TWI446128B - Servo motor position feedback device and method - Google Patents
Servo motor position feedback device and method Download PDFInfo
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- TWI446128B TWI446128B TW100147858A TW100147858A TWI446128B TW I446128 B TWI446128 B TW I446128B TW 100147858 A TW100147858 A TW 100147858A TW 100147858 A TW100147858 A TW 100147858A TW I446128 B TWI446128 B TW I446128B
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Description
本發明係有關於一種解角器的應用，特別係指一種伺服馬達位置回饋裝置及方法。The present invention relates to the use of a recoiler, and more particularly to a servo motor position feedback device and method.
查目前轉矩馬達位置回饋裝置，常見的有光學尺位置回饋、磁性尺位置回饋、霍爾元件位置回饋及旋轉型光電編碼器等四種，但這些位置回饋裝置，不是價錢高昂就是解析度太低，或是環境耐受度太差，需在很好的工作環境下使用，因此出現了使用解角器位置回饋裝置來解決故有的缺點。Check the current torque motor position feedback device, commonly available in optical tape position feedback, magnetic ruler position feedback, Hall element position feedback and rotary photoelectric encoder, but these position feedback devices are not expensive or the resolution is too Low, or environmental tolerance is too poor, need to be used in a good working environment, so the use of the recoiler position feedback device to solve the shortcomings.
解角器(Resolver)在轉矩(Torque)馬達中主要當作角度位置回饋使用，將馬達之位置回傳到驅動器，以達到閉迴路控制目的，進而讓使用者達到精密控制，並降低馬達頓轉矩力量，使馬達速度漣波控制達到最小，完成馬達在使用上的最佳化。解角器基本上係由轉子與定子組成，藉由相對應之激發線圈與感應線圈來產生電磁感應之原理，激發線圈主要是提供激發訊號輸出，感應線圈則是透過轉子與定子轉動，來感應並產生磁場變化，進而產生振幅調變訊號之輸出。The Resolver is mainly used as an angular position feedback in the torque (Torque) motor, and the position of the motor is transmitted back to the drive for closed loop control purposes, so that the user can achieve precise control and reduce the motor Torque force minimizes motor speed chopping control and optimizes motor usage. The resolver basically consists of a rotor and a stator. The corresponding excitation coil and induction coil are used to generate the principle of electromagnetic induction. The excitation coil mainly provides the excitation signal output, and the induction coil is rotated through the rotor and the stator to sense. And a change in the magnetic field is generated, which in turn produces an output of the amplitude modulation signal.
請參閱第1圖及第2圖，在習用技術裡解角器之輸入訊號係利用正弦交流訊號P1a或餘弦交流訊號P1b來實現。以正弦交流訊號P1a為例，經由輸入正弦交流訊號P1a 之定子線圈，因轉矩馬達旋轉而對轉子上的線圈產生激發輸入，轉子線圈再隨之產生感應輸出，其中轉子線圈之繞線方式係兩相繞線(相位差90°)。Referring to Figures 1 and 2, in the conventional technique, the input signal of the resolver is realized by using a sinusoidal alternating signal P1a or a cosine alternating current signal P1b. Taking the sinusoidal alternating signal P1a as an example, the input sinusoidal alternating signal P1a The stator coil generates an excitation input to the coil on the rotor due to the rotation of the torque motor, and the rotor coil generates an induced output, wherein the winding of the rotor coil is a two-phase winding (phase difference of 90°).
當激發輸入定子線圈正弦交流訊號P1a=sin(ωt)時，轉子線圈會感應輸出正弦取樣訊號P2a=K sin(ωt)．sinθ及餘弦取樣訊號P2b=K sin(ωt)．cosθ，其中K係機構之誤差常數，而θ則為解角器之角位移量。若以餘弦交流訊號P1b為例，則激發輸入定子線圈餘弦交流訊號P1b=cos(ωt)時，轉子線圈會感應輸出正弦取樣訊號P2a=Kcos(ωt)．sinθ及餘弦取樣訊號P2b=K cos(ωt)．cosθ。When the input stator coil sinusoidal AC signal P1a=sin(ωt) is excited, the rotor coil senses the output sinusoidal sampling signal P2a=K sin(ωt). Sin θ and cosine sampling signal P2b = K sin(ωt). Cos θ, where the error constant of the K-system is, and θ is the angular displacement of the resolver. If the cosine AC signal P1b is taken as an example, when the input stator coil cosine AC signal P1b=cos(ωt) is excited, the rotor coil will sense the output sinusoidal sampling signal P2a=Kcos(ωt). Sin θ and cosine sampling signal P2b = K cos (ωt). Cos θ.
