US8502792B2 - Method and apparatus for providing haptic effects to a touch panel using magnetic devices - Google Patents
Method and apparatus for providing haptic effects to a touch panel using magnetic devices Download PDFInfo
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- US8502792B2 US8502792B2 US12/938,058 US93805810A US8502792B2 US 8502792 B2 US8502792 B2 US 8502792B2 US 93805810 A US93805810 A US 93805810A US 8502792 B2 US8502792 B2 US 8502792B2
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- 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
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
Definitions
- the present invention relates to the field of computer interface systems. More particularly, the present invention relates to a user interface device that provides haptic effect in response to user inputs.
- ATM automated teller machines
- point-of-sale terminals As computer-based systems, appliances, automated teller machines (ATM), point-of-sale terminals and the like become more prevalent, the ease of use of the human-machine interface is becoming more and more important. Such interfaces should operate intuitively and with little or no training so that they may be employed by virtually anyone.
- Many conventional user interface devices are available on the market and include the keyboard, the mouse, the joystick, the touch screen, and the touchpad.
- One of the most intuitive and interactive interface devices known is the touch panel, which is also known as a touch screen, a touch pad, a touch screen display, and so forth.
- a touch panel includes a touch-sensitive input panel and a display device, usually in a sandwich structure and provides a user with a machine interface through touching a panel sensitive to the user's touch and displaying content that the user “touches.”
- a touch panel can be a small planar rectangular pad, which can be installed in or near a computer, an automobile, ATM machines, and the like.
- a conventional touch-sensitive component of a touch panel employs various types of touch sensing technology such as capacitive sensing, pressure sensing and the like as known in the art to detect locations being pressed on the panel. For example, a user contacts the touch-sensitive panel commonly with a fingertip to emulate a button press and/or moves his or her finger on the panel according to the graphics displayed behind the panel on the display device.
- a problem associated with conventional touch panels is that they lack the capability of providing interactive tactile acknowledgements to indicate whether input has been accepted or rejected.
- a touch panel to provide an interactive tactile feedback to indicate whether a user's selection has been accepted or rejected and/or other appropriate or desirable effects.
- a touch panel assembly includes a touch-sensitive panel oriented along a plane.
- An actuator includes a frame having a first portion and a second portion at least partially oriented parallel to the plane. The first portion and the second portion are coupled together with a biasing element.
- a first magnetic device is coupled to the first portion.
- a second magnetic device is coupled to the second portion and positioned adjacent to the first magnetic device. The first magnetic device configured to move the first portion in a first direction parallel to the plane when energized by a current to cause a haptic effect to be felt on the touch sensitive panel.
- the biasing element applies a biasing force which causes the first portion to move in a second direction opposite to the first direction.
- a method for providing haptic effects in a touch panel assembly comprises measuring a touching contact with a touch-sensitive panel, wherein the touch-sensitive panel is oriented along a plane; generating a first signal in response to the touching contact; transmitting the first signal to a processor; generating a haptic output current signal in response to said first signal, wherein the haptic output current signal is transmitted to an actuator having a first portion coupled to the touch-sensitive panel and a second portion arranged to adjacent to the first portion, wherein the first portion and the second portion are oriented parallel to the plane, the actuator having a first magnetic device coupled to the first portion and a second magnetic device coupled to the second portion, wherein the haptic output current signal causes the first magnetic device and first portion to move in a first direction parallel to the plane to cause a haptic effect to be felt at the touch-sensitive panel, the actuator including a biasing element coupled to the first and second portions configured to apply a biasing force which causes the first portion to move in a second direction opposite
- FIG. 1 is an elevational diagram illustrating an actuator for providing haptic effects in accordance with one embodiment of the present invention
- FIG. 2 is an elevational diagram illustrating alternative electromagnetic components for generating attractive magnetic force in an actuator in accordance with one embodiment of the present invention
- FIG. 3 is an elevational diagram of an alternative embodiment of an actuator in accordance with the present invention.
- FIG. 4 is an elevational diagram of another embodiment of an actuator in accordance with the present invention.
- FIG. 5 is an elevational diagram of a system employing an actuator in accordance with one embodiment of the present invention.
