WO2019030418A1 - Dispositivo de excitación táctil basado en elastómeros dieléctricos y procedimiento de fabricación del mismo - Google Patents
Dispositivo de excitación táctil basado en elastómeros dieléctricos y procedimiento de fabricación del mismo Download PDFInfo
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- WO2019030418A1 WO2019030418A1 PCT/ES2017/070572 ES2017070572W WO2019030418A1 WO 2019030418 A1 WO2019030418 A1 WO 2019030418A1 ES 2017070572 W ES2017070572 W ES 2017070572W WO 2019030418 A1 WO2019030418 A1 WO 2019030418A1
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- WIPO (PCT)
- Prior art keywords
- insulating layer
- dielectric elastomer
- spherical
- frame
- electrodes
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Classifications
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B21/00—Teaching, or communicating with, the blind, deaf or mute
- G09B21/001—Teaching or communicating with blind persons
- G09B21/003—Teaching or communicating with blind persons using tactile presentation of the information, e.g. Braille displays
Definitions
- the present invention relates to a technique for the manufacture of a tactile matrix optimized for the tactile transfer of information without interferences between taxels (taxel is a tactile pixel, a tactile element), of small size, easily scalable in resolution (number of rows and columns), ergonomic, high contact with the surface to stimulate and producible at industrial level.
- the tactile matrix based on elastomer and activated for example by the method described in the international patent application WO201 1089274-A1 can be applied, among other applications, to generate tactile visual images in a tactile visual system, such as the disclosed tactile vision system in the Spanish patent application ES2353781 -A1.
- WO2012004421-A1 discloses a tactile excitation device based on dielectric elastomers that solves many of the problems of the prior art.
- the invention described in this document has the following drawbacks:
- Scarce surface of contact of the pin with the skin The surface of the pin actuator that is in contact with the skin to be flat and very reduced ( ⁇ 0.3mm 2 ), does not generate an adequate stimulus, and does not help to meet the main objective of the device, which is to stimulate the cells and try to generate new connections between them. Under this approach, for an optimal excitation of the cells, an actuator pin with a geometry that meets two objectives is necessary: greater ergonomic contact surface with the skin and effect of vibration and excitation of the radial type skin.
- Irritation of the skin by vibrations The edges of the contact area of the actuator pin with the skin, due to the vibration and friction generated, cause the skin to suffer micro irritations, which goes against the objective of the excitation device cellular and generation of new cellular connections.
- the current connectivity is in practice very difficult to produce at an industrial level, it has a high electrical resistance, and a high risk of deformation of the connectivity system of the printed circuit in the dielectric elastomer membrane to the PCB, to be subject to vibrations products of the operation of the device.
- the geometry, the area and the contact form of the circuit terminal with the dielectric elastomer membrane it tears it breaking the circuit.
- the silicone is flexible in nature, the lower movement of the device affects the connectivity of the circuit with the electronic board (rupture of the membrane due to tearing produced by the terminal, absence of contact between the terminals, and deformation of the wire of 0.1 mm, between the main causes).
- the present invention proposes a tactile excitation device, also based on dielectric elastomers, which improves the device disclosed in WO2012004421 -A1, solving all the problems listed above.
- the tactile excitation device of the present invention transmits the mechanical energy produced in the core of the dielectric elastomer to the external point of mechanical action, introducing at the same time mechanical isolation and electrical between adjacent actuators.
- This mechanical and electrical energy isolation allows reducing the separation area between actuators in the matrix, thus achieving devices with a density of actuators in tune with the density of receptor nerve endings in the skin and with a constant and adjustable force exerted by a printed circuit board of the electronic device, in the set of actuators that make up the matrix, sufficient for the correct stimulation of the nerve ending and the possible generation of new stimulations with the appropriate training.
- the activation of a specific taxel can be carried out following the process disclosed in patent document EP2461306-B1.
- the distribution of the circuit can take different forms, and the regulation of the voltage at a certain point (diode) is done following a certain relationship.
- the stretched dielectric membrane has an upper and lower circuit, where the circuit matrix is directed by the selection of a taxel at the intersection of a certain upper and lower electrode (X, Y), by applying voltage between the upper electrode and corresponding lower
- the taxeles are excited or activated by multiplexing by time division.
