WO2015040583A1 - Dispositif de restauration faciale basée sur une plate-forme robogami (origami robotique) - Google Patents

Dispositif de restauration faciale basée sur une plate-forme robogami (origami robotique) Download PDF

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Publication number
WO2015040583A1
WO2015040583A1 PCT/IB2014/064669 IB2014064669W WO2015040583A1 WO 2015040583 A1 WO2015040583 A1 WO 2015040583A1 IB 2014064669 W IB2014064669 W IB 2014064669W WO 2015040583 A1 WO2015040583 A1 WO 2015040583A1
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Prior art keywords
facial
robogami
sensors
platform
layer
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PCT/IB2014/064669
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English (en)
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Jamie Paik
Amir FIROUZEH
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Ecole Polytechnique Federale De Lausanne (Epfl)
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Publication of WO2015040583A1 publication Critical patent/WO2015040583A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/18—Applying electric currents by contact electrodes
    • A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
    • A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
    • A61N1/36014—External stimulators, e.g. with patch electrodes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1077—Measuring of profiles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/48—Other medical applications
    • A61B5/4836—Diagnosis combined with treatment in closed-loop systems or methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2/72—Bioelectric control, e.g. myoelectric
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/18—Measuring force or stress, in general using properties of piezo-resistive materials, i.e. materials of which the ohmic resistance varies according to changes in magnitude or direction of force applied to the material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/205—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using distributed sensing elements
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K1/00—Printed circuits
    • H05K1/02—Details
    • H05K1/14—Structural association of two or more printed circuits
    • H05K1/147—Structural association of two or more printed circuits at least one of the printed circuits being bent or folded, e.g. by using a flexible printed circuit
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/02—Details
    • A61N1/04—Electrodes
    • A61N1/0404—Electrodes for external use
    • A61N1/0408—Use-related aspects
    • A61N1/0452—Specially adapted for transcutaneous muscle stimulation [TMS]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/02—Details
    • A61N1/04—Electrodes
    • A61N1/0404—Electrodes for external use
    • A61N1/0472—Structure-related aspects
    • A61N1/0484—Garment electrodes worn by the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/18—Applying electric currents by contact electrodes
    • A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
    • A61N1/328—Applying electric currents by contact electrodes alternating or intermittent currents for improving the appearance of the skin, e.g. facial toning or wrinkle treatment
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K1/00—Printed circuits
    • H05K1/02—Details
    • H05K1/0201—Thermal arrangements, e.g. for cooling, heating or preventing overheating
    • H05K1/0212—Printed circuits or mounted components having integral heating means
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K2201/00—Indexing scheme relating to printed circuits covered by H05K1/00
    • H05K2201/03—Conductive materials
    • H05K2201/0302—Properties and characteristics in general
    • H05K2201/0308—Shape memory alloy [SMA]
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K2201/00—Indexing scheme relating to printed circuits covered by H05K1/00
    • H05K2201/10—Details of components or other objects attached to or integrated in a printed circuit board
    • H05K2201/10007—Types of components
    • H05K2201/10151—Sensor

Definitions

  • the present invention relates to a device for facilitating the treatment of facial paralysis and its embedded components. Depending on the components embedded in the main frame of the device, it can be used in diverse therapies with different requirements.
  • Facial paralysis is a disability that can be caused by infections, accidents, strokes or tumors.
  • an emerging rehabilitation science of neuromuscular reeducation [1] to help the patients with facial paralysis restore their muscle activity.
  • the therapy method for these patients is still very dependent on the therapist's experience and even diagnosis remains to be subjective.
  • Rehabilitative devices can enhance the therapy but due to the complexity of the face movements and the spatial limitations there are not many examples of such devices and the few available devices are very limited in number of degrees of freedom (DoF), functionality and adaptability for different therapy methods.
