CN109949699A - 带线性致动器的适形显示器 - Google Patents
带线性致动器的适形显示器 Download PDFInfo
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- CN109949699A CN109949699A CN201811483814.XA CN201811483814A CN109949699A CN 109949699 A CN109949699 A CN 109949699A CN 201811483814 A CN201811483814 A CN 201811483814A CN 109949699 A CN109949699 A CN 109949699A
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Abstract
本公开涉及适形显示器,包括宏纤维复合(MFC)致动器。MFC致动器配置成使适形显示器在线性方向上移位。适形显示器可以是薄的、柔性的和可变形的。
Description
技术领域
本公开涉及适形显示器,包括宏纤维复合(MFC)致动器。MFC致动器配置成使适形显示器在线性方向上移位。适形显示器可以是薄质的、柔性的和可变形的。
背景技术
已经使用各种触觉致动技术来向触敏设备(例如触摸屏)的显示器提供振动触觉反馈。传统的触觉反馈设备使用电致动器,例如线性谐振致动器(“LRA”)设备和偏心旋转质量(“ERM”)设备或螺线管。然而,这些致动器通常不可扩展,并且在触觉应用中并不总是充分运行。这些设备通常非常笨重,并且难以满足某些空间限制。
触敏设备中的另一种传统触觉反馈技术是电活性聚合物(“EAP”)设备。然而,该技术的一个缺点是基于EAP的致动器通常需要数千伏的电力来提供适合于触觉应用的效果。
另外,将触觉致动集成到适形显示器中要求显示器以及因此触觉致动器不平坦和/或可弯曲。所需要的是可用于在适形显示器中产生触觉反馈的致动器。
发明内容
本发明提供了一种适形显示器,其包括显示元件和线性宏纤维复合(MFC)致动器。MFC致动器包括第一层压层、第二层压层和设置在第一层压层与第二层压层之间的宏纤维复合致动器。在实施例中,线性MFC致动器附接到显示元件并因此附接到支撑结构。
本发明还提供了适形显示器,包括第一显示层、第二显示层和设置在第一显示层与第二显示层之间的宏纤维复合(MFC)致动器。
在另外的实施例中,本发明提供了一种制造适形显示器的方法,其包括将第一显示器和第二显示层层叠到宏纤维复合物(MFC)致动器上,在与宏纤维复合致动器相邻的第一和第二显示层中形成切口。
在另一个实施例中,本发明提供了一种通过适形显示器提供触觉反馈的方法,该方法包括接触所述适形显示器,响应于接触将电压施加到MFC致动器,并且通过在适形显示器的平面中的横向位移产生触觉反馈。
本发明还提供了适形表面,其包括表面元件,和线性宏纤维复合(MFC)致动器,包括第一层压层、第二层压层,和设置在第一层压层和第二层压层之间的宏纤维复合致动器,其中线性MFC致动器附接到表面元件并且还附接到支撑结构。
附图说明
根据以下对实施例的描述并且如附图中所示,可以更好地理解本技术的前述和其他特征和方面。包含在说明书中并形成说明书一部分的附图进一步用于说明本技术的原理。附图中的组件不一定按比例绘制。
图1A显示了本发明实施例的宏纤维复合材料(MFC)。
图1B示出了本发明实施例的宏纤维复合材料(MFC)的部件的展开图。
图2A示出了本发明实施例的线性MFC致动器。
图2B示出了本发明实施例的线性MFC致动器的侧视图。
图2C示出了本发明实施例的、通过线C截得的线性MFC致动器的剖视图。
图2D-2E示出了根据本发明实施例,线性MFC致动器与显示元件的附接以形成适形显示器。
图3A-3B示出了包括本发明实施例的MFC致动器的适形显示器。
图3C示出了本发明实施例的适形显示器中的MFC致动器的剖视图。
图4A-4C示出了安装到基板的MFC的加速度,其中仅进行单侧安装。
图5A-5C示出了本发明实施例的线性MFC致动器的加速度,其中MFC设置在两个层压层之间。
