U.S. patent application number 10/314400 was filed with the patent office on 2004-03-04 for system and method for providing passive haptic feedback.
Invention is credited to Anastas, George, Jasso, Alex, Shahoian, Erik J..
Application Number | 20040040800 10/314400 |
Document ID | / |
Family ID | 31981080 |
Filed Date | 2004-03-04 |
United States Patent
Application |
20040040800 |
Kind Code |
A1 |
Anastas, George ; et
al. |
March 4, 2004 |
System and method for providing passive haptic feedback
Abstract
Systems and methods for providing passive haptic feedback are
described. Embodiments of the present invention comprise an
actuator for bringing a manipulandum and braking surface into
contact and thereby providing a resistance. The manipulandum
includes scroll wheels, scroll drums, linear sliders and similar
user input devices. The actuator may be, for example,
electromagnetic or piezo-electric. An embodiment of the present
invention may include a processor in communication with the
actuator for providing the haptic effects.
Inventors: |
Anastas, George; (San
Carlos, CA) ; Shahoian, Erik J.; (San Ramon, CA)
; Jasso, Alex; (San Jose, CA) |
Correspondence
Address: |
John C. Alemanni, Esq.
Kilpatrick Stockton LLP
1001 West Fourth Street
Winston-Salem
NC
27101
US
|
Family ID: |
31981080 |
Appl. No.: |
10/314400 |
Filed: |
December 8, 2002 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
60399883 |
Jul 31, 2002 |
|
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|
Current U.S.
Class: |
188/161 |
Current CPC
Class: |
G06F 2203/014 20130101;
G06F 3/016 20130101 |
Class at
Publication: |
188/161 |
International
Class: |
B60L 007/00 |
Claims
That which is claimed:
1. A device comprising: a manipulandum; a brake surface; an
actuator configured to bring said manipulandum and said brake
surface into contact.
2. The device of claim 1, wherein said actuator comprises an
electromagnetic actuator.
3. The device of claim 1, wherein said actuator comprises a
piezo-electric actuator.
4. The device of claim 1, wherein said piezo-electric actuator
comprises: a base; a piezo-ceramic material having an outside edge
surrounding a central portion and connected to said base at said
outside edge; and a lever having a first end, a second end, and a
flexure between said ends, said first end connected to said
piezo-ceramic material at said central portion and said second end
connected to said braking surface.
5. The device of claim 1, wherein said actuator comprises an
actuator in communication with one of said manipulandum and said
brake surface.
6. The device of claim 1, wherein said manipulandum comprises a
scroll wheel.
7. The device of claim 1, wherein said manipulandum comprises a
scroll drum.
8. The device of claim 1, wherein said manipulandum comprises a
linear slider.
9. The device of claim 1, wherein said brake surface comprises a
disk.
10. The device of claim 1, wherein said brake surface comprises a
conical braking surface.
11. The device of claim 1, wherein said brake surface comprises a
rectangular surface.
12. The device of claim 1, wherein said brake surface comprises a
rounded edge for contacting said manipulandum.
13. The device of claim 1, wherein said brake surface is attracted
to said manipulandum upon actuation of said electromagnetic
actuator.
14. The device of claim 1, wherein said brake surface is repelled
towards said manipulandum upon actuation of said electromagnetic
actuator.
15. The device of claim 1, further comprising a position sensor in
communication with said manipulandum.
16. The device of claim 1, further comprising a controller in
communication with said electromagnetic actuator.
17. The device of claim 16, further comprising a position sensor in
communication with said controller.
18. The device of claim 1, further comprising a spring in
communication with said manipulandum and said braking surface and
configured to exert a force to separate said manipulandum and said
braking surface.
19. The device of claim 1, further comprising a lever in
communication with said electromagnetic actuator and with one of
said manipulandum and said brake surface.
20. The device of claim 19, wherein said lever comprises a
flexure.
21. A computer-readable medium on which is encoded computer program
code for handling computerized requests comprising: program code
for determining when a haptic effect is provided; program code for
generating a signal to provide said haptic effect, wherein said
effect is provided by causing an actuator to bring a manipulandum
and a brake surface into contact; and program code for sending said
signal to said actuator.
22. The computer-readable medium of claim 21, further comprising
computer code for receiving an input signal.