  • DoF degrees of freedom
  • Table 1 are divided in to three categories: general arrays of stimulating and sensing electrodes that are applicable for different limbs, face specific application of such electrodes (stimulating and sensing), and resistive training masks.
  • Electromyography EMG
  • EMS elctro muscular stimulation
  • the facial prosthesis according to the present invention is based on a Robogami platform.
  • Robogamis are low-profile robots that are constructed from rigid tiles connected in the folding areas with actuators and sensors. According to the application, different functional components are present in the Robogami. Some non-limiting examples of the invention are provided below.
  • FIG. 1 Schematic of Robogami with different functional components.
  • FIG. 1 Schematic of the facial rehabilitative device with different components.
  • the embeded componenets aer: adaptive stiffness body (a), sensor for morphological feedback (b), sensors and adaptive stiffness body (c), and the actuators with embeded sensors and adaptive stiffness body.
  • FIG. 3 Schematic of embedding additional functional layers on the main Robogami platfform. It can be an EMG sensor array, an electric stimulation array or a heater layer (a). The exploded view of the Robogami platform.
  • Actuators are in layer (i), layers (ii) and (v) are adaptive stiffness body, layer (iv) is the heater and circuit layer and finally layer (iii) is the sensor leyer (b).
  • FIG. 5 An example of the underactuatred transforming mechanism, two electric motor can selectively drive each of the four joints indipendantly or a combination of them based on the asigned temperature and stiffness, (a) actual device and (b) schematic of the system to illustrate how by enabeling a certain fold we can control its position.
  • Figure 6. 3D printed model for the concept of central actuation (electric motor via a tendon) with folds of controllable stiffness.
  • Figure 7. A module with antagonistic bending actuators (a). Side view of the tiles and actuators in unfolded (b), and folded states (c).
  • Figure 9 Array of pressure sensors: before(a) and after (b) applying the conductive silicone layer.
  • the perforated top electrode makes it possible for the conductive silicone to fill the gap between the two electrodes.
  • FIG 10 Fabrication process of the curvature sensors.
  • Crawler robot the model (a), the exploded view (actuators are in layer (i), layers (ii) and (v) are glass fiber layers, layer (iv) is the heater and circuit layer and finally layer (iii) is the sensor leyer) (b), and the fabricated robot (c).
  • FIG. 1 presents a schematic of a general Robogami fold with different functional components it might contain (depending on application).
  • Both the tiles and the folding area in Robogami can be made of materials with adaptive stiffness.
  • the pressure sensors inside the tiles detect the contact force with the surroundings and the morphology sensors embedded in the tiles provide feedback from the length and shape change in the tiles.
  • Other functional components can be embedded depending on the application (this is presented in the schematic with a special component sign).
  • the folding area is composed of bending angle sensor, adaptive stiffness material and actuators.
  • the embedded components in the system are selected according to the specific application and the type of the sensors, actuators and other functional layers are also determined by the application's requirements like the activation frequency, blocked force and range of motion.
  • the facial prosthesis of the present invention provides a morphological feedback in conjunction with the arrays.
  • the facial device is composed of just one or two components that are useful in specific therapy method.
  • a body that changes its stiffness in specific parts is useful in the resistive trainings for strengthening specific muscle groups.
  • Figure 2 (a) presents a schematic of prosthesis with adaptive stiffness body (the linear springs represent the mechanical stiffness in the body). Compared to the previous designs this device can adjust its stiffness on demand and also it can stretch and change shape for fitting the face of different patients.
  • the schematic of another device with only morphology sensing elements is presented in Figure 2 (b). This device is useful in quantifying the severity of the paralysis and the patient's progress during the rehabilitation process.
  • a device with both of these elements ( Figure 2 (c)) makes an adaptable training prosthesis that can change stiffness based on the sensors feedback.
  • Figure 2 (d) shows the schematic of a device with adaptive stiffness, sensing and actuating components. It forms itself to the shape of the face and applies force in the required region to actively participate in the therapy process.
