WO2021122749A1 - Kalibrieren eines virtuellen kraftsensors eines robotermanipulators - Google Patents
Kalibrieren eines virtuellen kraftsensors eines robotermanipulators Download PDFInfo
- Publication number
- WO2021122749A1 WO2021122749A1 PCT/EP2020/086423 EP2020086423W WO2021122749A1 WO 2021122749 A1 WO2021122749 A1 WO 2021122749A1 EP 2020086423 W EP2020086423 W EP 2020086423W WO 2021122749 A1 WO2021122749 A1 WO 2021122749A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- robot manipulator
- external power
- robot
- determined
- winder
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L27/00—Testing or calibrating of apparatus for measuring fluid pressure
- G01L27/002—Calibrating, i.e. establishing true relation between transducer output value and value to be measured, zeroing, linearising or span error determination
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37537—Virtual sensor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39059—Sensor adaptation for robots by software
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39529—Force, torque sensor in wrist, end effector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40599—Force, torque sensor integrated in joint
Definitions
- the invention relates to a method for calibrating a virtual force sensor of a robot manipulator and a robot system with a robot arm and with a control unit for applying this calibration.
- the object of the invention is to improve the implementation of a virtual force sensor on a robot manipulator or robot arm.
- a first aspect of the invention relates to a method for calibrating a virtual force sensor of a robot manipulator, the virtual force sensor being used to determine an external power winder acting on the robot manipulator on the basis of torques determined by torque sensors in joints of the robot manipulator, the robot manipulator in a plurality of poses proceeding or being guided manually and performing the following steps in each of the poses:
- a pose of the robot manipulator indicates in particular the entirety of the positions and the orientations of all limbs including an end effector, if any, of the robot manipulator. If the complete information about a pose is known, the robot manipulator can be moved into a clear "posture" by all drives, especially at its joints.
- An external power winder indicates forces and / or moments that act on the robot manipulator from the environment and vice versa, the external force winder generally having three components for forces and three components for moments.
- the predetermined external force winder is preferably the same force winder, that is to say constant, over all poses of the robot manipulator.
- a different power winder is preferably provided for at least two of the poses, which advantageously also takes into account those poses that would at least partially behave singularly in the case of a constant force winder, that is, in at least some of the joints of the robot manipulator that connect the links Power of the power winder, without generating a moment in the joint, is passed linearly through this joint in the direction of the nearest proximal limb.
- An example of such a singular pose is when all links of the robot manipulator are aligned on a common straight line and the external power winder has only one force vector in the direction of precisely this common straight line to the base of the robot manipulator.
- an estimate of this external power winder is determined by the virtual force sensor.
- the torque sensors on the joints can be selected from the large number of torque sensors known in the prior art.
- the torque sensors are mechanical torque sensors in which an expansion of a flexibly elastic material, for example in the spokes of the respective torque sensor, is detected, whereby knowledge of the material constants can be used to infer an applied torque.
- a first part of the moment results from the kinematic forces and moments, in particular the Coriolis acceleration and the centrifugal acceleration.
- a further part of the measured moment is attributable to the influence of gravity, regardless of the movement of the robot manipulator.
- the (pseudo) inverse of the transpose of the Jacobian matrix is required in order to infer an estimate of the specified external power winder with its current reference point from the external moments determined in this way.
- the pseudo inverse (instead of the inverse itself) is required in particular when the robot manipulator is a redundant manipulator, that is to say that at least two of the joints connecting the links have redundant degrees of freedom to one another.
- members of the robot manipulator in particular can be moved without changing an orientation and / or a position of the end effector of the robot manipulator.
- the Jacobian matrix basically links the angular speeds at the joints to the translational and rotational speed at any point, in particular at a distal end of the robot manipulator. In principle, however, it is irrelevant whether speeds are actually considered; so the Jacobian matrix can also be used for the relationship between the moments at the joints and the forces and moments at any given point.