- the device presents differentiating aspects with respect to previous developments, such as an ergonomic surface that facilitates greater contact of the taxeles with the skin, contact actuators of spherical geometry, high efficiency in mechanical transfer, high mechanical and electrical isolation between electrodes and actuators, Y electrical connectors optimized for a minimum electrical resistance. These characteristics optimize the stimulation of the nerve endings and facilitate the generation of new ones. It is also an object of the present invention to provide a method of manufacturing a tactile excitation device composed of a passive matrix of high efficiency in mechanical transfer and high mechanical and electrical isolation between electrodes and actuators.
- a first aspect of the present invention relates to an ergonomic tactile excitation device based on dielectric elastomers comprising an array of dielectric actuating elastomers formed by a dielectric elastomer membrane linearly stretched with a circuit adhered on both sides (by printing, stamping, painted, flexible circuit adhesion, etc.).
- Said circuit comprises a matrix of upper, preferably circular, electrodes, connected linearly in rows on the upper face of the membrane; and a matrix of lower, preferably circular, electrodes facing the upper electrodes and connected linearly in columns on the underside of the membrane.
- the device also comprises a lower insulating layer, made with an electrical insulating elastomer, which covers the lower electrode matrix, and an upper insulating layer, made with an electrical insulating elastomer, which is embedded with a set of spherical actuators, facing the electrodes .
- the lower insulating layer has on its perimeter a mechanical fastening system to a lower support frame
- the upper insulating layer has on its perimeter a mechanical fastening system to an upper support frame.
- the device also comprises a top frame, made of a rigid and insulating electrical material, which is embedded in a series of electric connectors of the multitrack type, which contact terminals located at the ends of the rows of the electrode array. higher, without perforating the dielectric elastomer membrane, increasing the useful life of the device and reducing the electrical resistance of the circuit.
- This upper frame presents on its inner perimeter a mechanical fastening system for the upper layer of insulating elastomer.
- the device preferably comprises a lower frame, of a rigid and insulating electrical material, with a support surface for the lower insulating layer of elastomer which gives the ergonomic shape to the upper insulating layer assembly, dielectric elastomer membrane and lower insulating layer.
- This lower frame is embedded with multi-track electrical connectors that contact the terminals of the lower electrode array, without drilling the dielectric elastomer membrane, increasing the useful life of the device and reducing the electrical resistance of the circuit.
- This lower frame has a mechanical fastening system for the lower layer of insulating elastomer on the inner perimeter.
- This lower frame has a central surface, which serves as support for the lower layer, with an ergonomic geometry according to the area of the skin to be stimulated.
- the device comprises a printed circuit board having at least an equal number of electrical terminals that rows and columns of electrodes join the upper and lower layers of the device.
- each electrical terminal of the electrode array is made through multi-track connectors embedded in the frames, making direct contact with the stretched dielectric elastomer, but without damaging it.
- the actuators are of spherical geometry, and are partially embedded, separated from each other by a distance according to the concentration of nerve terminals of the skin in which they will be in contact.
- the method of manufacturing the device comprises a step of manufacturing the dielectric membrane by means of which a piece of dielectric elastomer is stretched to a point at which the mechanical reaction is sufficient to transmit without interference to the spherical actuator.
- the stretching process is carried out in a numerical control machine, with control variables of ambient temperature, drawing speed, applied force and obtained thickness.
- the stretching methods can be linear (X axis, Y) or radial (R1 ..Rn), linear stretch being a preferred method, since the internal structure of the elastomer is not deformed, and the Force transmission is uniform across the stretched dielectric elastomer membrane.
- the electric circuit is elaborated, by means of which an electric circuit matrix is applied on both sides of the dielectric elastomer membrane, by means of printing, screen printing, painting or adhesion processes of a circuit.
- the elaboration of the circuit is carried out by means of a screen printing process, through a numerical control machine configurable to control critical variables such as pressure of the conductive material, viscosity, electrical resistance, and final thickness of the material conductive.
- the electrical circuit can have different shapes or paths (depending on the area of the skin to be stimulated), but with the terminals of the lower and upper face on opposite edges of the dielectric elastomer membrane.
- the frames are rigid and include multitrack electrical connectors that transmit the voltage from the PCB to the circuit adhered to the dielectric elastomer membrane, through direct contact without potential rupture risks and with a minimum electrical resistance.