  • the components in the main platform are the actuators, heaters, circuit, sensors, and body (Figure 3 (b)).
  • Low profile Shape Memory Alloy (SMA) actuators have large range of motion and torque to mass ratio which makes them one of the suitable options for the facial prosthesis platform.
  • SMA actuators are heat activated and as an auxiliary component heaters are necessary for activating them.
  • the design and the method of fabrication for a stretchable heater that focuses the heat flux on the active part of the actuator layer is embedded in the design of Robogami.
  • the same design for a stretchable heater can also be used as an extra functional layer in the cases where mild heating can improve therapy. Also such heaters should be embedded in the variable stiffness elements for activating those.
  • Embedded curvature sensors provide the necessary feedback for accurate control over the morphology of the Robogami. Sensors made from Piezo resistive materials are what is used for bending angle in the current design of the facial devices presented here. These are good choices for making sensors in the Robogami since they need very little supporting components and by nature are not restraining in shape and size. Carbon ink printed sensor is one option that is used here for measuring the curvature. It is fairly robust and sensitive and its fabrication process can be easily applied in large array of sensors. Robogami platform needs pressure sensor for detecting contact between its tiles and the surroundings. Pressure sensors based on conductive polymer are used in the current design.
  • Last important component in the Robogami platform is the body of the robot. In the most basic form, body only provides structural integrity. But in the facial device presented here the Robogami body is made from SMP and has adaptive stiffness. Such a structure can transform between rubbery (over the glass transition temperature) and hard states (under the glass transition temperature). This transformation is mainly useful in large shape changes necessary for fitting different patients. Also a method of actuation using an under actuated mechanism will be presented for the Robogami based on the stiffness controlled joints. On the Robogami platform other layers will be added for specific therapy methods (Figure 3(b)). It worth mentioning that the Robogami platform for facial prosthesis is a general concept and any of the components introduced here can be replaced for specific applications.
  • FIG. 2 Also as presented in Figure 2 not all of these components are necessary and in specific applications only some might be embedded in the device. Also the device can have different shapes according to the application.
  • Figure 4 presents one design for the Robogami facial prosthesis that covers only a specific area. The final device has a modular design meaning that different modules can come together to change the shape of the device.
  • the adaptive stiffness body of the facial prosthesis has different functionalities. One is to selectively change the stiffness of folds for specific training methods. The other is the initial shape transformation in the device to make it fit different patients.
  • glass transition in polymers is used as the method of changing stiffness.
  • Inventors have chosen a polymer with shape memory effect (SMP) to have a fixed shape above the transition temperature. This polymer is engineered in a way to have a memory shape that it retains over the transition temperature.
  • SMP shape memory effect
  • the modulus of elasticity of SMP decreases two to three orders of magnitude as it passes glass transition temperature [5] which makes it a good choice for adaptive stiffness body of the Robogami platform.
  • FIG. 5 shows a very simple example of this idea where only two actuator (electric motor) that can independently drive 4 folds.
  • the folds in this mechanism are composed of two thin SMP layers instead of one bulk of SMP material (to increase activation speed).
  • the novelty of this mechanism is using materials that can change stiffness for locking and unlocking each degree of freedom (this can also be used for changing stiffness in increments) to enable and disable different degrees of freedom.
  • This actuation technique is embeddable as an optional functional layer in the rehabilitative Robogami prosthesis.
  • a layer only has one motor that pulls a tendon that goes through all folding areas. According to the assigned exercise the stiffness of different folds are altered and pulling the string causes a certain folds to get activated.
  • Figure 6 presents a 3D printed model of such a device to illustrate the idea.
  • the electric motor can be the only source of actuation in the prosthesis or can work in conjunction with other actuation methods such as SMA actuators which will be introduced shortly.
  • the facial prosthesis has to be thin and soft to have the least influence on the patient during the normal movement. It also should be able to apply enough force on demand during training.