- the transpose of the Jacobian matrix / namely J T , mediates between the external force winder F ext to the vector of the determined external torques r et as follows:
- the direction and the amount of the specified external power winder are known by definition, since the known amount of the specification of the external power winder is also applied.
- the estimate of the external power winder is also known in each individual pose of the robot manipulator in which an external power winder is applied.
- a respective cost function is then determined on the basis of a norm of a difference between the determined estimate of the external power winder and the specified external power winder or on the basis of a difference between a norm of the determined estimate of the external power winder and a norm of the specified external power winder.
- a cost function / (according to the following scheme is determined:
- a cost function is determined according to the following scheme:
- the first case is preferably used for the general case of several components of forces and / or moments in the external force winder
- the second case is particularly suitable for considering a single component, especially when the specified external force winder always moves in the same direction shows, which is especially the case when attaching an external load with a given mass.
- a respective calibration function is determined by minimizing the respective cost function, the calibration function being used to adapt an external power winch that is currently determined in later operation, i.e. the goal is to solve the rule minK (x) according to the variables and / or parameters x of the calibration function .
- the steps of ascertaining an estimate of the external power winder, ascertaining a respective calibration function by ascertaining a respective cost function and minimizing it, and storing the respective calibration function in each case by a computing unit are preferably carried out.
- the computing unit is connected in particular to the robot manipulator.
- the computing unit is particularly preferably arranged on the robot manipulator itself, in particular on a socket or a base of the robot manipulator.
- the predetermined external power winder is applied to the robot manipulator at a distal end of the robot manipulator.
- An end effector is preferably arranged at the distal end of the robot manipulator. Since contact forces of the robot manipulator, apart from unexpected collisions, typically take place between the end effector and an object in the vicinity of the robot manipulator, this embodiment advantageously takes this into account, so that the calibration, in particular with regard to a force winder, between the end effector at the distal end of the robot manipulator and the Environment of the robot manipulator takes place.
- the plurality of poses of the robot manipulator is preferably defined by an equidistant grid of positions for a reference point of the robot manipulator with respect to a fixed coordinate system, which advantageously takes into account at least approximately all possible positions of the reference point of the robot manipulator (possibly with several poses per grid point for a redundant robot manipulator) However, a very high number of grid points must also be taken into account.
- a task is therefore specified for the robot manipulator, the task is analyzed, and working points to be traversed are identified during the execution of the task, the respective poses of the robot manipulator being selected such that one of the working points and a reference point of the robot manipulator are in each case match a respective pose.
- the reference point of the robot manipulator is in particular a reference point on the distal end of the robot manipulator, and in particular on the end effector.
- the reference point is in particular connected to the robot manipulator so that it is fixed to the body, in particular to a location on the surface of the robot manipulator, that is, it does not perform any relative movement with respect to this selected location, even when the robot manipulator moves.
- the calibration is advantageously adapted specifically to a task to be carried out by the robot manipulator and the number of grid points is significantly reduced.
- the robot manipulator is a redundant robot manipulator and the estimate of the external power winder is determined using the pseudo inverse of the transpose of the Jacobian matrix current for the respective pose of the robot manipulator.
- a redundant robot manipulator has redundant degrees of freedom with respect to one another. This means in particular that links of the robot manipulator can move without changing the orientation of a specific link, in particular an end effector of the robot manipulator, and / or a position of a predetermined reference point, in particular at the distal end of the robot manipulator.
- the redundant robot manipulator is moved over a plurality of poses in its null space and a separate calibration function is determined and stored for each of the plurality of poses.
- This embodiment also takes into account changing inaccuracies in the estimation of an external power winder by changing the pose of the robot manipulator in its null space.
- the respective cost function is minimized by a gradient-based method.
- the parameter cr is preferably determined with the help of a line search method, the so-called "line search", so that the local minimum is searched for in the possibly higher-dimensional parameter space of x after determining the search direction along this search direction and, when this local minimum is reached, a new search direction is found by determining a new current one Gradient of the cost function (VK) determined there is determined.
- the gradient-based search method is preferably expanded to include curvature information of the cost function and thus quadratic optimization is used.