23. The computer-readable medium of claim 22, wherein said input
signal comprises position sensor data.
24. The computer-readable medium of claim 21, wherein said actuator
comprises an electromagnetic actuator.
25. The computer-readable medium of claim 21, wherein said actuator
comprises a piezo-electric actuator.
26. The computer-readable medium of claim 21, wherein said actuator
comprises an actuator in communication with one of said
manipulandum and said brake surface.
27. The computer-readable medium of claim 21, wherein said
manipulandum comprises a scroll wheel.
28. The computer-readable medium of claim 21, wherein said
manipulandum comprises a scroll drum.
29. The computer-readable medium of claim 21, wherein said
manipulandum comprises a linear slider.
Description
RELATED APPLICATIONS
[0001] This application claims priority to U.S. Provisional
Application No. 60/399,883 filed Jul. 31, 2002, the entire
disclosure of which is incorporated herein by reference.
NOTICE OF COPYRIGHT PROTECTION
[0002] A section of the disclosure of this patent document and its
figures contain material subject to copyright protection. The
copyright owner has no objection to the facsimile reproduction by
anyone of the patent document, but otherwise reserves all copyright
rights whatsoever.
FIELD OF THE INVENTION
[0003] The present invention generally relates to providing haptic
feedback to a manipulandum. The present invention more particularly
relates to providing passive haptic feedback to user interface
devices.
BACKGROUND
[0004] Electronic device manufacturers are constantly striving to
produce a rich interface for users. Conventional devices utilize
visual and auditory cues to provide feedback to a user. In some
interface devices, kinesthetic feedback (such as, without
limitation, active and passive force feedback), and/or tactile
feedback (such as, without limitation, vibration, texture, and
heat), is also provided to the user, more generally known
collectively as "haptic feedback." Haptic feedback provides
additional cues that enhance and simplify the user interface.
[0005] A device may incorporate a variety of technologies for
providing haptic feedback, including both active and passive
devices. Active haptic feedback devices, including, for example,
motors, add energy to a system; passive devices, such as brakes,
remove energy from the system.
[0006] Conventional passive haptic actuators utilize magnetic
particle brakes, magnetorheologic or electrorheologic brakes, or
magnetic (non-friction) brakes. Each of these conventional
approaches suffers from disadvantages. These conventional devices
are expensive and difficult to produce. They are also larger than
is practical for implementation in small, handheld devices, such as
cell phones, personal digital assistants, and the like.
[0007] Conventional magnetic particle brakes utilize a powder
comprising particles of a magnetic material. When a current is
applied, the particles line up and cause the powder to expand.
Rheologic fluid brakes utilize a fluid that changes viscosity when
a current is applied. These types of devices are expensive because
of the cost of the materials and because of the need to retain the
fluid within the device.
[0008] A magnetic brake generates a magnetic field, and when a
piece of metal passes through the magnetic field, an anti-current
is generated, causing a resistance to movement of the metal.
Conventional magnetic brakes require the metal to be moving at high
speed to be effective. Thus, these devices are not practical for
relatively slow moving user interface elements.
SUMMARY
[0009] Embodiments of the present invention provide passive haptic
feedback to manipulanda. One embodiment of the present invention
comprises a manipulandum, a brake surface and an actuator in
communication with either the manipulandum or the brake surface.
The actuator causes the brake surface and manipulandum to come in
to contact. The resulting friction between the manipulandum and
brake surface causes a resistance, which can be controlled to
deliver haptic effects to a user of the manipulandum.
[0010] Embodiments may utilize a variety of manipulanda, such as a
scroll wheel, scroll drum, and linear slider. Embodiments also may
utilize a variety of actuators, such as electromagnetic and
piezo-electric actuators. In an electronic device incorporating one
embodiment of the present invention, the manipulandum is in
communication with a position sensor. The manipulandum and actuator
are in communication with a controller, which receives position
signals from the manipulandum and provides haptic feedback signals
to the actuator. Embodiments of the present invention may be
utilized by a broad array of devices, including cell phones,
personal digital assistants, cameras, camcorders, MP3 players, and
other electronic devices.
[0011] Further details and advantages of embodiments of the present
invention are set forth below.