图5D示出了图5A-5C所示的MFC致动器的加速度与频率的关系。
具体实施方式
根据以下对实施例的描述并且如附图中所示,可以更好地理解本技术的前述和其他特征和方面。结合在本文中并形成说明书一部分的附图进一步用于说明本技术的原理。附图中的组件不一定按比例绘制。
如本文所使用的“触觉反馈”、“触觉反馈信号”或“触觉信号”可互换使用,并且指代诸如振动、纹理和/或热等的信息,通过触觉从***、适形显示器或触觉反馈发生器传递给用户,如所描述的那样。
在本文所提供的实施例中的是合适的显示器,其包含或基于使用宏纤维复合材料来提供线性致动,并因此提供触觉反馈。
根据本发明的实施例的宏纤维复合材料(MFC)或MFC致动器(图1A-1B中的102)适当地包括夹在粘合剂层106(例如环氧树脂层)之间的矩形压电陶瓷(适当地带状)杆108,电极和聚酰亚胺薄膜104和104'形成薄的适形薄片(见图1B)。电极以交叉的样式附着在薄膜上,该电极将施加到MFC的电压直接来回传送到带状杆上。该组件能够在密封且耐用的即用型封装中进行面内成极、致动和感测。对于形成为薄的、表面适形片材的MFC致动器,可以应用(通常粘合)到各种类型的结构或嵌入复合结构中。如果施加电压,MFC将会弯曲或扭曲材料、抵消振动或产生振动。如果没有施加电压,MFC可以作为非常灵敏的应变计工作、感应变形、噪音和振动。MFC致动器还是从振动中获取能量的极好设备。参见例如,美国专利号6,629,341,出于所有目的其公开内容通过引用整体并入本文,包括在形成MFC方面有用的结构和材料的公开内容。
在实施例中,本发明提供的是包括MFC致动器的适形显示器。如在本文所用的“适形显示器”是指用于呈现基本平坦的图像的屏幕或其他设备,并且在实施例中,可以弯曲、变形、模制或以其他方式修改,以获得除平坦平型表面之外的形状。术语“适形显示器”和“紧贴显示器”可互换使用。适形显示器包括的显示器为:1)刚性、薄且扁平;2)刚性、薄且弯曲(但不可变形);3)薄且柔韧(即可变形);以及4)薄且可卷曲或可自行折叠。因此,“适形显示器”可以包括具有印刷或投影图像的静态表面和触摸感测技术。
关于本文所述的适形显示器的一个理想目的是它们可以在显示器的平面内(即在显示器的X-Y平面上)横向移动,而在显示器平面(即显示器的Z平面)以外移动最小(小于显示器厚度的25%的位移)。使用MFC致动器,特别是如本发明所述的线性MFC致动器来实现该目的。
图2A示出了本发明的示例性线性宏纤维复合(MFC)致动器202。图2B示出了线性MFC致动器202的侧视图。图2C示出了通过图2B的线C截取的线性MFC致动器202的截面图。如图2C所示,线性MFC致动器202包括第一层压层208,第二层压层210和设置在第一层压层和第二层压层之间的宏纤维复合材料(MFC)102。
如文本所用的第一和第二“层压层”是指设置在MFC的上表面和下表面上的薄的结构层。层压层208和210的厚度适当地为几微米到几毫米到几十毫米。层压层适当地包括聚合物材料,包括例如各种丙烯酸类、硅氧烷聚合物(例如聚二甲基硅氧烷)等。因此,层压层208和210可包括玻璃纤维或其他复合材料。层压层208和210在Z方向上为适当刚性,但在层压层的平面方向上是柔性的,允许在Z方向上相对较小的运动(以合成弯曲的形式),但是在X-Y平面中有足够的位移(见图2B)。在实施例中,响应于来自(如本文所述的)致动器的X-Y平面中的致动,Z方向上的运动可以相对较小,例如在几微米的量级。本发明还包括其中MFC以预层压构造提供的实施例-即在MFC的设计或制造中已经包括第一和第二层压层。
在另外的实施例中,层压层208和210可包括多于一层的材料,包括例如设置在MFC上的橡胶或柔性材料,在柔性材料的顶部上具有额外的刚性层,其也可以实现这种类型的线性运动。适当地,层压层208和210基本是透明的,但在其他实施例中,它们可以是不透明的或外观完全实心。用于层压层208和210的示例性材料包括聚合物和塑料材料、各种金属(如钢、铜、铝),以及复合材料包括碳纤维复合材料、热塑性塑料、木材(天然或人造)等。
