WO2000030186A1 - Vibration actuator - Google Patents
Vibration actuator Download PDFInfo
- Publication number
- WO2000030186A1 WO2000030186A1 PCT/DK1999/000626 DK9900626W WO0030186A1 WO 2000030186 A1 WO2000030186 A1 WO 2000030186A1 DK 9900626 W DK9900626 W DK 9900626W WO 0030186 A1 WO0030186 A1 WO 0030186A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vibration
- elastic member
- vibration actuator
- actuator according
- force output
- Prior art date
Links
- 238000005452 bending Methods 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 230000005284 excitation Effects 0.000 claims abstract description 6
- 238000000034 method Methods 0.000 claims description 9
- 230000006835 compression Effects 0.000 claims description 8
- 238000007906 compression Methods 0.000 claims description 8
- 238000013178 mathematical model Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 239000013078 crystal Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000002050 diffraction method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000007429 general method Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920000136 polysorbate Polymers 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/108—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors around multiple axes of rotation, e.g. spherical rotor motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/001—Driving devices, e.g. vibrators
- H02N2/0015—Driving devices, e.g. vibrators using only bending modes
-
- H—ELECTRICITY
- H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N30/00—Piezoelectric or electrostrictive devices
- H10N30/20—Piezoelectric or electrostrictive devices with electrical input and mechanical output, e.g. functioning as actuators or vibrators
- H10N30/204—Piezoelectric or electrostrictive devices with electrical input and mechanical output, e.g. functioning as actuators or vibrators using bending displacement, e.g. unimorph, bimorph or multimorph cantilever or membrane benders
- H10N30/2041—Beam type
Definitions
- the present invention relates to a vibration actuator as described in the descriptive part of claim 1.
- the invention relates further to a method for generating a vibration in an elastic member.
- Actuators to generate mechanical torque are usually single axes devices. These single axes devices can be combined in cases where torque is needed in two or three dimensions. However, the result is often heavy and expensive equipment.
- the described actuator is a vibration actuator that is compact and capable of motion around multiple axes.
- the vibration actuator includes a vibration element having drive force output members, and a relative moving member having a curved surface. The curved surface contacts the drive force output member to generate relative motion of the relative moving member with respect to the vibration element.
- the vibration element includes a frame shaped elastic member having the drive force output members attached thereto, and having electromechanical converting elements, usually piezoelectric elements, contacting the elastic member. When the electromechanical converting elements are excited by a drive voltage, vibrations are generated in the elastic member to produce a drive force which is transmitted to the relative moving member via the drive force output members.
- the vibration element can be controlled to generate relative motion in various directions by selectively controlling the electromechanical converting elements which are excited by a drive voltage.
- the electromechanical converting elements are excited by voltages to achieve in the drive output force members a combination of two kinds of vibration, a longitudinal vibration parallel with the plane containing the points of contact between the driving force output members and the relative moving member, and a bending vibration in a direction intersecting the plane.
- the longitudinal and bending vibrations are combined to generate an elliptical motion of the output members.
- a vibration actuator mentioned by way of introduction characterised in that the excitation of the electromechanical converting elements generates a vibration which is a sum of partial vibrations, where each partial vibration is a bending vibration.
- the vibration is a sum of vibrations in the first and the second bending mode.
- the relative motion member may have a spherical shape or be shaped as part of a sphere.
- the actuator comprises a number of elastic elements, each of the elastic members comprises at least two electromechanical converting elements.
- the elastic elements comprises four electromechanical converting elements arranged in pairs on each side of the elastic member.
- the electromechanical converting elements are pref- erably piezoelectric elements.
- the elastic elements can be made of any elastic material, for example metal, glass, plastic, or a composite material
- the driving force output member on the elastic member is according to a further embodiment of the invention located between two electromechanical elements that are located on one side of the elastic member.
- the shape of the vibration element according to a further embodiment of the invention is polygonal, preferably triangular. Each side of the polygon comprises an elastic member.
- the locations for the connections between the elastic members coincide with the location of nodes of the wave-formed bend of the elastic members during the bending vibration.