然而，傳統解角器藉由交流訊號激發輸入的方式來實現馬達位置回饋儘管達到了馬達使用最佳化之目的，但在取樣訊號處理的難易度及成本效益方面，卻仍存在其改進的空間。However, the traditional recoiler realizes motor position feedback by means of AC signal excitation input, although it achieves the purpose of motor optimization, but there is still room for improvement in the difficulty and cost-effectiveness of sampling signal processing. .
有鑑於此，本發明之主要目的即是提供一種伺服馬達位置回饋裝置及方法，以一序列脈波訊號輸入連結在伺服馬達轉軸上解角器，來偵測伺服馬達之位置並將其回饋記錄。In view of the above, the main object of the present invention is to provide a servo motor position feedback device and method for detecting a position of a servo motor and returning a feedback signal by connecting a sequence of pulse wave signals to a resolver on a servo motor shaft. .
本發明為解決習知技術之問題所採用之方法，係以一脈波產生單元產生一序列脈波訊號，將該脈波訊號輸入至該解角器的激磁訊號輸入線圈，該解角器藉由該伺服馬達之轉軸驅動而旋轉時，產生一角位移量；再以該角位移感 應線圈藉由電磁感應感測該解角器所產生之角位移量，並產生一序列隨著該角位移量之大小而改變電壓高低的取樣訊號，最後依據該取樣訊號計算轉換得到一響應於該角位移量之位置回饋參數。The method used in the present invention to solve the problem of the prior art is to generate a sequence of pulse wave signals by a pulse wave generating unit, and input the pulse wave signals to the excitation signal input coil of the resolver, and the angle remover borrows When the rotation of the servo motor is rotated and rotated, an angular displacement is generated; The coil senses the angular displacement generated by the resolver by electromagnetic induction, and generates a sequence of sampling signals that change the voltage level according to the magnitude of the angular displacement. Finally, the conversion is calculated according to the sampling signal to obtain a response. The position of the angular displacement is fed back to the parameter.
本發明伺服馬達位置回饋裝置係以一解角器結合在一伺服馬達的轉軸，該解角器藉由該伺服馬達之轉軸驅動而旋轉，該解角器包括有一激磁訊號輸入線圈、至少一角位移感應線圈，包括：一脈波產生單元，用以產生一序列脈波訊號，該脈波訊號輸入至該解角器的激磁訊號輸入線圈，該解角器藉由該伺服馬達之轉軸驅動而旋轉時，產生一角位移量；該角位移感應線圈藉由電磁感應感測該解角器所產生之角位移量，並產生一序列隨著該角位移量之大小而改變電壓高低的取樣訊號；至少一角位移量接收單元，連接於該解角器之角位移感應線圈，該角位移量接收單元接收該解角器之角位移感應線圈所產生之取樣訊號；一取樣訊號轉換單元，接收該角位移量接收單元所產生之取樣訊號，並將該取樣訊號轉換得到一響應於該角位移量之位置回饋參數。The servo motor position feedback device of the present invention is coupled with a revolver coupled to a rotating shaft of a servo motor, and the reclining device is rotated by a rotating shaft of the servo motor, the reclining device includes an excitation signal input coil and at least one angular displacement The induction coil includes: a pulse wave generating unit configured to generate a sequence of pulse wave signals, wherein the pulse wave signals are input to the excitation signal input coil of the resolver, and the resolver is rotated by the rotation shaft of the servo motor An angular displacement amount is generated; the angular displacement induction coil senses an angular displacement generated by the resolver by electromagnetic induction, and generates a sequence of sampling signals that change a voltage level according to the angular displacement amount; An angular displacement receiving unit is connected to the angular displacement induction coil of the resolver, the angular displacement receiving unit receives the sampling signal generated by the angular displacement induction coil of the resolver; and a sampling signal conversion unit receives the angular displacement And sampling the sampling signal generated by the receiving unit, and converting the sampling signal to obtain a position feedback parameter responsive to the angular displacement.