- FIG. 6 is an elevational diagram illustrating a second equilibrium position of an actuator in accordance with one embodiment of the present invention.
- FIG. 7 is a front respective diagram of a system configured with a plurality of actuators in accordance with one embodiment of the present invention.
- FIG. 8 is a flow diagram illustrating a method for generating haptic effects in accordance with one embodiment of the present invention.
- FIG. 9 is a block diagram illustrating a system having an actuator in accordance with one embodiment of the present invention.
- Embodiments of the present invention are described herein in the context of a method and apparatus for providing haptic effects to a touch panel. Those of ordinary skill in the art will realize that the following detailed description of the present invention is illustrative only and is not intended to be in any way limiting. Other embodiments of the present invention will readily suggest themselves to such skilled persons having the benefit of this disclosure. Reference will now be made in detail to implementations of the present invention as illustrated in the accompanying drawings. The same reference indicators will be used throughout the drawings and the following detailed description to refer to the same or like parts.
- the present invention relates to a user interface system that, in one embodiment, includes a display, an actuator and a touch-sensitive panel.
- a housing such as a case, carrier, base, frame or the like may also be used to house the display, actuator and touch-sensitive panel.
- the actuator includes at least a pair of magnetic devices and at least one biasing element arranged to counter the gap-closing attractive force of the magnetic devices for providing haptic effects.
- FIG. 1 illustrates an actuator 100 for generating haptic effects in accordance with one embodiment of the present invention.
- Actuator 100 includes two L-shaped pole pieces 110 , 112 , first and second structural elements 102 and 104 and first and second biasing elements 106 and 108 .
- Pole pieces 110 , 112 may be made of standard magnetic steels with high permeability, or other suitable ferromagnetic materials such as soft magnetic materials with high magnetic permeability (e.g., iron, nickel, magnetic alloys) or sintered materials such as ferrite, as are well known to those of ordinary skill in the art. They need not be made of the same material and they are further coupled to coils 114 a , 114 b to form electromagnetic devices (“magnetic device”).
- Coils 114 a , 114 b which may be made of copper or other suitable electric conductors, are coupled to one or more current sources for generating magnetic fields when current passes through the coils 114 a , 114 b .
- one of the pole pieces need not include a coil as long, as it is formed of a ferromagnetic material.
- Actuator 100 further includes structural elements 102 , 104 and first and second biasing elements 106 , 108 to form a frame for the actuator 100 .
- structural elements 102 , 104 and biasing elements 106 , 108 can be manufactured out of a single piece of material such as metal or plastic.
- structural elements 102 , 104 and biasing elements 106 , 108 may be manufactured independently.
- First structural element 102 includes appertures 120 , 122 , which are used for coupling or fastening to a housing, a display or a touch-sensitive panel.
- structural element 104 also contains appertures 124 , 126 for similar coupling.
- Structural elements 102 , 104 are made of reasonably rigid materials, such as plastic, aluminum, and the like, for providing physical support for the pole pieces 110 , 112 .
- Biasing elements 106 , 108 which may be springs, flexure springs, flexible blades, flexible members, elastomeric components, foam components, and the like, are made of elastic or relatively flexible materials that can be compressed and/or stretched within a predefined range.
- the biasing elements 106 , 108 and structural elements 102 , 104 are made of a plastic material with the biasing elements formed to be made thinner (and hence more flexible) than the structural elements.
- pole pieces 110 and 112 are coupled to structural elements 102 and 104 , respectively.
- Pole piece 110 is placed adjacent to pole piece 112 with three magnetic gaps 140 , 142 and 144 between the pole pieces 110 , 112 .
- the width of the gap 144 situated between the main bodies of the pole pieces 110 , 112 is, in one embodiment, in a range of about 1 to about 5 millimeters (“mm”).
- the width of the gaps 140 , 142 is in one embodiment, in a range of about 0.25 to about 0.75 mm.
- Air pockets 130 , 132 which can be of any shape, provide space for pole pieces 110 , 112 to move. They are not required, however. Because gaps 140 , 142 are much smaller than gap 144 the attractive magnetic force at gaps 140 , 142 dominates over any attractive force across gap 144 .