- each frame has a mechanical fixing system in its internal perimeters to ensure the assembly of the dielectric elastomer membrane assembly with the layers of insulating elastomer.
- the lower frame has a solid base that gives the ergonomic shape to the whole.
- the final assembly of the frames is carried out in a numerical control assembly machine, controlling variables such as the set pressure, conductivity and alignment of actuators and electrodes through artificial vision systems.
- each of the frames face the terminals of the circuit, the dielectric elastomer membrane (upper and lower), on opposite sides of the assembly (anterior / posterior), and make contact with the PCB by mechanical adjustment.
- a third rigid frame may be included that seals the assembly and adds mechanical strength.
- the present invention solves the problems of the tactile excitation device disclosed in WO2012004421 -A1.
- the present invention proposes a new geometry of the actuator pin to facilitate the manufacturing process, replacing the actuator pin with an actuator of spherical geometry, which is embedded between 1/2 - 3/5 of its diameter, in one single top layer of silicone with a thickness equal to the diameter of the sphere.
- the double layer of superior silicone has therefore been eliminated.
- the spherical geometry of the new actuator also solves the problem of poor contact surface of the pin with the skin, by having a larger contact surface (between 1420 - 2200%) with respect to the actuator pin of WO2012004421 -A1. Additionally, the spherical geometry of the new actuator optimizes the vibration transmitted and consequently the excitation of the skin cells at the radial level.
- the spherical geometry of the new actuator pin solves the problem of irritation of the skin by vibrations, by avoiding the irritation of the skin caused by the rubbing of the edges of the actuator pin of WO2012004421 -A1, also favoring the generation of new cellular connections.
- the tactile excitation device of the present invention also improves the low level of cellular excitation of the device disclosed in WO2012004421 -A1, by providing a new ergonomic shape of the device.
- the goal of the device is to stimulate a specific type of skin cells, and the optimal way to stimulate these cells is to be in direct contact with the skin.
- the geometry of the device described in WO2012004421 -A1 does not help to achieve this goal, so its geometry has been modified following ergonomic factors and helping to prevent possible injuries due to use.
- the device of the present invention also solves the connectivity problems of the PCB with the printed circuit in the dielectric elastomer membrane, by means of a new connectivity system of the circuit of the membrane with the electronic board.
- the connectivity of the membrane with the PCB is done through a multi-track circuit made with elastomeric and conductive materials, integrated in the support of the set, reducing the electrical resistance of the same and generating an optimization of the voltage / intensity ratio (V / A ) supplied to the electrodes for excitation.
- the device of the present invention incorporates a support structure of a rigid material and 100% electrical insulation, which includes a rigid frame that fulfills two functions: to give rigidity to the assembly (optimizing the operation of the product) and to serve as support for the multitrack circuits between the membrane circuit and the PCB.
- the device of the present invention also solves the problem of the deformation of the dielectric elastomer membrane by pushing the lower layer of silicone. To do this, the hemispheres are removed from the base plate, using a rigid support base plate.
- Figures 1 A and 1 B represent the operating principle of a dielectric elastomer actuator, according to the existing technique.
- Figures 2A and 2B show the dielectric elastomer elements of the present invention in a matrix arrangement (dielectric elastomer membrane matrix).
- Figures 3A and 3B represent, according to one embodiment of the present invention, a lateral section of the 2D and 3D tactile excitation device, respectively.
- Figure 4 shows a scheme of action of the tactile excitation device on the skin.
- Figure 5 shows a lateral and perimeter section of the device, just at the point where the electrical connectors contact the dielectric elastomer membrane.
- Figure 6 shows a detail between the connection of the dielectric elastomer membrane circuit and the electrical connectors.
- the invention relates to a tactile excitation device based on dielectric elastomers and their manufacturing process.
- FIG. 1A and 1 B The operating principle of an elastomer dielectric actuator (3) is shown in Figure 1A and 1 B.
- a high continuous voltage U is applied between both sides of a thin dielectric elastomer film (1), by means of a superior electrode (2) and a lower electrode (2 '), expands in the direction of the plane due to the pressure p in the thickness direction induced by an electric field.
- the dielectric elastomer membrane regains its original shape.
- This effect can be created, for example, the tactile sensations in a small area of the surface of the skin (the application zone) when the dielectric elastomer matrix is applied or fixed to a human body, preferably in a sensitive region (for example, example, the abdomen or lower back).