- the actuator in a further embodiment of the invention comprises a compression element, that presses the relative moving member against the driving force output member. This is also a way to avoid that the relative moving member, preferably a sphere, falls out of the actuator. Furthermore, the friction between the surface of the relative moving member and the driving force output members can be increased.
- a second vibration element is comprised by the actuator, wherein the second vibration element is arranged on the opposite side of the relative moving member and arranged parallel to the first vibration element.
- a further advantage of the present invention is a general method of generating vibra- tions in a plate shaped elastic member where at least two electromechanical converting elements are attached to a surface of the elastic member, the electromechanical converting elements being excited by impressing driving voltages thereon to generate the vibration of the elastic member, wherein the vibration of the elastic member is a sum of partial vibrations, where each partial vibration is a bending vibration.
- the partial vibrations are in the first and second bending mode.
- the method is general in that it is applicable in other devices than vibration actuators, however, the application in a vibration actuator is preferred
- Fig.1 shows a simple form of a resonator
- Fig.2 shows a piezo resonator with four piezo elements
- Fig.3 illustrates the first mode bending of a resonator
- Fig.4 illustrates the second mode bending of a resonator
- Fig.5 illustrates the figure-8 curve motion of the end part of the contact tip
- Fig.6 is an oblique view of a vibration actuator in accordance with one embodiment of the invention
- Fig.7 illustrates, how the contact tip exerts force on the sphere
- Fig.8 illustrates in detail the motion of the contact tip and the exerted force on the sphere
- Fig.9 is a top view of the actuator with an indication of the motions of the contact tips which causes the sphere to rotate around the fourth axis
- FigJO shows a circuit of a drive for a multiple degrees of freedom vibration actuator
- FigJ l is a side view of an actuator in another embodiment of the invention showing the stator, the sphere, and a compression member
- FigJ2 is an oblique view of an actuator in a still another embodiment of the invention.
- FigJ3 is a side view of an actuator in a further embodiment of the invention comprising two compression members and two stators,
- FigJ4 is a side view of an actuator in a still further embodiment of the invention comprising four stators .
- the vibration element is called stator
- the electromechanical converting element is called piezo element
- the elastic member in combination with the piezo elements is called resonator
- the driving force output member is called contact tip.
- stator will be explained from the point of view, where the stator is triangular. However, a quadrangular or other polygonal shapes are possible.
- FIG. 1 illustrates in a simple form the principle of a resonator with piezo elements.
- a piezoelectric ceramic element 1 is attached to the upper side of an elastic member 4.
- a constant voltage applied vertically across the upper piezo element 1 the voltage being in the same direction as the internal polarisation in the piezo element 1 , will cause the upper element 1 to contract so that the elastic member 4, which is fastened to a support 5, bends and moves the tip 3 at the end of the elastic member 4 upwards.
- the force on the elastic member is increased, if a second piezo element 2 is used in combination with the first element 1.
- a constant voltage is applied vertically across the lower piezo element 2, the voltage being in the opposite direction of the internal polarisation of the lower piezo element 2, the lower piezo element expands so that the bending force is increased.
- the elastic member 4 will bend downwards.
- t the time
- U 0 an amplitude
- the driving part with the tip 3 will bend up and down with frequency f. If this frequency equals the resonant frequency of the elastic member 4 with the piezo elements 1 , 2, the deflection will increase by a certain factor called the quality factor.
- FIG. 2 shows a piezo resonator with four piezo elements 1, 2, 6, 7 arranged in pairs. If a voltage is applied between the left two piezo elements 1 , 2 and the right two piezo elements 6, 7, the elastic member 4 will be bend in a way determined by the force exerted on the elastic member 4.
- the elastic member 4 is supported at its ends by a support 8.
- the elastic member 4 in the resonator will bend up 9 or down 10, if the applied voltage U A across the left pair of piezo elements 1 , 2 is equal to the voltage U B applied to the right pair 6, 7.
- the two bending modes can be combined into a complex bending mode by applying voltages to the left 1, 2 and right 6, 7 piezo elements that result from summing two sinusoidal voltages.
- U 2 forces the tip to turn to the left and U;, forces the tip downwards.
- U 2 is zero and does not excite the tip, Uj is at minimum and forces the tip to the lowest position.