相較於習知技術之伺服馬達位置回饋方法，本發明藉由一序列脈波訊號輸入連結在伺服馬達轉軸上解角器，來偵測伺服馬達之位置並將其回饋記錄，該序列脈波訊號經由解角器所感應輸出之取樣訊號，序列隨著該角位移量之大小而改變電壓高低，不管是在激發輸入訊號的產生或是感應輸出訊號的轉換皆可簡單的用一數位訊號處理的方式 實現，包括數位訊號處理器、數位積體電路等等，整體而言耗費成本更低，且更容易實現。本發明所採用的具體方法及結構設計，將藉由以下之實施例及附呈圖式作進一步之說明。Compared with the servo motor position feedback method of the prior art, the present invention detects the position of the servo motor and returns it to the record by a sequence of pulse wave signal input to the resolver on the servo motor shaft, and the sequence pulse wave The signal is sent through the sampler signal sensed by the resolver. The sequence changes the voltage level according to the angular displacement. Whether the excitation input signal is generated or the inductive output signal is converted, the signal can be easily processed by a digital signal. The way Implementations, including digital signal processors, digital integrated circuits, etc., are generally less expensive and easier to implement. The specific method and structural design of the present invention will be further described by the following examples and accompanying drawings.
請參閱第3圖所示，本發明伺服馬達位置回饋裝置係以一解角器2結合在一伺服馬達1的轉軸11，該解角器2藉由該伺服馬達1之轉軸11驅動而旋轉，該解角器2包括有一激磁訊號輸入線圈21、至少一角位移感應線圈22a,22b。Referring to FIG. 3, the servo motor position feedback device of the present invention is coupled to a rotating shaft 11 of a servo motor 1 by a resolver 2, and the resolver 2 is driven to rotate by the rotating shaft 11 of the servo motor 1. The resolver 2 includes an excitation signal input coil 21 and at least one angular displacement induction coil 22a, 22b.
該伺服馬達位置回饋裝置包括：一脈波產生單元6，用以產生一序列脈波訊號S1，該脈波訊號S1輸入至該解角器2的激磁訊號輸入線圈21，該解角器2藉由該伺服馬達1之轉軸11驅動而旋轉時，產生一角位移量θ；該角位移感應線圈22a,22b藉由電磁感應感測該解角器2所產生之角位移量θ，並產生一序列隨著該角位移量之大小而改變電壓高低的取樣訊號S2；至少一角位移量接收單元4，連接於該解角器2之角位移感應線圈22a,22b，該角位移量接收單元4接收該解角器2之角位移感應線圈22a,22b所產生之取樣訊號S2；一取樣訊號轉換單元5，接收該角位移量接收單元4所產生之取樣訊號S2，並將該取樣訊號S2轉換得到一響應於該角位移量之位置回饋參數S3。The servo motor position feedback device includes a pulse wave generating unit 6 for generating a sequence of pulse signal S1, and the pulse signal S1 is input to the excitation signal input coil 21 of the resolver 2, and the angle remover 2 borrows When the rotation of the shaft 11 of the servo motor 1 is rotated, an angular displacement θ is generated; the angular displacement induction coils 22a, 22b sense the angular displacement θ generated by the resolver 2 by electromagnetic induction, and generate a sequence. The sampling signal S2 of the voltage level is changed according to the magnitude of the angular displacement; at least one angular displacement receiving unit 4 is connected to the angular displacement induction coils 22a, 22b of the resolver 2, and the angular displacement receiving unit 4 receives the The sample signal S2 generated by the angular displacement induction coils 22a, 22b; the sample signal conversion unit 5 receives the sample signal S2 generated by the angular displacement receiving unit 4, and converts the sample signal S2 to a The parameter S3 is fed back in response to the position of the angular displacement.