BRIEF DESCRIPTION OF THE FIGURES
[0012] These and other features, aspects, and advantages of the
present invention are better understood when the following Detailed
Description is read with reference to the accompanying drawings,
wherein:
[0013] FIG. 1 illustrates a personal digital assistant
incorporating one embodiment of the present invention;
[0014] FIG. 2A is a cutaway diagram of a manipulandum and haptic
actuator in one embodiment of the present invention;
[0015] FIG. 2B is a cutaway diagram of the manipulandum of FIG. 2A
in an engaged state in one embodiment of the present invention;
[0016] FIG. 3A is a cutaway diagram of a scroll drum manipulandum
and haptic actuator in one embodiment of the present invention;
[0017] FIG. 3B is an exploded view of the manipulandum and actuator
of FIG. 3A in one embodiment of the present invention;
[0018] FIG. 4 is a diagram illustrating a conical or tapered
braking surface and piezo-electric actuation in one embodiment of
the present invention;
[0019] FIG. 5 is a diagram illustrating a scroll drum manipulandum
incorporating passive feedback in one embodiment of the present
invention;
[0020] FIG. 6A is a diagram of a linear slider in an embodiment of
the present invention;
[0021] FIG. 6B is a diagram illustrating an end view of the slider
of FIG. 6A in one embodiment of the present invention;
[0022] FIG. 7 is a block diagram, illustrating one embodiment of a
passive feedback device according to the present invention;
[0023] FIG. 8 is a flowchart, illustrating a process for address
entry navigation on a cell phone incorporating an actuator
according to the present invention; and
[0024] FIG. 9 is a flowchart, illustrating a process of navigating
email on a personal digital assistant (PDA) utilizing an embodiment
of the present invention.
DETAILED DESCRIPTION
[0025] Embodiments of the present invention provide passive haptic
feedback systems and methods, and applications thereof, utilizing
frictional braking. Embodiments include devices, comprising a
manipulandum, a brake surface, and an actuator for bringing the
manipulandum and brake surface into contact.
[0026] Referring now to the drawings in which like numerals
indicate like elements throughout the several figures, FIG. 1
illustrates a personal digital assistant incorporating one
embodiment of the present invention. The personal digital assistant
(PDA) 100 shown in FIG. 1 includes a display screen 102 and several
manipulanda, interface elements that a user of the PDA 100 can
manipulate. The manipulanda include a plurality of buttons 104a,
104b, 103c, 104d and a scroll wheel 106. In one embodiment, the
user utilizes the buttons 104a-d to access specific application,
such as an address book. Once the user has accessed the address
book application, the user utilizes the scroll wheel 106 to
navigate through the various elements of the user interface, such
as menus or a list of names contained in the electronic address
book. The embodiment shown in FIG. 1 provides haptic feedback to
the scroll wheel 106 to enhance the user's interaction with the PDA
100.
[0027] A device according to the present invention may provide
haptic feedback in various physical mechanisms, such as the scroll
wheel (106) shown in FIG. 1. FIG. 2A is a cutaway diagram of a
manipulandum and haptic actuator in one embodiment of the present
invention. In the embodiment shown in FIG. 2A, the manipulandum is
a scroll wheel 202. The scroll wheel 202 may be, for example, the
scroll wheel shown in the PDA (100) of FIG. 1.
[0028] At its center, the scroll wheel 202 is connected to a shaft
204. The scroll wheel 202 and shaft 204 rotate around a common
axis. A braking surface 206 in the form of a disk is mounted on the
shaft 204 so that the braking surface 206 is moveable towards the
scroll wheel 202 parallel to the shaft 204. The braking surface 206
in FIG. 2A is not free to rotate (although in other embodiments it
may rotate). The braking surface 206 in FIG. 2A contains an
electromagnet 208. When the electromagnet 208 receives a current,
it develops a magnetic attractive force, and the magnetic
attractive force moves the braking surface 206 and scroll wheel 202
into contact. The contact between theses elements causes a
resistance to movement of the scroll wheel 202. The resistance may
cause the scroll wheel 202 to stop or may exert a force that the
user can overcome. In another embodiment, a spring mounted between
the brake and the scroll wheel causes the two elements to separate
when the electromagnet is not energized. FIG. 2B illustrates the
scroll wheel 202 and the braking surface 206 in contact with one
another. A controller, such as a processor, that controls the
application of current to the electromagnet 208 is capable of
generating a variety of haptic effects. For example, the controller
can create effects, such as detents, between entries in the address
book application described with reference to FIG. 1. The controller
may create additional effects as well, including, for example,
bumps and stops.