在结构上,理想的是层压层208和210在尺寸(即平面尺寸)和厚度方面基本相似,以便为它们所结合的线性MFC致动器202的顶部和底部提供均匀且基本相等的刚度。在实施例中,期望使得层压层208和210具有相同的空间几何形状(即平面和厚度尺寸),以及机械几何形状(相同的机械性能),以便限制不需要的弯曲并提供均匀的横向运动。
层压层208和210在Z方向(即在MFC 102的表面之外的平面,参见图2B)上也是刚性的,但是允许在X和Y方向上的线性柔性(即在MFC 102的表面的平面中)。将第一和第二层压层208和210粘合或设置在MFC致动器102上可包括使用各种粘合剂或胶水,以及直接聚合、热粘合等。在其他实施例中,沉积工艺可用于将层压层208和210沉积到MFC上。适当地,层压层208和210的整个接触表面区域通过粘合剂、聚合或其他机制粘合到MFC(层压层与MFC接触的整个区域)。在其他实施例中,MFC的一部分(例如中间的条带)可以保持未层压,而层压层的其余部分提供必要的刚度,以提供线性运动。
线性MFC致动器202适当地包括固定端204和可移动端206,但是这些端的定位和定向可以根据需要反转或的以其他方式修改。当线性MFC致动器202的一端(例如204)固定(即连接到支撑结构,例如汽车、电视机、笔记本电脑、监视器、计算机等的框架)时,剩余的自由端(例如206)可以以线性方式移动(即在MFC和层压层的平面中)。
MFC响应施加的电压将膨胀或伸长(P1-型MFC)、收缩(P2-型MFC)或经历剪切(P3型)(适当地在几微米的变形范围内)。如果仅在MFC的顶部或底部放置单个层压层,则层压层将响应于MFC的膨胀、收缩或剪切而弯曲或曲折。
然而,当在Z方向上置于两个层压层之间具有足够刚度,但在X-Y方向上具有柔性,MFC的激活导致线性运动和变形。也就是说,当MFC置于两个层压层之间时,单个层压层的弯曲转换成线性运动。这允许自由端206以线性方式远离固定端204移动。下面提供了可以在本文的实施方例中使用的MFC的一些示例性性质和特征:
在进一步的实施例中,层压层的厚度可以比上面所述的更薄,或者更薄的层可以彼此堆叠以获得最终所需的厚度和结果。MFC的电压和粘滞力取决于所用层压层的厚度和数量。例如,通过利用堆叠在一起的多个薄层压层可以实现50N的粘滞力,并且潜在地利用在约300V至约1500V范围内的电压。
在其他实施例中,如图2D所示,本文提供的是适形显示器224,其包括显示元件220和线性宏纤维复合(MFC)致动器202(多个MFC致动器202也可以在不同位置使用),如本发明所述,其包括第一层压层208、第二层压层210和设置在第一层压层和第二层压层之间的宏纤维复合材料102。适形显示器224还包括支撑结构222,线性MFC致动器202附接到其上(即固定端204)。线性MFC致动器202的可移动端206附接到显示元件220。在实施例中,附接机构212可包括各种螺钉、螺栓、铆钉、角钉、钉子等,以及包括胶水、粘合剂、焊点等的粘合材料。显示元件220还可以经由附加支撑元件260(或多个支撑件)进一步附接到支撑结构222,或者支撑元件260可以另外提供将显示元件保持在用于观看等的所需配置的机构。示例性显示元件220包括液晶显示器(LCD)、发光二极管(LED)显示器、有机LED(OLED)显示器、电子墨水(e-ink)显示器、等离子显示器、纳米晶体或基于量子点的显示器等。适当地,显示元件220包括聚合物材料以形成屏幕的外部,如本领域所公知的。
在从电源250(例如,电池、电源插座等;未示出MFC上的引线的布线)施加电压时,线性MFC致动器202的自由端206使显示元件220在平面方向上以线性方式(固定端204保持静止,附接到支撑结构222)移动,即在X和/或Y方向上,以及组合的X-Y方向(参见图2D)上。由于MFC的位移已经通过层压层208和210(与弯曲运动相反)转换为线性运动,如果仅使用单层压层,发生非常小的Z方向(即在显示元件220的平面之外)位移,。在线性MCF致动器202中使用P1-型MFC将导致MFC的膨胀,使得屏幕元件220在正X方向上运动(并且可能同时在Y方向上运动)。在线性MFC致动器202中使用P2-型MFC将导致MFC的收缩,使得屏幕元件220在负X方向上运动(并且可能同时在Y方向上移动)。在线性MFC致动器202中使用P3型MFC将导致MFC中的剪切运动,使得在X和Y方向(以及组合的X-Y方向)上的运动。