- the decrease of U 2 forces the tip to the right, U,; is increasing and thus, rising the tip.
- the tip has returned to the initial position of the cycle.
- the resonator is characterised by its resonance frequencies f rl and f r2 , where f r
- f r corresponds to a resonance in first bending mode
- f r2 corresponds to a resonance in the second bending mode.
- FIG. 6 is an oblique view of a vibration actuator in accordance with a first embodi- ment of the invention.
- a triangular stator 14 comprising three resonators 15 which are plate shaped and constitute the sides of the stator, forms the base for the relative moving member 18. which in this case is a sphere.
- Each of the resonators 15 comprises two pairs of piezo elements 1 , 2 and 6. 7 in between of which a contact tip 3 is localised.
- the sphere 18 is resting on the three con-
- SUBSTTTUTE SHEET (RULE 26) tact tips 3.
- RULE 26 For contact between the sphere 18 and the stator, a three point connection is optimum.
- a supporting ring 8 For mounting the stator, a supporting ring 8, half of which is shown on figure 1, can be used, where the supporting ring 8 is attached to the stator at the nodes of the vibrations in the resonator.
- the supporting device can have other shapes than a ring, as long as it supports the stator at the vibrational nodes.
- the connections 20 be- tween the resonators 15 are at the nodes of the bend. This implies that the mutual influence of the resonators 15 on their motion is small and consequently, they can be treated as independent in a mathematical model. For the optimum design of the actuator, this is a great advantage, because it is possible to make a precise model, since the physical system is relatively simple. In other words, it is possible and easier to make a precise model than if the resonators would influence each other.
- FIG. 7 the motion of the sphere 18 is explained in case when the resonators are excited in the first mode and the contact tip 3 moves up and down. Applying this vibration to the sphere will force the sphere to rotate.
- FIG. 7a through FIG. 7d show how the sphere is forced to rotate about the second axis when the resonator is excited in the first mode. A likewise explanation applies to rotations about the first and third axes.
- FIG. 7a the contact tip 3 is moving up towards the sphere 18, but it is not in contact with the sphere.
- FIG. 7b the contact tip 3 is still moving up and is in contact with the sphere 18.
- the contact tip 3 acts on the sphere 18 with a force Fr which can be decomposed into two forces: Ft and Fn.
- the force Fn provides the necessary friction and Ft provides the driving force.
- FIG. 7c the contact tip 3 has moved further up. Since the contact tip is in contact with the sphere, the contact tip 3 is forced to bend.
- FIG. 7d the tip now moves down. The force Fn will no longer provide the necessary friction and thus, the contact tip 3 will not follow surface of the sphere 18 any longer.
- the contact tip 3 comes in contact with the surface 21 of the sphere 18 at point A. At that point, it has a tangential velocity which is lower than the tangential velocity (vt) of the sphere. The contact tip 3 is then accelerated so that the tangential velocity of the con- tact tip 3 is equal to the tangential velocity (vt) of the sphere. This happens at point A'.
- the contact tip 3 exerts force on the surface 21 of the sphere because of friction with a velocity equal to vt.
- the contact tip 3 gradually looses its frictional grip until it separates from the surface 21 at point B.
- FIG. 9 is a top view of the vibration actuator.
- the applied voltages are chosen such that the vibration pattern of the contact tips 3 are curves formed like a figure-8.
- the voltages are furthermore chosen such that the contact tips 3, when they reach the upper part of their figure-8 motion, move in the direc- tion as indicated with arrows 22 in FIG. 9 and thereby forcing the sphere 18 to rotate about the fourth axis, which is the axis orthogonal to the plane of the triangular stator.
- FIG. 10 shows a circuit of a drive for a multiple degrees of freedom vibration actuator, wherein drive voltages are impressed on the respective sets of piezoelectric elements la, lb, lc, 6a, 6b, 6c.
- an oscillator 31 generates a sinusoidal voltage with frequency f
- an oscillator 32 generates a sinusoidal voltage with frequency f 2 .
- the voltage from oscillator 31 is input to electric summation amplifiers 36a and 36b.