[0029] FIG. 3A is a cutaway diagram of a scroll drum 300 in another
embodiment of the present invention. The scroll drum 360 shown is a
self-contained haptic actuator. A cylinder 302 is attached to a
first shaft 304 such that the cylinder 302 is capable of rotating.
Inside the cylinder 302 are a plurality of braking surfaces 306a,b.
In the embodiment shown, the braking surfaces 306 are fixed so as
not to rotate in relation to the cylinder 302. A cylindrical
electromagnet 308 is mounted between the braking surfaces 306 and a
second, non-rotating shaft 310. When current is supplied to the
electromagnet 308, the braking surfaces 306 are forced away from
the electromagnet 306 and into contact with the cylinder 302,
causing a resistance to rotation of the cylinder 302.
[0030] FIG. 3B is an exploded view of the internal structure of the
scroll drum 300 shown in FIG. 3A. The braking surfaces 306 include
a curved surface to contact a greater inside surface area of the
rotating cylinder (not shown in FIG. 3B). The braking surfaces 306
include a tab 312 on either end. The tab 312 fits in a slot 314 in
non-rotating shaft 310. When the electromagnet 308 has no current
flowing to it, the braking surfaces 306 are positioned in the slot
314 at a position in close proximity to the electromagnet 308. When
a current is supplied to the electromagnet 308, the braking
surfaces 306 are forced away from the electromagnet 308 and into
contact with the rotating cylinder (not shown). When the braking
surfaces 308 and rotating cylinder 302 are in contact, the user
feels a resistive force when attempting to rotate the cylinder
302.
[0031] FIG. 4 is a diagram illustrating another embodiment of the
present invention. The embodiment shown in FIG. 4 utilizes a
piezo-electric actuation to provide braking forces to a scroll
wheel 402. In a piezo-electric actuator, a relatively high voltage
is applied to a piezo-ceramic, causing the crystals to elongate and
thereby chaining the shape of the material. Typically, that
material shape change is relatively small and some type of
amplification is utilized to provide a mechanical force.
[0032] Referring again to FIG. 4, the scroll wheel 402 is mounted
on a shaft 404 such that the scroll wheel 402 is able to rotate.
The shaft 404 is connected to a housing 406. The scroll wheel 402
includes a conical indentation 408 on the side opposite the shaft
406. Also attached to the housing is a piezo-ceramic material 410
mounted to a base 412, which is further mounted to the housing 406.
In the embodiment shown, the base 412 is a thin brass sheet. The
piezo-ceramic material 410 is attached to the base 412 at the edges
of the piezo-ceramic 410. The piezo-ceramic material 410 covers
approximately 50-70% of the upper surface area of the base 412.
Alternatively, the piezo-ceramic material can cover less than
approximately 50% and/or more than approximately 70%. When current
is supplied to the piezo-ceramic 410, the material attempts to
stretch. However, since the edges are secured, the center of the
piezo-ceramic 410 is forced away from the base 412, providing a
relatively large displacement.
[0033] A lever 414 is connected to the piezo-ceramic material 410.
The lever 414 includes a flexure 416 at or near a midpoint of its
length. The flexure 416 is connected to a fulcrum 418 so that the
lever 414 can rotate about the flexure 416. A conical or tapered
braking surface 420 is attached to the lever 414 at the end distal
from the piezo-ceramic 420. The braking surface in the embodiment
shown, the braking surface 420 is formed in a shape complementary
to the shape of the conical indentation 408 of the scroll wheel
402. When current is supplied piezo-ceramic material 410, forcing
away from the base 412, the lever 414 is also forced away from the
base 412. This movement causes the lever 414 to rotate about the
flexure 416, further causing the conical braking surface 420 into
contact with the inside surface of the conical indentation 408 in
the scroll wheel 402. When the braking surface 420 and scroll wheel
402 are in contact, the user feels a resistance to rotation of the
scroll wheel 402. The resistance is proportional to the current fed
to the piezo-electric material 410.
