CN107081758A (zh) * | 2017-05-25 | 2017-08-22 | 深圳市越疆科技有限公司 | 机械臂的运动控制方法、微控制器和存储介质 |
CN107160393A (zh) * | 2017-05-25 | 2017-09-15 | 深圳市越疆科技有限公司 | 机械臂的运动控制方法和装置、以及存储介质、计算机 |
CN108527320B (zh) * | 2018-03-30 | 2021-08-13 | 天津大学 | 一种基于三维鼠标的协作机器人引导示教方法 |
DE102018205159A1 (de) * | 2018-04-05 | 2019-10-10 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | 3D-Eingabegerät |
DE102021119629B3 (de) | 2021-07-28 | 2023-02-02 | Karl Storz Se & Co. Kg | Eingabeeinheit für ein medizinisches Instrument sowie medizinisches System mit einer Eingabeeinheit |
DE102021119646B4 (de) | 2021-07-28 | 2023-07-20 | Karl Storz Se & Co. Kg | Eingabeeinheit für ein medizinisches Instrument sowie medizinisches System mit einer Eingabeeinheit |
DE102021119613A1 (de) | 2021-07-28 | 2023-02-02 | Karl Storz Se & Co. Kg | Eingabeeinheit für ein medizinisches Instrument sowie medizinisches System mit einer Eingabeeinheit |
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- 2014-03-11 CN CN201480016407.1A patent/CN105190490B/zh active Active
- 2014-03-11 JP JP2016503602A patent/JP2016519813A/ja active Pending
- 2014-03-11 KR KR1020157030066A patent/KR20150131381A/ko active Search and Examination
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Also Published As
Publication number | Publication date |
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KR20150131381A (ko) | 2015-11-24 |
US20160062475A1 (en) | 2016-03-03 |
DE102013004692B4 (de) | 2024-02-01 |
US10133359B2 (en) | 2018-11-20 |
DE102013004692A1 (de) | 2014-09-25 |
CN105190490A (zh) | 2015-12-23 |
CN105190490B (zh) | 2017-10-20 |
JP2016519813A (ja) | 2016-07-07 |
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