- the use of a gradient-based method advantageously provides a deterministic algorithm with sufficiently rapid convergence in the direction of a local or ideally global optimum of the cost function in order to minimize it.
- the respective cost function is minimized by a genetic or evolutionary method.
- Genetic algorithms or evolution algorithms are based in particular on the random principle, according to which starting points of x are selected more or less randomly and / or values of x are recombined with the potential to converge to a local or global minimum. While genetic and evolutionary algorithms have a higher chance of finding the global minimum (as opposed to a local minimum), their computing time can significantly exceed the gradient-based methods.
- the specified external power winder is applied to the robot manipulator by attaching a load with a specified mass to the robot manipulator.
- a load with a specified mass is very reliable ensures that the external power winder always acts in the same direction with respect to an earth-fixed coordinate system and always with the same strength.
- the predetermined external power winder is applied to the robot manipulator by connecting a mechanical spring of the robot manipulator to a support so that the mechanical spring is pretensioned and exerts a force on the robot manipulator.
- the mechanical support is preferably arranged on a second manipulator, preferably on an end effector of the second manipulator.
- the application of the specified external power winder on the robot manipulator takes place by moving the robot manipulator, so that specified accelerations occur on the robot manipulator due to the inertial mass of the robot manipulator.
- the moments from the movement of the robot manipulator are correspondingly not taken into account in the expected moments, since precisely these moments are to be recorded and an estimate of the external powerhouse is determined therefrom.
- neither a load with additional mass on the robot manipulator nor the connection with a spring nor the application of other external forces and / or moments is necessary, since only the movement that can be executed by the robot manipulator itself is used to calibrate the virtual force sensor.
- Another aspect of the invention relates to a robot system with a robot arm and with a control unit, the control unit being designed to execute a virtual force sensor on the robot arm, the virtual force sensor serving to determine an external force winder acting on the robot manipulator and the external force winder on the basis of moments determined by moment sensors in joints of the robot arm and on the basis of expected moments acting on the robot arm and on the basis of the inverted or pseudo-inverted of the transpose of the respective pose-dependent current Jacobian matrix, the control unit being designed to respond to the currently determined external force winder apply pose-dependent calibration, and the calibration from the data set generated by a method of all calibration functions by selecting a specific one of the respective to generate at least two of the calibration functions assigned to the current pose of the robot arm or by generating an interpolation, the respective poses of the at least two specific ones of the calibration functions being closest to the respective current pose of the robot arm.
- 1 shows a method for calibrating a virtual force sensor of a
- FIG. 2 shows a robot manipulator on which the method according to FIG. 1 is carried out
- FIG. 3 shows a robot system for using the result of the calibration according to FIG. 1 according to a further exemplary embodiment of the invention.
- the robot manipulator 1 shows a method for calibrating a virtual force sensor of a robot manipulator 1.
- the robot manipulator 1 is moved into a large number of poses by appropriately activating its drives. This is a redundant robot manipulator 1. Therefore, for a common position of the distal end 5 of the robot manipulator 1, a multitude of poses of the robot manipulator 1 are assumed by the redundant robot manipulator 1 being moved over a multitude of poses in its null space. In each of the poses, the robot manipulator 1 is kept motionless for a certain period of time in order to repeat the following steps, that is to say on each of the poses: First, a given external power winder with given forces and moments is applied to the distal end 5 of the robot manipulator 1 applied S1. This is done by an external test unit (not shown in FIG. 1).
- a respective cost function is then ascertained S3 on the basis of a norm of a difference between the ascertained estimate of the external power winder and the specified external power winder.
- the cost function is determined for each of the poses of the robot manipulator 1 as:
- the two-norm of the difference between the estimate of the external power winder F ext, es t and the a priori known specification of the external power winder F ext reai is taken to the square.
- the scalar result of this rule corresponds to the cost function.
- the determination S4 follows a respective calibration function by minimizing the respective cost function using a gradient-based method.