- the pressure increases quadratically with the electric field and therefore is the main relation that regulates the response of the actuator. It is important to note that the dielectric elastomer behavior is the same regardless of the positive or negative sign of the applied voltage U.
- the equivalent electric model for a dielectric elastomer is a parallel capacitor and resistance configuration, in which the capacitance is the result of two electrodes applied to the dielectric elastomer film, and the resistance is the Loss resistance caused by the conductivity of the dielectric elastomer film.
- the thick mode technique is a recent realization of EPAM (Artificial Muscle of Electroactive Polymer).
- the "active" polymer film is coated with a thicker passive layer, so that changes in polymer thickness during the performance of EPAM are transferred, at least partially, to the passive layer.
- This passive layer can be considered as passive in relation to the polymer film in that it does not respond to the application of an electric field changing area or thickness as does the EPAM layer.
- the passive layer is coupled to the EPAM film so that changes in area and thickness of the EPAM film induce shear forces in the passive layer that change the thickness of this layer. Therefore, this change in thickness of the passive layer can be used to expand, in absolute terms, the displacement produced by the change in thickness of the EPAM polymer film.
- Figure 1 A shows a schematic diagram of this type of device and the results of the performance of the shear mode.
- EPAM is shown during the performance of the shear mode, showing a schematic diagram of a proposed shear mode device.
- this scheme presents several problems, such as the coupling between taxels through the same skin and the weak transmission of energy, which is intended to be solved with the present invention, while enhancing the mechanical transmission of the deformations executed in the dielectric elastomer.
- Figure 2A shows the arrangement of the electrodes (2,2 ') in a dielectric elastomer membrane (1), following a matrix arrangement (circuit matrix), forming a matrix of dielectric actuating elastomers (3).
- Figure 2B represents a detail of the dielectric elastomer membrane matrix, in which the connection of the upper electrodes (2), which are electrically connected in lines arranged in rows (20) by the upper face of the dielectric elastomer, are appreciated. (1) stretched, and the lower electrodes (2 ') which are electrically connected in lines arranged in columns (21), perpendicular to the rows (20), by the lower layer of the stretched dielectric elastomer (1).
- the electrodes are preferably circular, as shown in Figure 2B, but could take other forms (e.g., square, rhomboidal, rectangular, etc.).
- FIG. 3A shows a plan view and a 2D side section according to the cutting plane A-A
- Figure 3B shows a perspective view and a 3D side section of the device (10).
- the tactile excitation device (10) comprises the following elements, which contribute to a better and more effective action on the skin to be stimulated:
- the central surface of the lower frame (4) has the ergonomic shape of the surface of the skin on which the device will be applied.
- the spherical actuators (5) are stainless steel balls.
- the device (10) has connection terminals (11). , 1 1 ') which serve to connect the electrode array with multipole electrical connectors (9, 9') which are embedded in an upper frame (7) of the device. These multitrack electric connectors (9, 9 ') in turn connect to a PCB.
- the lower frame (4) has an ergonomic geometry support surface that brings the final shape to the assembly, as seen in the embodiment of Figure 3A. Starting from an elastomer with a lower insulating layer (8), in the upper part of the elastomer there is the other part of the enhancing device, formed by the embedded spherical actuators (5).
- All components can be manufactured separately pending final assembly.
- the whole process is carried out in a controlled environment, in temperature, humidity and free of impurities that affect the final operation.
- the first stage of the manufacturing process of the dielectric elastomer membrane includes the stretching of the dielectric elastomer membrane (1).
- the stretching process of the dielectric elastomer is carried out in a numerical control machine that controls the main variables of the process: stretching uniformity (preferably linear), pressure exerted in the process, and final thickness.
- the final thickness control is carried out by means of laser measurement systems.
- a microscopic vision system checks the uniform stretching of the film, up to the desired thickness.
- the ideal relationship between the thickness of the dielectric elastomer and the applied voltage to react mechanically is inversely proportional and is determined by the type of dielectric elastomer to be used (acrylic, silicone, etc.).
- the membranes receive a reusable frame on both sides that allows to fix and maintain the stretch, facing the next phase of the process.
- the initial dielectric elastomer (at rest) must have a square geometry, to obtain a certain number of membranes per operation.