  • This means the actuators in the underlying Robogami platform should be soft, low profile, small (to increase the resolution and as the result softness) and yet powerful. More over these actuators need to have rather large range of motion. SMA bending actuator is a good choice that satisfies this long list of requirements.
  • two antagonistic actuators are used to make bidirectional folds in the Robogami ( Figure 7).
  • SMA sheet actuators One of the features of the SMA sheet actuators is the scalability of these actuators. This shows a possibility to scale down the same design for the actuators without losing functionality. This makes fabrication of Robogamis with many degrees of freedom and tiny actuators possible.
  • Stiffness change of the polymeric body and activation of the SMA actuators are possible through manipulation of the temperature.
  • stretchable heaters are embedded in the polymeric layer.
  • the actuators the easy method is to put the heaters inside the tile areas but the more power efficient method is to use heaters on the active part which requires stretchable heaters.
  • deformation of the polymeric body requires stretchable heaters that can transform shape with the polymer in rubbery state (the same goes for the under actuated mechanism introduced before).
  • the heating element is composed of a patterned Inconel sheet (a serpentine that makes the heater) and a layer of thermal pad with double sided adhesive to attach the heater to the actuator.
  • a mesh structure is cut on the heater layer. The same mesh structure that was added to make the heater layer stretchable can also be applied for making the stretchable circuit for the folding areas in the Robogami and also heaters for the stretchable body of the Robogami.
  • Figure 8 presents stretchability of the mesh structure while maintaining its functionality.
  • Facial prosthesis is dependent on its array of sensors for carrying out its role.
  • a curvature sensor and on each tile a pressure sensor are needed. It is not feasible to embed this many commercially available sensors; with fixed shape and size. So the sensor array for the Robogami is developed by the inventors.
  • Different methods of fabrication for soft and flexible sensors have been suggested in the literature. Among these, sensors based on piezo resistive material cover a wide range of application. These sensors are composed of conductive particles in nonconductive filler. When strain is applied to these sensors the conduction paths break and the electrical resistance increases (with a right design, order of magnitude of the electrical resistance change can be achieved). These sensors are basically made of sensing material and no other supporting components are necessary.
  • FIG 11 presents an array of four pressure sensors which were used in studying the performance and in optimizing the design of the sensors.
  • the patterned conductive fabric and glass fiber layers provide the seat for the pressure sensors.
  • 3 layers of pre-impregnated glass fiber and 2 layers of conductive fabric where patterned, assembled, and cured in the heat press at 140 °C.
  • the top electrode was designed perforated ( Figure 9 (a)) to let the conductive silicone fill the gap between this electrode and the one on the bottom.
  • curvature sensors are based on carbon ink printed on polyimide sheets. Demanding requirements on overall size, minimum radius of curvature and ease of embedment in large arrays makes off-the-shelf sensors unsuitable for Robogami. So curvature sensors for this application were also developed by the inventors. Compared to commercial ones, their design for the sensors is different in couple of details. They have used a layer of polyurethane hotmelt adhesive as the top shielding material instead of Kapton to make the sensors thin and soft as possible. Also they have added scorch lines on the Kapton surface before printing the carbon ink (figure 10). Along these lines there will be stress concentration and crack induced resistance change will happen.
  • stretch sensor is also a valuable component in gathering information regarding the shape of the Robogami platform and the object it envelopes.
  • the inventors designed and introduced a new type of sensor based on change in the resistance of the metallic layer under strain (figure 11).
  • This novel sensor is made by machining a mesh structure (using laser) on a metal layer and polyimide laminate to make a stretchable structure. But such a structure (which is similar to the heaters introduced in the previous section) is not sensitive on its own since the amount of metal in tension and compression is the same. To make such a structure sensitive to deformation, the inventors modulated the path that the current takes so the metal in compression or tension would have a bigger change of resistance.