- the voltage from oscillator 32 is connected or disconnected to the following circuit via a switch 33.
- the output from switch 33 is branched to an 180 degrees phase shifter 34 and to a rotation- direction switch 35.
- the output from phase shifter 34 is also input to the switch 35.
- the two outputs from the switch 35 are inputs to the electric summation amplifiers 36a and 36b.
- the outputs from the summation amplifiers is input to high voltage amplifiers 37a and 37b.
- the output from the amplifiers are inputs to three resonator- selection switches 38a, 38b, 38c.
- the outputs from switch 38a is input to piezo elements la and 6a.
- the outputs from switches 38b and 38c are input to piezo elements lb, 6b and lc, 6c.
- switching resonator-selection switch 38a to the ON state connects the resonator 15a to the voltage source.
- switch 38a, 38b, 38c can be switched to the ON or OFF state and thus, connect or disconnect resonators 15a, 15b, 15c to the voltage source.
- Rotation about the fourth axis is generated in the following way.
- Switch 33 is switched to the upper state so that both voltages from oscillator 31 an 32 are applied to the resonators.
- summation amplifier 36a With switch 35 in the upper state, summation amplifier 36a will gen- erate the signal Ulsm ' (27 ⁇ l - t) + U2sm(2 ⁇ f 2 -t)and summation amplifier 37b will generate the signal U ⁇ sm ' (27f l - t) ⁇ U2 sin(2 ⁇ 2 • t) .
- the signals are amplified to high voltage signals via amplifiers 37a and 37b.
- the relative moving member 18 By switching one, two or all resonator- selection switches to the ON state, the relative moving member 18 is forced to rotate about the fourth axis.
- the summation amplifier 36a By switching the rotation-direction switch 35 to the lower state, the summation amplifier 36a will generate the signal - t) - U2 s (2 ⁇ tf ' 1 ⁇ t) and summation amplifier 36b will generate the signal -t) + U2sm ' (2 ⁇ f 2 t) , thus forcing the relative moving member 18 to rotate about the fourth axis but in a direction opposite to the direction when the rotation-selection switch is in the upper state.
- Rotation about the first axis is generated in the following way.
- Switch 33 is switched to the lower state so that only the voltage from oscillator 31 is applied to the resonators.
- the summation amplifiers 36a and 36b will generate the signals Ul .
- Resonator- selection switch 38a is switched to the ON state and switch 38b and 38c are switched to the OFF state. Thus, only resonator 15a is excited and the relative moving member
- FIG. 1 A possible configuration is shown in FIG. 1 1.
- the sphere 18 is located between the stator 14 of the actuator and a compression member 23 in the form of a low friction ball bearing.
- Both the stator and the compression member can be spring loaded 24, 25 as shown in the figure.
- Spring loading has the advantage to achieve an approximately constant force with which the sphere 18 is pressed against the contact tips 3, irrespective of eventual tolerances in the parts making up the actua- tor. It is necessary in the design of the actuator, however, to choose springs that do not exhibit any state of resonance during the working of the resonator.
- FIG. 12 shows still another embodiment of the invention.
- two stators 14 are used to fix the sphere 18 in the centre between the stators.
- the mounting rings 8 with the stators 14 can be spring loaded to achieve an approximately constant force between the sphere 18 and the contact tips 3.
- FIG. 13 shows a further embodiment of the invention.
- the sphere is located between two compression members 23 in the form of low friction ball bearings such that the sphere can rotate freely, but with the centre of the sphere kept in place.
- the stators 14 can thus be pressed against the sphere with a predetermined force, however, the weight of the sphere does not influence the pressure of the sphere against the contact tips 3.
- the compression members can be located parallel with the stators as shown in the figure, but other locations, for example at right angles to the stators. are also possible.
- an optional device 26 for example a camera or a robot arm, attached to the sphere 18.
- a device 26 can also be attached to the sphere 18 by connections means as for example a connecting rod.
- FIG. 14 illustrates how several, in this case four, stators 14, preferably triangular stators, can be used for driving the sphere 18.
- the actuator is still operable, even when some of the resonators 15 should fail. This is especially important in situations, where it is not possible to repair the actuator immediately, or where the reliability of the function of the actuator is essential, for example if such an actuator is used on a satellite.