- the maximum number of stretched membranes that can be obtained from the material at rest is determined by the following formula: A (ei) x 16
- N (und) is the number of units per operation
- a (ei) is the initial area of the dielectric elastomer at rest
- a (ef) is the final area of the stretched dielectric elastomer.
- the final area of the stretched dielectric elastomer is determined by the desired thickness.
- an upper and lower electric circuit is applied on both sides of the dielectric elastomer membrane (1), forming a matrix of upper electrodes (2) connected linearly in rows (20) on the upper face and a matrix of lower electrodes (2 ') connected linearly in columns (21) in the lower face.
- the circuit matrix is elaborated in a highly conductive material (conductive silicone, conductive ink, etc.) by a numerical control machine and following a pattern appropriate to the surface of the skin to be stimulated.
- the dielectric elastomer membranes (1) arrive at the application station of the circuit matrix, and receive the painting of the circuit on both sides of the membrane, controlling critical parameters in the process, such as:
- Thickness of the conductive material ideal thickness between 10 ⁇ - 20 ⁇ .
- the final circuit may have different shapes or distributions, however it is advisable to maintain the minimum safety distances to avoid "arc flash” effects or excessive temperatures that deteriorate the dielectric membrane.
- the second stage of the manufacturing process of the device (10) proceeds to obtain the upper insulating layer (6) and lower (8) elastomer layer.
- the distance (f) from the closest point of the base (5a) of spherical actuator to the upper electrode (2) is between 1/2 and 2/5 of the diameter (D) of the spherical actuator, which provides safety for possible short circuits by the fracture of the upper insulating layer (6) and the contact of the spherical actuator (5) with the upper electrode (2).
- the upper insulating layer (6) is composed of a highly insulating elastomeric material, and a matrix of spherical actuators (5) is partially embedded in said upper insulating layer (6).
- the insulating material must have a suitable hardness to allow transmitting the impulse of the dielectric elastomer membrane (1), but in turn isolate the transfer of this impulse to the adjacent spherical actuators (5).
- the proper manufacturing method is compression molding, in which the spherical actuators are perfectly distributed and uniformly embedded in the upper insulating layer (6).
- the base (5a) of the spherical actuator must be close enough to the action source (electrode 2) to capture most of the energy generated, taking care that it can not receive a direct discharge from the electrode, which could cause injuries to user.
- the spherical actuator is embedded in the upper insulating layer (6) a depth (e) between 1/2 and 3/5 of its diameter (D): 1 ⁇ 2 D ⁇ e ⁇ 3 ⁇ 4D.
- the upper frame (7) comprises coupling means (7a), or connecting or fitting means, on its perimeter, for example by means of one or several recesses and ridges or tongue and groove connections, which ensures the upper insulating layer (6) to the upper frame (7) and to the dielectric elastomer membrane (1).
- the upper insulating layer (6) may comprise on its perimeter coupling means (6a) complementary to the coupling means (7a) of the upper frame (7), implemented for example by means of a set of projections and recesses that they allow a tongue-and-groove connection with the projections and recesses of the upper frame (7).
- the upper frame (7) can be manufactured in one piece or several pieces (eg two pieces in the example of Figure 5).
- the lower frame (4) can be formed by one or several pieces joined together.
- the lower insulating layer (8) is composed of a highly insulating elastomer with a hardness similar to that of the upper insulating layer (6).
- the lower frame (4) comprises coupling means (4a), or connecting means or fitting, on its perimeter for the fastening of the lower insulating layer (8).
- the lower insulating layer (8) can also comprise on its perimeter coupling means (8a) complementary to the coupling means (4a) of the lower frame (4).
- the lower frame (4) and the lower insulating layer (8) can have tongue-and-groove connections (projections and recesses) that fit together.
- the upper (7) and lower (4) frames are obtained and electrical connectivity is realized.
- the preferred process is to place the lower frame first, giving support to the assembly: lower insulation / dielectric membrane / upper insulation with actuators and above all giving the ergonomic shape to the assembly and giving rigidity for the placement of the upper frame.
- the upper (7) and lower (4) frames have an ergonomic geometry according to the area of the skin to be stimulated, and are made of a rigid and insulating electrical material.