在其他实施例中,MFC致动器202可以与显示元件220以一定角度安装,或者多个MFC致动器202可以与显示元件220成角度安装,允许在X-Y平面中在所有X-Y方向上进行触觉反馈(参见例如图2E)。元件与图2D中的相同。
图3A-3C示出了另一实施例,包括适形显示器300,其包括第一显示层310、第二显示层314和设置在第一显示层310和第二显示层314之间的宏纤维复合(MFC)致动器102(参见图3C,示出了通过图3B的C-C截取的适形显示器和MCF的横截面)。如果需要,还可以添加附加层(例如触摸屏层330),以向显示层提供额外的刚度和/或保护。此外,在另外的实施例中,本文描述的适形显示器可以用作显示屏或设备的触摸屏部分。
在图3A中,示出了具有四个MFC致动器的适形显示器300,包括膨胀MFC致动器302和收缩MFC致动器304。尽管示出了使用四个MFC致动器的适形显示器300,但是可以使用1、2、3、4、5、6、7、8、9、10等个MFC致动器实现显示元件的平面(即X-Y平面)中的横向移动。
如图3A所示,安装孔306用作将适形显示器300附接到支撑结构(未示出)的点,其可包括监视器框架、便携电脑部分、蜂窝电话、手表、平板电脑、汽车仪表板等。适形显示器300两侧的这些附接点用作固定端,限制MFC致动器的运动。在向MFC施加电压(现在(多个)电源和引线连接显示)时,膨胀MFC致动器(P1-型)302将膨胀,而收缩MFC致动器(P2)型304将收缩,使得适形显示器300在正X方向上平面(即在适形显示器的显示元件的平面内)运动(参见图3B)。也可以在Y方向上进行一些运动。如果切换MFC致动器302和304(即在左侧收缩MFC,在右侧膨胀MFC),则适形显示器300将在负X方向上移动。通过平衡MFC的数量和方向,可以实现需要的横向运动。
适形显示器300还包括切口312,其适当地延伸跨越MFC致动器的长度,并且定位于靠近MFC的边缘。切口312允许适形显示器300的移动,而不需要MFC移动邻接MFC的材料。结果是触觉区域308(图3B),其在显示元件310/314的平面中横向移动,并且可以以振动、来回摇摆或横向、X-Y运动等形式向用户提供触觉反馈。
用于第一显示层310和第二显示层314的示例性材料包括各种聚合物材料以及玻璃,并且是基本透明的层。示例性聚合物材料包括但不限于多晶硅、聚对苯二甲酸乙二醇酯(PET)、聚萘二甲酸乙二醇酯(PEN)、聚醚醚酮(PEEK)、聚碳酸酯、聚醚砜、多环烯烃、聚丙烯酸酯、聚酰亚胺等。(参见Choi等人,“Polymers for flexible display:From materialselection to device applications,”Progress in Polymer Science 33:581-630(2008),出于所有目的其公开内容并入本文。)用于在适形显示器上产生图像所需的适形显示器(包括发光二极管、液晶、量子点等)的附加元件也可以包含在本发明所述的显示器中,或者以其他方式与显示器相关联。
如本发明所述,在实施例中,适形显示器300适当地包括设置在第一显示层310和第二显示层314之间的至少两个MFC致动器,并且这些MFC适当地位于适形显示器的相对侧,以便于均匀移动。在示例性实施例中,如图3A-3B所示,使用四个MFC致动器,设置在第一显示层和第二显示层之间。四个MFC致动器适当地定位于适形显示器的四个相对角处,以便优化适形显示器300的横向移动。如本发明所述,同一侧上的两个MFC致动器是膨胀MFC致动器(302)(P1-型),而相对侧上的两个MFC致动器是收缩MFC致动器(304)(P2-型)。
适形显示器300的形状和尺寸适当地由最终类型的应用来决定,无论是移动电话、平板电脑、手表屏幕、便携电脑、电视、自助服务终端屏幕、银行ATM、计算机显示器、视频游戏***等。另外,本文描述的适形显示器可弯曲的或扁平的,并且也可以是可变形的或可弯曲的,包括具有卷起或自行折叠的能力。