該脈波產生單元6所產生之序列脈波訊號S1在輸出後 ，更先經由一放大器32將訊號放大，再輸入至該解角器2的激磁訊號輸入線圈21，而該解角器2所產生之取樣訊號S2，亦先經由一放大器31將訊號放大，再輸入至角位移量接收單元4。此外，該取樣訊號S2包括一正弦取樣訊號S2a與一餘弦取樣訊號S2b，而該角位移量接收單元4係一類比數位轉換電路，且該取樣訊號轉換單元5更另外電連結一對照表7，將該取樣訊號S2轉換成一脈波參數後，經由該對照表7取反函數得到該位置回饋參數S3。The sequence pulse signal S1 generated by the pulse wave generating unit 6 is outputted First, the signal is amplified by an amplifier 32, and then input to the excitation signal input coil 21 of the resolver 2, and the sample signal S2 generated by the resolver 2 is first amplified by an amplifier 31, and then amplified. It is input to the angular displacement receiving unit 4. In addition, the sampling signal S2 includes a sine sampling signal S2a and a cosine sampling signal S2b, and the angular displacement receiving unit 4 is an analog-to-digital conversion circuit, and the sampling signal conversion unit 5 is further electrically coupled to a comparison table 7. After the sampling signal S2 is converted into a pulse wave parameter, the position feedback parameter S3 is obtained by inverting the function of the comparison table 7.
請參閱第4圖所示，本發明伺服馬達位置回饋方法包括以下步驟：以一脈波產生單元產生一序列脈波訊號(S101)；該序列脈波訊號輸出後，更經由一放大器將訊號放大(S102)；將該脈波訊號輸入至該解角器的激磁訊號輸入線圈，該解角器藉由該伺服馬達之轉軸驅動而旋轉時，產生一角位移量(S103)；以該角位移感應線圈藉由電磁感應感測該解角器所產生之角位移量，並產生一序列隨著該角位移量之大小而改變電壓高低的取樣訊號(S104)；該取樣訊號更經由一放大器將訊號放大，再輸入至角位移量接收單元(S105)；將該取樣訊號轉換成一脈波參數後，經由一對照表取反函數(S106)；依據該取樣訊號計算轉換得到一響應於該角位移量之位置回饋參數(S107)。Referring to FIG. 4, the servo motor position feedback method of the present invention comprises the following steps: generating a sequence of pulse wave signals by a pulse wave generating unit (S101); after outputting the sequence pulse wave signals, the signals are amplified by an amplifier. (S102); inputting the pulse wave signal to the excitation signal input coil of the resolver, and the angle device is rotated by the rotation of the servo motor to generate an angular displacement amount (S103); The coil senses the angular displacement generated by the resolver by electromagnetic induction, and generates a sequence of sampling signals that change the voltage level according to the magnitude of the angular displacement (S104); the sampling signal further signals via an amplifier Enlarging, inputting to the angular displacement receiving unit (S105); converting the sampling signal into a pulse wave parameter, and then taking an inverse function through a comparison table (S106); calculating a conversion according to the sampling signal to obtain a response to the angular displacement The position feedback parameter (S107).
請參閱第5圖與第6圖所示，在本發明伺服馬達位置回饋裝置中，解角器2之輸入訊號係利用一序列脈波訊號S1來實現。經由輸入序列脈波訊號S1至激磁訊號輸入線圈21，因伺服馬達1之轉軸11旋轉，而對角位移感應線 圈22a,22b產生激發輸入，角位移感應線圈22a,22b再隨之產生感應輸出，其中角位移感應線圈22a,22b之繞線方式係兩相繞線(相差90°)。當激發輸入激磁訊號輸入線圈21之序列脈波訊號S1=V時，角位移感應線圈22a,22b會感應輸出正弦取樣訊號S2a=K V．sinθ及餘弦取樣訊號S2b=K V．cosθ，其中K係機構之誤差常數，而θ則為解角器之角位移量，最後依據該取樣訊號S2計算轉換得到一響應於該角位移量之位置回饋參數S3。Referring to Figures 5 and 6, in the servo motor position feedback device of the present invention, the input signal of the resolver 2 is realized by a sequence of pulse signals S1. Through the input sequence pulse signal S1 to the excitation signal input coil 21, the rotation axis 11 of the servo motor 1 rotates, and the diagonal displacement induction line The loops 22a, 22b generate an excitation input, and the angular displacement induction coils 22a, 22b, in turn, produce an inductive output, wherein the angular displacement induction coils 22a, 22b are wound in two phases (90° out of phase). When the sequence pulse signal S1=V of the input excitation signal input coil 21 is excited, the angular displacement induction coils 22a, 22b sense the output sinusoidal sampling signal S2a=K V. Sin θ and cosine sampling signal S2b=K V. Cos θ, where the error constant of the K-series mechanism, and θ is the angular displacement of the resolver, and finally calculated according to the sampling signal S2 to obtain a position feedback parameter S3 responsive to the angular displacement.