- the parameter cr is preferably determined with the aid of a line search method, the so-called "line search", so that the local minimum is searched for in the possibly higher-dimensional parameter space of x after determining the search direction along this search direction and, when this local minimum is reached, its new search direction by determining gradients determined by the cost function (VK).
- VK cost function
- FIG. 2 shows such a robot manipulator 1 with its components, the torque sensors 3 and its distal end 5 of the robot manipulator 1.
- the redundant degrees of freedom of the robot manipulator 1 are symbolically symbolized by a large number of joints with joint axes parallel to one another. The method as described under FIG. 1 is carried out on this robot manipulator 1. Reference is made to the explanations relating to FIG. 1.
- FIG. 3 shows a robot system 10 with a robot arm 12 and with a control unit 14.
- the robot system 10 is symbolically represented in FIG. 3 with a different robot arm 12 than the robot manipulator 1 from FIG Calibration according to the explanations for FIG. 1 and for FIG. 2 can be transferred to a further robot system 10 without the calibration itself having taken place.
- the control unit 14 of the robot system 10 is arranged on a base of the robot arm 12 and executes a virtual force sensor on the robot arm 12, the virtual force sensor serving to determine an external force winder currently acting on the robot arm 12, and the external force winder based on Torque sensors 13 in the joints of the robot arm 12 determined moments and on the basis of expected moments acting on the robot arm 12 and on the basis of the inverse or pseudo-inverse of the transpose of the current pose-dependent Jacobian matrix.
- the control unit 14 also applies a pose-dependent calibration function to the currently determined external force winder, the calibration function being derived from the method according to the explanations relating to FIG.
- 1 generated data set of all second calibration matrices is determined by selecting a specific calibration function assigned to the respective current pose of the robot arm 12, that is to say the closest calibration function.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
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Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP20837949.5A EP4076867A1 (de) | 2019-12-17 | 2020-12-16 | Kalibrieren eines virtuellen kraftsensors eines robotermanipulators |
KR1020227023983A KR20220113785A (ko) | 2019-12-17 | 2020-12-16 | 로봇 조작기의 가상 힘 센서 보정 |
US17/784,830 US20230008146A1 (en) | 2019-12-17 | 2020-12-16 | Calibrating a virtual force sensor of a robot manipulator |
CN202080086711.9A CN114829081A (zh) | 2019-12-17 | 2020-12-16 | 机器人操纵器的虚拟力传感器的校正 |
JP2022537895A JP2023508912A (ja) | 2019-12-17 | 2020-12-16 | ロボットマニピュレータの仮想力センサの較正 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102019134665.7A DE102019134665B3 (de) | 2019-12-17 | 2019-12-17 | Kalibrieren eines virtuellen Kraftsensors eines Robotermanipulators |
DE102019134665.7 | 2019-12-17 |
Publications (1)
Publication Number | Publication Date |
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WO2021122749A1 true WO2021122749A1 (de) | 2021-06-24 |
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ID=73460077
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/EP2020/086423 WO2021122749A1 (de) | 2019-12-17 | 2020-12-16 | Kalibrieren eines virtuellen kraftsensors eines robotermanipulators |
Country Status (7)
Country | Link |
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US (1) | US20230008146A1 (de) |
EP (1) | EP4076867A1 (de) |
JP (1) | JP2023508912A (de) |
KR (1) | KR20220113785A (de) |
CN (1) | CN114829081A (de) |