- a first and simple method is to utilise a position sphere which is in contact with the sphere in the actuator.
- the position sphere with encoders works in a way very much like a position sphere in a computer mouse.
- Another method is to provide the surface of the sphere in the actuator with a laser readable grid.
- the reflected laser beam which is measured by a light detector, will then change the signal in the detector each time a border between the sectors in the grid is crossed.
- a third method implies detection of reflected laser light.
- the relative moving member may have a mirror attached to it, or be shaped as a sphere with a flat mirror part.
- a laser light reflection from the mirror part will change direction as the relative moving member is turned.
- the direction of the reflected beam can be meas- ured very precisely with an array detector, for example a CCD (charge coupled device) detector with an area array of pixels.
- CCD charge coupled device
- vibration actuator is in the field of crystallography, where crystal orientations or strain in crystals is measured. Also in this case, a precise orientation measurement of the angular position of the relative moving member is necessary.
- a further application is stabilisation of instrument platforms, for instance in an aircraft.
- a still further application is in high flexible vehicles, where the sphere acts as a wheel.
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU12633/00A AU1263300A (en) | 1998-11-16 | 1999-11-16 | Vibration actuator |
EP99955840A EP1166371A1 (en) | 1998-11-16 | 1999-11-16 | Vibration actuator |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DKPA199801486 | 1998-11-16 | ||
DKPA199801486 | 1998-11-16 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2000030186A1 true WO2000030186A1 (en) | 2000-05-25 |
Family
ID=8105350
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DK1999/000626 WO2000030186A1 (en) | 1998-11-16 | 1999-11-16 | Vibration actuator |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1166371A1 (en) |
AU (1) | AU1263300A (en) |
WO (1) | WO2000030186A1 (en) |
Cited By (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7081700B2 (en) * | 2003-03-19 | 2006-07-25 | Canon Kabushiki Kaisha | Manipulator |
EP1947760A1 (en) * | 2005-11-10 | 2008-07-23 | Kabushiki Kaisha Toyota Jidoshokki | Ultrasonic motor |
WO2010040242A1 (en) | 2008-10-10 | 2010-04-15 | Creaholic S.A. | Miniaturized piezoelectric driven mount device |
US8690796B2 (en) | 2002-04-19 | 2014-04-08 | Sanofi-Aventis Deutschland Gmbh | Method and apparatus for penetrating tissue |
US8845550B2 (en) | 2001-06-12 | 2014-09-30 | Sanofi-Aventis Deutschland Gmbh | Tissue penetration device |
US8845549B2 (en) | 2002-04-19 | 2014-09-30 | Sanofi-Aventis Deutschland Gmbh | Method for penetrating tissue |
US8905945B2 (en) | 2002-04-19 | 2014-12-09 | Dominique M. Freeman | Method and apparatus for penetrating tissue |
US8945910B2 (en) | 2003-09-29 | 2015-02-03 | Sanofi-Aventis Deutschland Gmbh | Method and apparatus for an improved sample capture device |
US8965476B2 (en) | 2010-04-16 | 2015-02-24 | Sanofi-Aventis Deutschland Gmbh | Tissue penetration device |
US9034639B2 (en) | 2002-12-30 | 2015-05-19 | Sanofi-Aventis Deutschland Gmbh | Method and apparatus using optical techniques to measure analyte levels |
US9089678B2 (en) | 2002-04-19 | 2015-07-28 | Sanofi-Aventis Deutschland Gmbh | Method and apparatus for penetrating tissue |
US9089294B2 (en) | 2002-04-19 | 2015-07-28 | Sanofi-Aventis Deutschland Gmbh | Analyte measurement device with a single shot actuator |
US9144401B2 (en) | 2003-06-11 | 2015-09-29 | Sanofi-Aventis Deutschland Gmbh | Low pain penetrating member |