- the biasing elements 106 , 108 provide minimal force if there is no current passing through the coils 114 and the actuator is (accordingly) in a relaxed state. Under this no power condition, the actuator attains a first equilibrium position as shown, for example, in FIG. 1 .
- an input current passes through the coil(s) creating magnetic flux lines 150 in the pole pieces 110 , 112 and across gaps 140 , 142 . This process acts to generate an attractive force or attractive magnetic force between the pole pieces 110 , 112 when the coils are wound so that the electromagnetic effects do not cancel one another.
- attractive force and attractive magnetic force are used interchangeably herein.
- the attractive magnetic force acts against the biasing elements 106 , 108 and pulls the pole pieces 110 , 112 closer together at the gaps 140 , 142 .
- the pole piece 112 moves in a direction from right to left (as indicated by arrow 138 ) toward the pole piece 110 .
- Pole piece 110 in this embodiment, may be fastened or secured to structural element 102 , which may be further secured to a housing, touch-sensitive panel or display device.
- the attractive force can be manipulated by varying an amount of current passing through the coils 114 a , 114 b .
- the acts of varying the magnitude, duration and pulse repetition of current passing through the coils 114 a , 114 b can be used to vary the level and quality of sensation provided by the haptic effect.
- the haptic effect which is also known as tactile, force feedback or haptic sensation, can be a pulse, vibration, spatial texture, weight or other physical properties sensible through feeling and touch.
- the term haptic effect and haptic sensation will be used interchangeably herein.
- the present invention allows a user to manipulate the frequency of the movements between the pole pieces 110 , 112 by adjusting the periodicity of applied input current.
- the input current means a current passing through the coils 114 a , 114 b for generating magnetic fields and magnetic flux in the pole pieces 110 , 112 and across the magnetic gaps 140 , 142 .
- input currents having different waveform shapes will produce different haptic effect; when an input current is in a square waveform, the haptic effect will be different than when the input current waveform has a sinusoidal shape.
- the frequency of haptic effects may have a range between about 40 and about 300 Hertz (Hz).
- actuator 100 may be made very compact in size. For example, in one embodiment actuator 100 may be about 1.5 inches long, 0.6 inches high and 0.3 inches deep. Depending on the orientation of the actuator 100 with respect to a touch-sensitive panel, it can excite either in-plane or out-of-plane motion between the touch-sensitive panel and the display device for haptic sensation. It should be noted that the L-shaped pole pieces as illustrated in FIG. 1 represent merely one embodiment and other arrangements of the pole pieces may also be used although the L-shaped pole pieces are believed to be relatively space efficient for this application.
- FIG. 2 illustrates two alternative embodiments of electromagnet components 200 and 220 capable of generating attractive magnetic force in accordance with the present invention.
- Electromagnet component 200 includes a C-shaped pole piece 202 , an I-shaped pole piece 204 , and a single coil 206 .
- Pole pieces 202 , 204 may be made of any suitable ferromagnetic materials as discussed above.
- C-shaped pole piece 202 is placed adjacent to pole piece 204 with two gaps 208 .
- the width of the gap 208 is approximately 0.5 mm.
- a magnetic flux 210 is generated.
- Magnetic flux 210 generates the attractive magnetic force between the pole pieces 202 , 204 .
- the attractive magnetic force causes the pole piece 204 to move closer to the pole piece 202 .
- the attractive magnetic force can cause pole piece 202 to move closer to pole piece 204 if pole piece 204 is relatively fixed. Haptic effects may be generated by the movements caused by the attractive magnetic force between the pole pieces 202 , 204 .
- Electromagnet component 220 includes an E-shaped pole piece 222 , an I-shaped pole piece 224 , and a coil 226 .
- Pole pieces 222 , 224 may be constructed as discussed above.
- E-shaped pole piece 222 is placed adjacent to the I-shaped pole piece 224 with a gap 228 .
- the width of the gap 228 is approximately 0.5 mm.
- magnetic flux lines 230 are generated.
- Magnetic flux lines 230 cause an attractive magnetic force between pole pieces 222 , 224 .