本文描述的适形显示器以及线性MFC致动器可以在各种应用中实现,包括用于移动电话、手表、平板电脑、便携电脑、监视器、电视、银行机器、交互式自助服务终端、游戏***、街机的屏幕或显示元件,商店订购的触摸板,汽车和飞机的互动屏幕等。在进一步的实施例中,本文描述的适形显示器和线性MFC致动器可以与虚拟现实或增强现实***集成,或者成为虚拟现实或增强现实***的一部分。
在其他实施例中,本发明所述的层压MFC致动器可用于产生适形表面。如本发明所用,“适形表面”是指基本平坦的材料,并且在实施例中可弯曲、变形、模制或以其他方式修改,以获得除平坦的平型表面之外的形状。在这样的实施例中,线性宏纤维复合(MFC)致动器,其包括第一层压层、第二层压层和设置在第一层压层和第二层压层之间的宏纤维复合致动器,其附接到表面元件。如本发明所用“表面元件”是指基本扁平且薄的材料元件,其宽度和长度显着大于表面元件的厚度。示例性表面元件包括各种玻璃、聚合物和塑料。
各种适形显示器也可以用作传感器,因为包含在适形显示器内或与适形显示器相关联的MFC已知用作传感器材料。例如,传感可以采用电容、电阻、红外、压电传感等形式。在这种传感应用中,适形显示器可以是触摸屏、滑动界面、按钮界面等的一部分。
在其他实施例中,本发明提供了制作适形显示器的方法。制造方法包括将第一显示层310和第二显示层314层压到宏纤维复合(MFC)致动器102上。层压方法包括使用粘合剂和胶水,以及直接聚合到MFC表面。该方法还包括在与宏纤维复合材料相邻的第一和第二显示层中形成切口(参见例如图3A中的312)。如本发明所述,需要在与MFC相邻的适形显示器中具有切口,以便限制必须由MFC移动的相邻材料的量,并且还允许更均匀的移动。
在实施例中,四个MFC致动器适当地层叠在第一显示器和第二显示器层之间,以在显示器的拐角处产生具有四个MFC致动器的适形显示器,以实现均匀的位移。如全文所述,在实施例中,第一显示层和第二显示层具有相同的长度、宽度和厚度,并且第一显示层和第二显示层与MFC致动器之间的整个表面接触区域被层压或粘合在一起,以确保均匀的运动和位移。
本发明还提供了通过适形显示器提供的触觉反馈的方法。该方法适当地包括利用例如用户的触摸(手指)、触笔或其他接触来接触如本发明所述的适形显示器。响应于该接触,施加或触发电压以激活MFC致动器。如本发明所述,响应于电压,MFC致动器在显示器的平面中产生适形显示器的横向位移,从而向用户提供触觉反馈。在Z方向上,即在层压层和MFC致动器的平面之外,观察到适量小的(大约小于25%,即5-25%)位移。小于25%的位移是指适形显示器相对于其厚度测量时在Z方向上移动的距离(即,与适形显示器的厚度相比,Z方向上的移动适当地小于25%)。在进一步的实施例中,Z轴加速度应小于所需方向(即,X和/或Y方向)上的加速度的25%。
在实施例中,所产生的触觉反馈可以是振动反馈的形式,作为适形显示器的横向位移。振动反馈的频率合适地在约10-500Hz的范围内,合适地约50-300Hz,但也可以实现kHz范围内的振动。
图4A-C示出了绑定到基板(例如显示屏)的P1-型MFC致动器的示例,其中MFC的仅一个平坦侧面绑定到屏幕。另一侧不受任何额外基板的约束。在这种模式中,MFC响应于施加的电压而延伸,导致基板弯曲。这主要在Z方向(图4C)(在基板和MFC的平面之外)作为加速度(Gs)对时间的函数中来观察到,具有很小或最小的X-Y轴加速度(在基板和MFC的平面方向上),分别如图4A和4B所示。
相反的如图5A-5C示出了如本发明所述的线性MFC致动器(P1-型)的实施例,其中MFC设置在两个层压层之间。对线性MFC致动器/层压加速度(Gs)的测量构造为对时间的函数,表明在X方向上的显着移动(图5A),即,在MFC和层压层的平面方向上,Z方向上的一些加速度以及Y方向上的非常小的加速度。X方向具有最高的加速度,因为这是由致动器提供的致动方向,如图2D所示。Z轴还具有一些加速度,因为当移动显示元件220时,致动器在法线方向上产生一些加速度。Y轴的加速度最低,因为致动器不会沿该方向移动。图5D示出了用于构造图5A-5C的峰-峰加速度与频率数据之比。