[0034] FIG. 5 is a diagram of a scroll drum manipulandum
incorporating passive feedback in an embodiment of the present
invention. The manipulandum 500 shown includes a scroll drum 502
mounted to a pair of supports 504a, b such that scroll drum 502 is
able to rotate. Supports 504a,b pivot about an axis 506a,b. An
electromagnet 508, a solenoid in the embodiment shown, is also
connected to supports 506a,b with a shaft 510. The shaft passes
through a hole in an end portion 512a,b of each support 504a,b.
When the electromagnet 508 is energized, it attracts end portions
512a,b towards it. The movement of the end portions 512a,b causes
the supports 504a,b to pivot about their axis 506a,b and exert a
force on the ends of the scroll drum 502. This force causes a
resistance to rotation of the scroll drum 502. The supports 512a,b
provide a lever system that serves to multiply the force provided
by the electromagnet 508.
[0035] FIG. 6A is a diagram of another embodiment of the present
invention. In the embodiment shown in FIG. 6A, a linear slider 600
includes an open frame slide potentiometer. The slider 600 includes
a central core 602 with a lead at each end 604, 606 connected to a
winding 608 around the central core 602. The handle 610 of the
slider 600 fits around the central core 602. The handle 610 is
connected to a third lead 612 such that when the handle 610 moves,
the lead 612 moves and changes the resistance present between leads
604 and 612. The slider 600 also includes a rectangular braking
surface 614 and an electromagnet 616. When the electromagnet 616 is
energized, it repels the braking surface 614, causing the braking
surface 614 to come into contact with the slider handle 610 and
provide a resistive force. FIG. 6B is an end view of the slider 600
shown in FIG. 6A.
[0036] FIG. 7 is a block diagram, illustrating one embodiment of a
passive feedback device according to the present invention. In the
embodiment shown, the passive feedback device 700 includes a
manipulandum 702. The manipulandum 502 may comprise one of the
manipulanda discussed in relation to FIGS. 1-7 or various other
types of manipulanda. The device 700 also includes an actuator 704,
such as an electromagnetic or piezo-electric brake. The
manipulandum 702 and actuator 704 are in communication with a
processor 706. The processor 706 receives sensor information from
the manipulandum 702, performs control algorithms, and provides
feedback control signals to the actuator 704.
[0037] Processors can include, for example, digital logical
processors capable of processing input, execute algorithms, and
generate output as necessary to create the desired tactile
sensations in the input device in response to the inputs received
from that input device. Such controllers may include a
microprocessor, an Application Specific Integrated Circuit (ASIC),
and state machines. Such processors include, or may be in
communication with, media, for example computer readable media,
which stores instructions that, when executed by the processor,
cause the processor to perform the steps described herein as
carried out, or assisted, by a processor. Embodiments of
computer-readable media include, but are not limited to, an
electronic, optical, magnetic, or other storage or transmission
device capable of providing a processor, such as the processor in a
web server, with computer-readable instructions. Other examples of
suitable media include, but are not limited to, a floppy disk,
CD-ROM, magnetic disk, memory chip, ROM, RAM, ASIC, configured
processor, all optical media, all magnetic tape or other magnetic
media, or any other medium from which a computer processor can
read. Also, various other forms of computer-readable media may
transmit or carry instructions to a computer, including a router,
private or public network, or other transmission device or
channel.
[0038] The device also includes an input/output (I/O) port 708,
such as a game port, for performing bi-directional communication
with external devices utilizing an embodiment of the present
invention. In the embodiment shown, the device 500 receives power
from an external power supply 710. In other embodiments, power may
be supplied through the I/O port 708 or by utilizing an internal
power supply. Various embodiments may utilize additional components
as well, such as an amplifier to amplify signals to the
actuator.
[0039] Embodiments of the present invention may utilize various
other passive actuators as well. For example, in one embodiment, a
hybrid actuator provides passive effects. In such an embodiment, a
motor in communication with a manipulandum is short-circuited or
set up to act as a generator, causing a resistance. If the motor is
set up as a generator, then during certain braking effects and
during damping effects, the motor can generate current back to the
power supply.
[0040] FIG. 8 is a flowchart illustrating a process for address
entry navigation on a cell phone incorporating an actuator
according to the present invention. The user first utilizes an
interface element on the cell phone to select the address book
application 802. The address book displays a list of contact names.