- the attractive magnetic force causes pole piece 224 to move closer to pole piece 222 and effectively narrow the width of the gap 228 .
- the attractive magnetic force causes the pole piece 222 to move closer to pole piece 224 if pole piece 224 is fastened to housing.
- a haptic effect may be generated by movements between the pole pieces.
- FIG. 3 is an actuator 300 illustrating an alternative embodiment of the actuator illustrated in FIG. 1 in accordance with one embodiment of the present invention.
- Actuator 300 includes two L-shaped pole pieces 110 , 112 , structural elements 102 , 104 , and biasing element 302 .
- Pole pieces 110 , 112 are further coupled to coils 114 a , 114 b to form magnetic devices.
- Coils 114 a , 114 b are coupled to one or more current sources for causing magnetic flux in pole pieces 110 , 112 .
- Actuator 300 further includes structural elements 102 , 104 and biasing element 302 to form a frame. It should be noted that structural elements 102 , 104 and biasing element 302 can be manufactured at the same time and on a single frame. Alternatively, structural elements 102 , 104 and biasing element 302 may be formed as separate structures that are then assembled together. Structural elements 102 , 104 are fabricated or discussed above to provide physical support for the pole pieces 110 , 112 .
- Biasing element 302 which may be formed as described above, is made of an elastic material that may be compressed or stretched within a predefined range. Referring to FIG. 3 , it should be noted that biasing element 302 may be located anywhere as long as it is coupled with structural elements 102 , 104 and provides its biasing or spring function in opposition to the attractive gap-closing magnetic force of the magnetic devices.
- FIG. 4 is an alternative embodiment of an actuator 400 in accordance with one embodiment of the present invention.
- Actuator 400 includes two L-shaped pole pieces 110 , 112 , structural elements 102 , 104 , and biasing elements 402 , 404 .
- Pole pieces 110 , 112 are further coupled to coils 114 a , 114 b to form magnetic devices.
- Coils 114 a , 114 b are coupled to one or more current sources for creating magnetic flux in pole pieces 110 , 112 .
- Actuator 400 further includes structural elements 102 , 104 and biasing elements 402 , 404 to form a frame that allows some movements between the structural elements 102 , 104 .
- structural elements 102 , 104 and biasing elements 402 , 404 are manufactured separately and they need to be assembled to form a frame.
- Structural elements 102 , 104 are made of rigid materials, such as plastic, steel, aluminum, and so forth, to provide physical support for the pole pieces 110 , 112 .
- Biasing elements 402 , 404 may be implemented as discussed above and may be made of elastic materials that can be compressed or stretched within a predefined range. Referring to FIG. 4 , it should be noted that any type of biasing element may be used as long as it facilitates movement between the pole pieces 110 , 112 and may be arranged to counter the attractive gap-closing force of the magnetic devices.
- FIG. 5 illustrates a system having an actuator 100 in accordance with one embodiment of the present invention.
- the system includes a case 502 , a touch-sensitive panel 504 , and an actuator 100 .
- Actuator 100 includes two L-shaped pole pieces 110 , 112 , structural elements 102 , 104 , and biasing elements 106 , 108 .
- Pole pieces 110 , 112 are further coupled to coils 114 a , 114 b to form magnetic devices.
- Coils 114 a , 114 b are coupled to one or more current sources for creating magnetic flux in pole pieces 110 , 112 .
- Biasing elements 106 , 108 may be implemented as discussed above and may be made of elastic materials that may be compressed or stretched within a predefined range.
- one side of actuator 100 is coupled to the case 502 while another side of actuator 100 is coupled to the touch-sensitive panel 504 .
- Structural element 102 is fastened to the case 502 .
- the case 502 is rigid and does not move easily.
- appertures 120 , 122 may be used by fasteners to couple the structural element 102 to the case 502 .
- Structural element 104 is, in turn fastened to a touch-sensitive panel 504 .
- Touch-sensitive panel 504 in one embodiment, may be made of relatively flexible transparent materials.
- holes 124 , 126 may be used to fasten the structural element 104 to the touch-sensitive panel 504 .