DE (1) | DE102019134665B3 (de) |
WO (1) | WO2021122749A1 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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US11999059B2 (en) * | 2020-12-18 | 2024-06-04 | Boston Dynamics, Inc. | Limiting arm forces and torques |
US11931898B2 (en) | 2020-12-22 | 2024-03-19 | Boston Dynamics, Inc. | Arm and body coordination |
US11931885B2 (en) * | 2021-10-29 | 2024-03-19 | Ubkang (Qingdao) Technology Co., Ltd. | Touch sensing method and serial manipulator using the same |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2016110320A1 (en) * | 2015-01-07 | 2016-07-14 | Abb Technology Ag | Method for estimation of external forces and torques on a robot arm |
DE102017215642B3 (de) * | 2017-09-06 | 2018-12-27 | Kuka Systems Gmbh | Verfahren zum Steuern eines Roboters |
Family Cites Families (10)
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JP4735795B2 (ja) * | 2003-12-26 | 2011-07-27 | 独立行政法人 宇宙航空研究開発機構 | 冗長マニピュレータの制御方法 |
JP5109573B2 (ja) * | 2007-10-19 | 2012-12-26 | ソニー株式会社 | 制御システム及び制御方法、並びにロボット装置 |
DE102013010290A1 (de) * | 2013-06-19 | 2014-12-24 | Kuka Laboratories Gmbh | Überwachen eines kinematisch redundanten Roboters |
DE102013019450A1 (de) * | 2013-11-21 | 2015-05-21 | Daimler Ag | Verfahren zum Vermeiden einer Kollision eines Roboters mit einem Objekt |
DE102015205176B3 (de) * | 2015-03-23 | 2016-05-12 | Kuka Roboter Gmbh | Robustes intuitives Bedienverfahren durch Berührung eines Manipulators |
DE102015008144B4 (de) * | 2015-06-24 | 2024-01-18 | Kuka Roboter Gmbh | Umschalten einer Steuerung eines Roboters in einen Handführ-Betriebsmodus |
DE102015009151A1 (de) * | 2015-07-14 | 2017-01-19 | Kuka Roboter Gmbh | Ermitteln eines Eingabebefehls für einen Roboter, der durch manuelles Ausüben einer Kraft auf den Roboter eingegeben wird |
DE102015012959B4 (de) * | 2015-10-08 | 2019-01-17 | Franka Emika Gmbh | Robotersystem und Verfahren zur Steuerung eines Robotersystems |
DE102018112360B3 (de) * | 2018-05-23 | 2019-09-19 | Franka Emika Gmbh | Bereichsabhängige Kollisionsdetektion für einen Robotermanipulator |
DE202019102430U1 (de) * | 2019-04-30 | 2019-06-05 | Franka Emika Gmbh | Ermittlung eines externen Kraftwinders durch Drehmomentsensoren eines Robotermanipulators |
-
2019
- 2019-12-17 DE DE102019134665.7A patent/DE102019134665B3/de active Active
-
2020
- 2020-12-16 EP EP20837949.5A patent/EP4076867A1/de active Pending
- 2020-12-16 KR KR1020227023983A patent/KR20220113785A/ko not_active Application Discontinuation
- 2020-12-16 CN CN202080086711.9A patent/CN114829081A/zh active Pending
- 2020-12-16 JP JP2022537895A patent/JP2023508912A/ja active Pending
- 2020-12-16 US US17/784,830 patent/US20230008146A1/en active Pending
- 2020-12-16 WO PCT/EP2020/086423 patent/WO2021122749A1/de unknown
Patent Citations (2)
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WO2016110320A1 (en) * | 2015-01-07 | 2016-07-14 | Abb Technology Ag | Method for estimation of external forces and torques on a robot arm |
DE102017215642B3 (de) * | 2017-09-06 | 2018-12-27 | Kuka Systems Gmbh | Verfahren zum Steuern eines Roboters |
Non-Patent Citations (1)
Title |
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WAHRBURG ARNE ET AL: "Contact force estimation for robotic assembly using motor torques", 2014 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE), IEEE, 18 August 2014 (2014-08-18), pages 1252 - 1257, XP032669836, DOI: 10.1109/COASE.2014.6899487 * |
Also Published As
Publication number | Publication date |
---|---|
EP4076867A1 (de) | 2022-10-26 |
US20230008146A1 (en) | 2023-01-12 |
CN114829081A (zh) | 2022-07-29 |
KR20220113785A (ko) | 2022-08-16 |
DE102019134665B3 (de) | 2020-12-10 |
JP2023508912A (ja) | 2023-03-06 |
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