JP2015208803A (en) * | 2014-04-25 | 2015-11-24 | 株式会社ソミック石川 | Joint device |
US9226699B2 (en) | 2002-04-19 | 2016-01-05 | Sanofi-Aventis Deutschland Gmbh | Body fluid sampling module with a continuous compression tissue interface surface |
US9248267B2 (en) | 2002-04-19 | 2016-02-02 | Sanofi-Aventis Deustchland Gmbh | Tissue penetration device |
US9261476B2 (en) | 2004-05-20 | 2016-02-16 | Sanofi Sa | Printable hydrogel for biosensors |
US9314194B2 (en) | 2002-04-19 | 2016-04-19 | Sanofi-Aventis Deutschland Gmbh | Tissue penetration device |
US9351680B2 (en) | 2003-10-14 | 2016-05-31 | Sanofi-Aventis Deutschland Gmbh | Method and apparatus for a variable user interface |
US9375169B2 (en) | 2009-01-30 | 2016-06-28 | Sanofi-Aventis Deutschland Gmbh | Cam drive for managing disposable penetrating member actions with a single motor and motor and control system |
US9386944B2 (en) | 2008-04-11 | 2016-07-12 | Sanofi-Aventis Deutschland Gmbh | Method and apparatus for analyte detecting device |
US9427532B2 (en) | 2001-06-12 | 2016-08-30 | Sanofi-Aventis Deutschland Gmbh | Tissue penetration device |
US9560993B2 (en) | 2001-11-21 | 2017-02-07 | Sanofi-Aventis Deutschland Gmbh | Blood testing apparatus having a rotatable cartridge with multiple lancing elements and testing means |
US9561000B2 (en) | 2003-12-31 | 2017-02-07 | Sanofi-Aventis Deutschland Gmbh | Method and apparatus for improving fluidic flow and sample capture |
US9775553B2 (en) | 2004-06-03 | 2017-10-03 | Sanofi-Aventis Deutschland Gmbh | Method and apparatus for a fluid sampling device |
US9795747B2 (en) | 2010-06-02 | 2017-10-24 | Sanofi-Aventis Deutschland Gmbh | Methods and apparatus for lancet actuation |
US9820684B2 (en) | 2004-06-03 | 2017-11-21 | Sanofi-Aventis Deutschland Gmbh | Method and apparatus for a fluid sampling device |
US9839386B2 (en) | 2002-04-19 | 2017-12-12 | Sanofi-Aventis Deustschland Gmbh | Body fluid sampling device with capacitive sensor |
CN109787508A (en) * | 2019-02-28 | 2019-05-21 | 福建工程学院 | A kind of two-freedom piezoelectric motor and its control method |
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JPH02276741A (en) * | 1989-04-19 | 1990-11-13 | Tamura Electric Works Ltd | Transport device |
JPH08126358A (en) * | 1994-10-19 | 1996-05-17 | Nikon Corp | Ultrasonic motor |
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- 1999-11-16 EP EP99955840A patent/EP1166371A1/en not_active Withdrawn
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Title |
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US9427532B2 (en) | 2001-06-12 | 2016-08-30 | Sanofi-Aventis Deutschland Gmbh | Tissue penetration device |
US9937298B2 (en) | 2001-06-12 | 2018-04-10 | Sanofi-Aventis Deutschland Gmbh | Tissue penetration device |
US9694144B2 (en) | 2001-06-12 | 2017-07-04 | Sanofi-Aventis Deutschland Gmbh | Sampling module device and method |
US9802007B2 (en) | 2001-06-12 | 2017-10-31 | Sanofi-Aventis Deutschland Gmbh | Methods and apparatus for lancet actuation |
US9560993B2 (en) | 2001-11-21 | 2017-02-07 | Sanofi-Aventis Deutschland Gmbh | Blood testing apparatus having a rotatable cartridge with multiple lancing elements and testing means |
US9089678B2 (en) | 2002-04-19 | 2015-07-28 | Sanofi-Aventis Deutschland Gmbh | Method and apparatus for penetrating tissue |
US9226699B2 (en) | 2002-04-19 | 2016-01-05 | Sanofi-Aventis Deutschland Gmbh | Body fluid sampling module with a continuous compression tissue interface surface |
US8845549B2 (en) | 2002-04-19 | 2014-09-30 | Sanofi-Aventis Deutschland Gmbh | Method for penetrating tissue |
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