  • sensors that increase or decrease resistance while being stretched were fabricated that can be used in any wearable device based on its low profile and low stiffness. Fabrication of stretchable heaters that can also give information on the amount of stretch is also possible by careful design of the conductive path. Examples of Robogami structures
  • This simple four folds robot can be considered as a simple module of the facial prosthesis.
  • This device confirmed that the proposed sensors and actuators can provide accurate bidirectional actuation.
  • the facial device according to the invention can be used as a passive training device that can adjust its elasticity, a diagnosis device that can provide morphological feedback from the face, a rehabilitative device that uses EMG readings and electrical stimulation in therapy, an active prosthesis that can apply force during therapy or any combination of these.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Veterinary Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Surgery (AREA)
  • Pathology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Cardiology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Transplantation (AREA)
  • Vascular Medicine (AREA)
  • General Physics & Mathematics (AREA)
  • Dentistry (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Prostheses (AREA)

Abstract

La présente invention concerne un dispositif de restauration faciale basée sur une plate-forme Robogami (origami robotique). Le dispositif facilite le processus de thérapie physique pour le thérapeute, en rendant le processus plus rigoureux et en améliorant les résultats pour le patient. Une souplesse et une faible épaisseur sont nécessaires dans la prothèse faciale pour la sécurité et la transparence mécanique pour les mouvements normaux du patient. En outre, la prothèse peut être adaptée à différentes méthodes thérapeutiques, ce qui signifie que différents composants peuvent être inclus dans la plate-forme principale de la prothèse en fonction des besoins de la thérapie. La plate forme Robogami est la structure principale qui inclut d'autres composants fonctionnels dans les dispositifs faciaux. Le Robogamis sont des robots à bas profil qui peuvent se transformer différentes en enveloppes 3D. Ils permettent une souplesse grâce à de nombreux degrés de liberté (ddl) qui sont commandés par un actionneur souple (fait de matériaux souples ou à commande souple). Le procédé de fabrication couche par couche du Robogami est avantageuse pour la prothèse faciale car il permet l'inclusion de différentes couches fonctionnelles, comme des stimulateurs électriques, des structures adaptatives de rigidité et une couche sensible à la pression, en fonction des besoins du procédé thérapeutique.
PCT/IB2014/064669 2013-09-23 2014-09-19 Dispositif de restauration faciale basée sur une plate-forme robogami (origami robotique) WO2015040583A1 (fr)

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WO2017097720A1 (fr) 2015-12-11 2017-06-15 Commissariat A L'energie Atomique Et Aux Energies Alternatives Systeme de detection d'efforts ou de deformations, en particulier pour une peau tactile
CN108356809A (zh) * 2018-02-09 2018-08-03 浙江工业大学 一种基于光驱动自折叠的折纸结构
EP3851156A1 (fr) * 2020-01-15 2021-07-21 Beijing Funate Innovation Technology Co., Ltd. Instrument de beauté de type masque
US11260217B2 (en) 2020-01-15 2022-03-01 Beijing Funate Innovation Technology Co., Ltd. Mask-type beauty instrument
WO2022050107A1 (fr) * 2020-09-02 2022-03-10 ヤーマン株式会社 Masque cosmétique et stimulateur électrique cosmétique
WO2022087670A1 (fr) * 2020-10-29 2022-05-05 Sleeptite Pty Ltd Dispositif, procédé et procédé de fabrication d'un capteur de contrainte électronique
US11464974B2 (en) 2020-01-15 2022-10-11 Beijing Funate Innovation Technology Co., Ltd. Method for using soft physiotherapy instrument
US11504522B2 (en) 2020-01-15 2022-11-22 Beijing Funate Innovation Technology Co., Ltd. Method for using mask-type beauty instrument
US11577070B2 (en) 2020-01-15 2023-02-14 Beijing Funate Innovation Technology Co., Ltd. Soft physiotherapy instrument

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