The user uses a scroll wheel on the cell phone to navigate to the
next entry in the address book 804. For example, the user could use
the scroll wheel of FIGS. 2A and 2B or the scroll drum of FIGS. 3A
and 3B. The control application determines whether or not the next
entry is a favorite 806. If the entry is a favorite, the actuator
provides a bump effect 808 and the process ends 810. For example,
in the actuator shown in FIG. 3A, a processor executing the control
application sends a signal to the electromagnet (308), which causes
the brake surface (306a,b) to move into contact with the scroll
drum (302). The brake surface may comprise a disk, rectangle, or
any other shape. Also, the brake surface may come into direct or
indirect contact with the manipulandum. For example, in one
embodiment, the brake surface contacts the shaft of the scroll drum
(302), causing resistance in turning the scroll drum (302). The
duration and force that the actuator applies depend on the signal
that the processor generates. The processor determines the signal
based upon an algorithm stored in a computer-readable medium.
[0041] If the entry is not a favorite, the application determines
whether the first letter of the next entry is the same as the first
letter of the current entry 812. If so, the actuator provides a
soft detent effect 814. If the first letter of the entries is
different, the actuator provides a hard detent effect 816. By
differentiating between the various entries in this manner, an
embodiment of the present invention provides a richer interface
than is available in conventional devices.
[0042] FIG. 9 is a flowchart illustrating a process of navigating
email on a personal digital assistant (PDA) utilizing an embodiment
of the present invention. The method shown in illustrated in FIG. 9
is described with reference to PDA (100) shown in FIG. 1. The PDA
(100) includes a scroll wheel (106). For example, the scroll wheel
(106) may be the scroll wheel of FIGS. 2A and 2B or the scroll drum
of FIGS. 3A and 3B. The user of the PDA (100) receives an email
902. The user utilizes an interface device, such as button (104),
to open the email 904. Using the scroll wheel (106), the user
scrolls to the bottom of the email displayed on the PDA screen
(102) 906. The PDA screen (102) may or may not be large enough to
display the email. If the email is longer than the visible portion
of the screen (102) 908, the actuator in communication with the
scroll wheel (106) causes a detent effect by creating a resistance
on the scroll wheel (106) over a short interval of time 910. The
user can overcome the effect by continuing to scroll down through
the email using the scroll wheel (102). The effect provides an
indicator to the user that the user is scrolling beyond the visible
portion of the email message. If the email is not longer than the
visible portion of the screen (102), the actuator causes a stop
effect, a strong resistance to further movement of the scroll wheel
(106) 912. Once the effect has been provided, the process ends 914.
Various other types of effects may be utilized. For example, in one
embodiment, the actuator provides a "bump" when the end of the
email is reached. If the user continues to scroll past the bump,
the application displays the next email in the folder the user is
currently viewing.
[0043] Embodiments of the present invention may be incorporated
into a broad array of devices. For example, a cell phone may
incorporate a scroll drum according to this invention for use in
navigating a menu structure. A television remote control may also
incorporate an embodiment of the present invention for channel
navigation, volume control, and other related functions. Similarly,
an audio component remote control may utilize an embodiment for
volume control or other audio control. A laptop computer may
utilize an embodiment for navigation, volume control, or any other
function utilizing a scroll wheel, scroll drum, linear slider, or
similar user interface device. PDA's, handheld navigation, and
handheld email appliances may also benefit from utilizing an
embodiment of the present invention.
[0044] A camera utilizes an embodiment of the present invention for
user control of the focus, f-stop, menu navigation, and other
camera-related functions. Since the effects provided by the
actuator are programmable, one manipulandum may be utilized to
perform many or all of the functions on the camera. A video
recorder may utilize an embodiment of the present invention to
provide functions such as shuttle, fast forward, and reverse. The
actuator creates detents on a frame-by-frame basis for the shuttle
function and hard stops for fast forward and reverse.
[0045] The foregoing description of the preferred embodiments of
the invention has been presented only for the purpose of
illustration and description and is not intended to be exhaustive
or to limit the invention to the precise forms disclosed. Numerous
modifications and adaptations thereof will be apparent to those
skilled in the art without departing from the spirit and scope of
the present invention.
* * * * *