第7圖係本發明伺服馬達位置回饋裝置最佳實施例所使用之對照表7。在該對照表7中包括有一序列的取樣訊號S20~S2n、以及對應於該取樣訊號S20~S2n的位置回饋參數S30~S3n。Figure 7 is a comparison table 7 used in the preferred embodiment of the servo motor position feedback device of the present invention. The comparison table 7 includes a sequence of sampling signals S20 to S2n and position feedback parameters S30 to S3n corresponding to the sampling signals S20 to S2n.
請參閱第8圖所示，係本發明伺服馬達位置回饋裝置第二實施例之功能方塊圖，基本原理與第3圖所示的最佳實施例相同，唯一相異之處係本發明第二實施例係使用一遞增遞減計時單元61與一脈衝寬度調變電路62來產生該序列脈波訊號S1，且該取樣訊號S2係藉由一類比數位轉換單元4a將正弦取樣訊號S2a與餘弦取樣訊號S2b轉換所產生，最後該取樣訊號S2再經由一反三角函數對照表7a轉換得到一響應於該角位移量之位置回饋參數S3。Please refer to FIG. 8 , which is a functional block diagram of a second embodiment of the servo motor position feedback device of the present invention. The basic principle is the same as the preferred embodiment shown in FIG. 3 , and the only difference is the second embodiment of the present invention. The embodiment uses an incremental decrement timing unit 61 and a pulse width modulation circuit 62 to generate the sequence pulse signal S1, and the sampling signal S2 samples the sinusoidal sampling signal S2a and the cosine by an analog-to-digital conversion unit 4a. The signal S2b is generated by the conversion, and finally the sample signal S2 is converted by an inverse trigonometric function table 7a to obtain a position feedback parameter S3 in response to the angular displacement.
由以上之實施例可知，本發明確具極佳之產業利用價值，故本發明業已符合於專利之要件。惟以上之敘述僅為本發明之較佳實施例說明，凡精於此項技藝者當可依據上述之說明而作其它種種之改良，惟這些改變仍屬於本發明 之創作精神及以下所界定之專利範圍中。It can be seen from the above embodiments that the present invention has excellent industrial utilization value, and therefore the present invention has met the requirements of the patent. However, the above description is only for the preferred embodiment of the present invention, and those skilled in the art can make other improvements according to the above description, but these changes still belong to the present invention. The spirit of creation and the scope of patents defined below.
1‧‧‧伺服馬達1‧‧‧Servo motor
11‧‧‧轉軸11‧‧‧ shaft
2‧‧‧解角器2‧‧‧Resolver
21‧‧‧激磁訊號輸入線圈21‧‧‧Exciting signal input coil
22a‧‧‧角位移感應線圈22a‧‧‧Angle displacement induction coil
22b‧‧‧角位移感應線圈22b‧‧‧Angle displacement induction coil
31‧‧‧放大器31‧‧‧Amplifier
32‧‧‧放大器32‧‧‧Amplifier
4‧‧‧角位移量接收單元4‧‧‧Angle displacement receiving unit
4a‧‧‧類比數位轉換單元4a‧‧‧ analog digital conversion unit
5‧‧‧取樣訊號轉換單元5‧‧‧Sampling signal conversion unit
6‧‧‧脈波產生單元6‧‧‧ Pulse wave generating unit
61‧‧‧遞增遞減計時單元61‧‧‧Incremental decrementing timing unit
62‧‧‧脈衝寬度調變單元62‧‧‧ pulse width modulation unit
7‧‧‧對照表7‧‧‧ comparison table
7a‧‧‧反三角函數對照表7a‧‧‧ inverse trigonometric function comparison table
8‧‧‧數位訊號處理單元8‧‧‧Digital Signal Processing Unit
S1‧‧‧脈波訊號S1‧‧‧ pulse wave signal
S2‧‧‧取樣訊號S2‧‧‧Sampling signal
S20~S2n‧‧‧取樣訊號S20~S2n‧‧‧Sampling signal
S2a‧‧‧正弦取樣訊號S2a‧‧‧Sine sampling signal
S2b‧‧‧餘弦取樣訊號S2b‧‧‧ cosine sampling signal
S3‧‧‧位置回饋參數S3‧‧‧ position feedback parameters
S30~S3n‧‧‧位置回饋參數S30~S3n‧‧‧ position feedback parameters