- the attractive gap-closing force between pole pieces 110 and 112 starts to increase.
- the attractive force causes the pole piece 112 to be attracted to the pole piece 110 where pole piece 110 is held fixed.
- Pole piece 112 begins to move toward the pole piece 110 to close the gaps 140 , 142 until it reaches a second equilibrium position as illustrated in FIG. 6 .
- the attractive force between pole pieces 110 and 112 begins to reduce and consequently, the pole piece 112 begins to move back to its original position in response to the return force provided by the biasing elements 106 , 108 .
- the biasing elements 106 , 108 continue to force the pole piece 112 to move back until it reaches the first equilibrium position as shown in FIG. 1 .
- the movements between the pole pieces 110 , 112 cause similar movements between the structural elements 102 , 104 .
- the movements between the structural elements 102 , 104 generate haptic effects or haptic sensation. Since touch-sensitive panel 504 is fastened to structural element 104 , haptic effects on the touch-sensitive panel 504 occur when the movement between the structural elements 102 , 104 occurs.
- haptic effects may excite either in-plane or out-of-plane motion with respect to the touch-sensitive panel 504 .
- FIG. 6 illustrates, in a somewhat exaggerated manner to improve visibility, a second equilibrium position of an actuator 600 in accordance with one embodiment of the present invention.
- Actuator 600 which is similar to actuator 100 , includes two L-shaped pole pieces 110 , 112 , structural elements 102 , 104 , and biasing elements 602 , 604 .
- Pole pieces 110 , 112 are further coupled to coils 114 a , 114 b to form magnetic devices.
- Coils 114 a , 114 b are coupled to one or more current sources for generating magnetic flux in pole pieces 110 , 112 .
- the biasing elements 602 , 604 provide minimal force to keep the actuator 600 in the first equilibrium position as described and shown in FIG. 1 .
- the input current passes through the coils 114 and generates magnetic flux in the pole pieces 110 , 112 .
- Magnetic flux causes an attractive magnetic force between the pole pieces 110 , 112 across gaps 140 , 142 .
- the attractive magnetic force acts against the biasing elements 602 , 604 and pulls the pole pieces 110 , 112 closer together at the gaps 140 , 142 .
- Pole piece 110 in this embodiment, may be secured to a case via the structural element 102 , while pole piece 112 is secured to a touch-sensitive panel via the structural element 104 .
- the attractive magnetic force causes the pole piece 112 to move from right to left (as indicated by 138 ) toward the pole piece 110 .
- a second equilibrium position is reached as shown in FIG. 6 .
- the biasing elements 602 , 604 force the pole piece 112 back to the first equilibrium position as discussed earlier.
- FIG. 7 illustrates a system configuration having an actuator in accordance with one embodiment of the present invention.
- the system configuration includes a touch-sensitive panel 702 , a display panel 704 , and a case 706 .
- Touch-sensitive panel 702 in one embodiment, is made of substantially transparent materials, and is capable of transmitting light so that objects or images displayed in the display 704 may be seen through the touch-sensitive panel 702 .
- the display 704 can be any type of display such as a cathode ray tube (CRT), liquid crystal display (LCD), plasma display, flat panel display or the like or could even be a static illustration. Both touch-sensitive panel 702 and display 704 may be installed in the case 706 .
- the touch-sensitive panel 702 and the display 704 may be located separately with the actuator mounted between the touch-sensitive panel 702 and a relatively fixed location so that haptic effects are provided to the touch-sensitive panel but the display is located elsewhere.
- touch-sensitive panel 702 is further divided into various regions 720 and the regions are further separated by borders 722 .
- Touch-sensitive panel 702 accepts a user's selection when only a region 720 is touched. Conversely, touch-sensitive panel 702 rejects a user's selection when a border 722 is touched.
- Touch-sensitive panel 702 further includes four actuators 710 and, depending on their orientation, actuators 710 can excite either in-plane or out-of-plane motion with respect to the touch-sensitive panel 702 for haptic sensation. Actuators 710 may be installed to move touch-sensitive panel for relative to display 704 .
- FIG. 8 is a flow diagram illustrating a method for generating a haptic effect in accordance with one embodiment of the present invention.