- the frames (4, 7) have an inclusion of multitrack electrical connectors (9, 9 '), preferably embedded between both frames, which connect on the one hand to the connection terminals (1 1). , 1 1 ') of the dielectric elastomer membrane (1), in a contact area, and on the other hand with electrical terminals (13) printed on the PCB (12).
- Multipole electrical connectors (9, 9 ') are made of a highly conductive material, metals or synthetic conductive compounds (eg Graphene), or a mixture of both.
- the multi-track electrical connectors (9, 9 ') are embedded during the molding process of the frames, ensuring their fixation thereon.
- Figure 6 shows the connection diagram for the upper and lower circuit printed on both sides in the dielectric elastomer membrane (1), where the upper (7) and lower (4) frames are not shown for clarity. layers insulating elastomers (6,8).
- this method ensures that there are no risks of ruptures of the dielectric elastomer membrane (1) by friction or perforation.
- the electrical resistance is minimal, optimizing the behavior of the device (10).
- the multi-track electrical connectors (9 ') and the connection terminals (1 1') corresponding to the lower circuit of the dielectric elastomer membrane (1) are arranged on one side of the perpendicular device (10). where the multi-track electrical connectors (9) and the connection terminals (1 1) of the upper circuit of the dielectric elastomer membrane (1) are located.
- the assembly of the pieces that make up the device (10) are made by several successive assemblies.
- the dielectric elastomer membrane (1) and the insulating elastomer layers (6, 8) are assembled.
- the lower frame (4) is joined, obtaining the ergonomic shape of the assembly.
- the upper frame (7) is mounted.
- the entire assembly of the device is carried out in a numerical control machine, with pressure, alignment and electrical conductivity controls.
- the first assembly consists of the union of the dielectric elastomer membrane (1), already printed with the upper and lower circuits, with the upper (6) and lower (8) insulating layers. This process is necessary to maintain the distribution of the membrane circuit (1), which could be affected by the ergonomic curvature given by the lower frame (4) (the lower frame gives the ergonomic curvature to the whole).
- the machine receives the printed membranes (1) and applies in adhesive regions (on both sides) adhesive for the insulating layers.
- the insulating layers and in particular the spherical actuators 5 embedded in the upper insulating layer (6) with the electrodes (2, 2 ') are aligned.
- An artificial vision system confirms the alignment, after which a uniform pressure along the entire surface, sealing the assembly.
- the second assembly consists of the placement of the lower frame (4). Following the same procedure, adhesive is applied to the central ergonomic surface of the lower frame (4) and the face of the lower insulating layer (8) that is in contact with this surface. A sensor aligns the lower frame with the first assembly and by means of uniform pressure the seal is proceeded.
- the third assembly consists of placing the upper frame (7) on the result of the second assembly. As in the second assembly, adhesive is applied on the inner perimeter of the upper frame (7) and on the outer perimeter of the upper insulating layer (6) with the embedded spherical actuators.
- An automated system realizes the alignment and by means of uniform pressure in the perimeters the assembly is sealed, obtaining the final device.
- an additional frame can be included that reinforces the structure and adds additional solidity to the assembly.
- the device After assembly, the device is subjected to a test bench to confirm the displacement of the spherical actuators (using laser sensors), the vibration of the spherical actuators (with laser sensors) and the electrical resistance of the assembly (test with test bench electronic).
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PCT/ES2017/070572 WO2019030418A1 (es) | 2017-08-08 | 2017-08-08 | Dispositivo de excitación táctil basado en elastómeros dieléctricos y procedimiento de fabricación del mismo |
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PCT/ES2017/070572 WO2019030418A1 (es) | 2017-08-08 | 2017-08-08 | Dispositivo de excitación táctil basado en elastómeros dieléctricos y procedimiento de fabricación del mismo |
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WO2011089274A1 (es) | 2010-01-22 | 2011-07-28 | Vision Tactil Portable, S.L | Método y aparato para controlar una matriz de elastómeros dieléctricos evitando interferencias |
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2017
- 2017-08-08 WO PCT/ES2017/070572 patent/WO2019030418A1/es active Application Filing
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US4551102A (en) * | 1983-04-22 | 1985-11-05 | Karl Meinzer | Method and device for displaying graphic information, in particular for braille reading |
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EP2461306B1 (en) | 2010-01-22 | 2015-04-08 | Vision Tactil Portable, S.L | Method and apparatus for controlling a matrix of dielectric elastomers preventing interference |
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