P1a‧‧‧正弦交流訊號P1a‧‧‧Sinusoidal communication signal
P1b‧‧‧餘弦交流訊號P1b‧‧‧ cosine exchange signal
P2a‧‧‧正弦取樣訊號P2a‧‧‧ sinusoidal sampling signal
P2b‧‧‧餘弦取樣訊號P2b‧‧‧ cosine sampling signal
θ‧‧‧角位移量Θ‧‧‧ angular displacement
第1圖係習用技術所激發輸入的交流訊號波形圖；第2圖係習用技術所感應輸出的取樣訊號波形圖；第3圖係本發明伺服馬達位置回饋裝置最佳實施例之功能方塊圖；第4圖係本發明伺服馬達位置回饋方法最佳實施例之流程圖；第5圖係本發明伺服馬達位置回饋裝置最佳實施例所激發輸入的脈波訊號波形圖；第6圖係本發明伺服馬達位置回饋裝置最佳實施例所感應輸出的取樣訊號波形圖；第7圖係本發明伺服馬達位置回饋裝置最佳實施例所使用之對照表；第8圖係本發明伺服馬達位置回饋裝置第二實施例之功能方塊圖。1 is a waveform diagram of an AC signal excited by a conventional technique; FIG. 2 is a waveform diagram of a sampled signal outputted by a conventional technique; and FIG. 3 is a functional block diagram of a preferred embodiment of a servo motor position feedback device of the present invention; 4 is a flow chart of a preferred embodiment of a servo motor position feedback method of the present invention; FIG. 5 is a waveform diagram of a pulse wave signal excited by a preferred embodiment of the servo motor position feedback device of the present invention; FIG. 6 is a view of the present invention The sampled signal waveform diagram of the sensing output of the preferred embodiment of the servo motor position feedback device; FIG. 7 is a comparison table used in the preferred embodiment of the servo motor position feedback device of the present invention; and FIG. 8 is the servo motor position feedback device of the present invention. Functional block diagram of the second embodiment.
1‧‧‧伺服馬達1‧‧‧Servo motor
11‧‧‧轉軸11‧‧‧ shaft
2‧‧‧解角器2‧‧‧Resolver
21‧‧‧激磁訊號輸入線圈21‧‧‧Exciting signal input coil
22a‧‧‧角位移感應線圈22a‧‧‧Angle displacement induction coil
22b‧‧‧角位移感應線圈22b‧‧‧Angle displacement induction coil
31‧‧‧放大器31‧‧‧Amplifier
32‧‧‧放大器32‧‧‧Amplifier
4‧‧‧角位移量接收單元4‧‧‧Angle displacement receiving unit
5‧‧‧取樣訊號轉換單元5‧‧‧Sampling signal conversion unit
6‧‧‧脈波產生單元6‧‧‧ Pulse wave generating unit
7‧‧‧對照表7‧‧‧ comparison table
S1‧‧‧脈波訊號S1‧‧‧ pulse wave signal
S2‧‧‧取樣訊號S2‧‧‧Sampling signal
S2a‧‧‧正弦取樣訊號S2a‧‧‧Sine sampling signal
S2b‧‧‧餘弦取樣訊號S2b‧‧‧ cosine sampling signal
S3‧‧‧位置回饋參數S3‧‧‧ position feedback parameters
θ‧‧‧角位移量Θ‧‧‧ angular displacement
Claims (12)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW100147858A TWI446128B (en) | 2011-12-21 | 2011-12-21 | Servo motor position feedback device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW100147858A TWI446128B (en) | 2011-12-21 | 2011-12-21 | Servo motor position feedback device and method |
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| Publication Number | Publication Date |
|---|---|
| TW201327069A TW201327069A (en) | 2013-07-01 |
| TWI446128B true TWI446128B (en) | 2014-07-21 |
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|---|---|---|---|
| TW100147858A TWI446128B (en) | 2011-12-21 | 2011-12-21 | Servo motor position feedback device and method |
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| Country | Link |
|---|---|
| TW (1) | TWI446128B (en) |
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