本文具体示出和/或描述了若干实施例。然而应当理解,所公开的实施例的修改和变化由上述启示涵盖并且在所附权利要求的范围内,而不依赖于本发明的精神和预期范围。
Claims (24)
1.一种适形显示器,包括:
显示元件;和
线性宏纤维复合(MFC)致动器,包括:
第一层压层、第二层压层和设置在第一层压层和第二层压层之间的宏纤维复合致动器,
其中线性MFC致动器附接到显示元件并且还附接到支撑结构。
2.根据权利要求1所述的适形显示器,其中所述线性MFC致动器配置为在平面方向上平移所述显示元件。
3.根据权利要求1所述的适形显示器,其中所述显示元件包括聚合物材料。
4.根据权利要求1所述的适形显示器,其中所述第一层压层和所述第二层压层包括聚合物材料。
5.一种适形显示器,包括:
第一显示层;
第二显示层;和
设置在第一显示层和第二显示层之间的宏纤维复合(MFC)致动器。
6.根据权利要求5所述的适形显示器,其中所述第一显示层和所述第二显示层包括聚合物材料。
7.根据权利要求5所述的适形显示器,其中包括设置在第一显示层和第二显示层之间的至少两个MFC致动器。
8.根据权利要求5所述的适形显示器,其中包括设置在所述第一显示层和所述第二显示层之间的四个MFC致动器,所述四个MFC致动器定位于所述适形显示器的四个相对角落处。
9.根据权利要求8所述的适形显示器,其中位于所述适形显示器一侧的两个MFC致动器是膨胀MFC致动器,并且位于所述适形显示器的相对侧上的两个MFC致动器是收缩MFC致动器。
10.根据权利要求5所述的适形显示器,其中所述MFC致动器配置为在平面方向上平移所述适形显示器。
11.根据权利要求5所述的适形显示器,其中所述适形显示器是扁平的。
12.根据权利要求5所述的适形显示器,其中所述适形显示器是弯曲的。
13.一种制造权利要求5的适形显示器的方法,包括:
将第一显示层和第二显示层层压到宏纤维复合(MFC)致动器上;和
在与宏纤维复合致动器相邻的第一和第二显示层中形成切口。
14.根据权利要求13所述的方法,其中层压包括将所述第一显示层和所述第二显示层层压到四个MFC致动器上。
15.根据权利要求13所述的方法,其中层压包括将所述第一显示层和所述第二显示层粘附或直接聚合到所述MFC致动器上。
16.根据权利要求13所述的方法,其中所述第一显示层和所述第二显示层具有基本相同的长度、宽度和厚度。
17.一种通过适形显示器提供触觉反馈的方法,包括:
接触权利要求1的适形显示器;
响应于接触,向MFC致动器施加电压;和
通过在适形显示器的平面中的横向位移产生触觉反馈。
18.根据权利要求17所述的方法,其中所述接触是来自用户手指的触摸。
19.根据权利要求17所述的方法,其中所产生的是在约10-100Hz的频率下的振动横向位移。
20.根据权利要求17所述的方法,其中从适形显示器的平面外产生小于25%的位移。
21.一种适形表面,包括:
表面元件;和
线性宏纤维复合(MFC)致动器,包括:
第一层压层、第二层压层和设置在第一层压层和第二层压层之间的宏纤维复合致动器,
其中线性MFC致动器附接到表面元件并且还附接到支撑结构。
22.根据权利要求21所述的适形表面,其中所述表面元件包括聚合物材料。
23.根据权利要求21所述的适形表面,其中所述第一层压层和所述第二层压层包括聚合物材料。
24.根据权利要求21所述的适形表面,其中所述线性MFC致动器配置成在平面方向上平移所述表面元件。
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EP3511991A1 (en) | 2019-07-17 |
JP2019114255A (ja) | 2019-07-11 |
KR20190074983A (ko) | 2019-06-28 |
US10440848B2 (en) | 2019-10-08 |
US20190191582A1 (en) | 2019-06-20 |
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