- a process for generating haptic sensation starts at block 802 .
- the process can be activated by a user who touches a touch-sensitive panel possibly in a predetermined location or locations.
- the process is activated by a touch signal or contact signal sent by the touch-sensitive panel, which indicates that a selection has been made by a user.
- the process receives a contact signal from the touch-sensitive, which may be sent by a touch-sensitive panel according to a selection made by a user.
- a computer or controller sends a contact signal.
- the process moves to the next block 806 .
- the process instructs a controller to provide an input current according to the contact signal.
- the input current is passing through at least one electromagnet device of an actuator to generate magnetic flux in a pair of pole pieces.
- the magnetic flux creates attractive magnetic force between the electromagnet devices which opposes a biasing force imparted by biasing elements arranged to counter the attractive magnetic force.
- the attractive magnetic force causes the pole pieces of the electromagnet devices to attract to each other. The process moves to the next block.
- the attractive magnetic force creates a movement between the electromagnet devices.
- one pole piece of one electromagnet device is physically moved closer to another pole piece of another electromagnet device.
- the current is removed.
- a biasing element provides a bias force or return force to control the movement between the electromagnet devices within a predefined range.
- the haptic effect is generated in response to the movement between the electromagnet devices. It should be noted that the frequency and amplitude of the movements between the electromagnet devices can be controlled by controlling the input current.
- FIG. 9 is a block diagram illustrating a system having an actuator in accordance with one embodiment of the present invention.
- the system includes a computer or central processing unit (CPU) 906 with appropriate interfaces 908 to a memory 910 for storing program steps for controlling the processor 906 , 912 for controlling a display device 914 , 916 for communicating with a touch-sensitive panel 918 and 920 for driving an amplifier circuit (if required) which in turn drives actuator 924 .
- Actuator 924 is arranged to create relative movement between display device 914 and touch-sensitive panel 918 . The relative movement may be in the plane of the touch-sensitive panel, out of the plane of the touch-sensitive panel, or same combination of the two.
- Computer 906 which can be any general purpose computer operating under the control of suitable software and for firmware, is coupled to amplifier 922 via connection 928 and instructs amplifier 922 to provide input current to the actuator 924 over connection 930 .
- amplifier 922 Upon receipt of an instruction from the computer 906 , amplifier 922 provides an input current to the actuator 924 via connection 930 .
- Actuator 924 provides a haptic sensation or effect to the touch-sensitive panel 918 .
- the processor 906 (or, potentially, another device (not shown) provides a display image or image to display device 914 .
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US12/938,058 US8502792B2 (en) | 2005-05-12 | 2010-11-02 | Method and apparatus for providing haptic effects to a touch panel using magnetic devices |
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US11/128,717 US7825903B2 (en) | 2005-05-12 | 2005-05-12 | Method and apparatus for providing haptic effects to a touch panel |
US12/938,058 US8502792B2 (en) | 2005-05-12 | 2010-11-02 | Method and apparatus for providing haptic effects to a touch panel using magnetic devices |
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US8502792B2 true US8502792B2 (en) | 2013-08-06 |
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US20170092086A1 (en) * | 2015-09-25 | 2017-03-30 | Oculus Vr, Llc | Transversal actuator for haptic feedback |
US10613629B2 (en) | 2015-03-27 | 2020-04-07 | Chad Laurendeau | System and method for force feedback interface devices |
US11652394B2 (en) | 2018-11-22 | 2023-05-16 | Innovobot Inc. | Haptic solenoid assembly with a solenoid vibration-damping system |
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US8405618B2 (en) | 2006-03-24 | 2013-03-26 | Northwestern University | Haptic device with indirect haptic feedback |
US8210942B2 (en) * | 2006-03-31 | 2012-07-03 | Wms Gaming Inc. | Portable wagering game with vibrational cues and feedback mechanism |
FR2905195B1 (en) * | 2006-08-23 | 2008-10-10 | Dav Sa | CONTROL MODULE, IN PARTICULAR FOR MOTOR VEHICLE |
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US20110043474A1 (en) | 2011-02-24 |
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