CN108969308A - A kind of lower limb rehabilitation robot - Google Patents
A kind of lower limb rehabilitation robot Download PDFInfo
- Publication number
- CN108969308A CN108969308A CN201810465616.4A CN201810465616A CN108969308A CN 108969308 A CN108969308 A CN 108969308A CN 201810465616 A CN201810465616 A CN 201810465616A CN 108969308 A CN108969308 A CN 108969308A
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- lower limb
- patient
- rehabilitation
- seat
- hanger
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 55
- 230000005484 gravity Effects 0.000 claims description 6
- 230000006641 stabilisation Effects 0.000 claims description 4
- 238000011105 stabilization Methods 0.000 claims description 4
- 210000003414 extremity Anatomy 0.000 claims description 3
- 208000027418 Wounds and injury Diseases 0.000 claims description 2
- 238000010276 construction Methods 0.000 claims description 2
- 230000006378 damage Effects 0.000 claims description 2
- 230000007423 decrease Effects 0.000 claims description 2
- 208000014674 injury Diseases 0.000 claims description 2
- 210000000988 bone and bone Anatomy 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 208000020442 loss of weight Diseases 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
- 208000019553 vascular disease Diseases 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/003—Wheelchairs attached to a cycle steerable by an attendant
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
- A61G2203/76—General characteristics of devices with special adaptations, e.g. for safety or comfort for nesting or stacking
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0161—Size reducing arrangements when not in use, for stowing or transport
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
Landscapes
- Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides a kind of lower limb rehabilitation robot, including foot pedal, universal wheel, ontology, leg support frame, leg restraint, cylinder, seat, protecting frame, buckle, hanger, push rod, storage tank, driving wheel, battery, pneumatic element, safety belt, control switch.It is characterized in that the ontology is folding device, it trails when use, shape is small handcart type structure, surge described in setting element and the battery in the storage tank, the element that surges provides power for the leg support frame, the seat, the hanger, the battery is used to provide power for the driving wheel, the control switch is arranged on the push rod, operated by retinue, thus a kind of lower limb rehabilitation robot can power-assisted retinue's cart be moved to the region for needing rehabilitation.The invention discloses a kind of folding mobile device of band force aid system, the indoor rehabilitation that patient may be implemented can also carry out outdoor rehabilitation, and structure is simple, highly-safe, foldable, cheap, easy to promote and utilize lower limb rehabilitation robot.
Description
Technical field
The present invention relates to robotic technology field, especially a kind of lower limb rehabilitation robot.
Background technique
With Chinese aging process, the crowd with cranial vascular disease or the nervous system disease is in cumulative year after year trend,
For this kind of most patients with hemiplegia symptom, this drastically influences the quality of life of patient.Studies have shown that the lower limb rehabilitation instruction of appropriateness
Practicing helps to restore patients' neural's system, therefore lower limb rehabilitation robot is gradually introduced in field of medical rehabilitation.Currently, under
The research of limb healing robot is mainly reflected in: Chinese Patent Application No. 201711179510, and patent name one kind is for suffering from
The loss of weight support system of person's lower limb rehabilitation training, the system can be adjusted using large-scale traction device with mitigating the weight of patient
The rehabilitation training of whole patient's difference posture, but the equipment mechanism is huge, can only carry out in recovery centre, does not do lower limb auxiliary branch
Support arrangement needs retinue to control the center of patient；Chinese Patent Application No. is 201710820441, the horizontal lower limb health of sitting
Multiple robot system, using mechanical exoskeleton support limb, sit down rehabilitation and the standing rehabilitation of rehabilitation personnel is may be implemented in seat,
But the upper limb loss of weight measure of patient is not studied, such rehabilitation personnel is easy the seat for leaning forward, in addition designing in rehabilitation
Inconvenience is mobile.
Summary of the invention
For above situation, to overcome its deficiency, the present invention provides a kind of structure is simple, highly-safe, foldable, valence
Lattice are cheap, lower limb rehabilitation robot easy to promote and utilize.
The technical scheme of the present invention is realized as follows: a kind of lower limb rehabilitation robot, including foot pedal, universal wheel, sheet
Body, leg support frame, leg restraint, cylinder, seat, protecting frame, buckle, hanger, push rod, storage tank, driving wheel, electric power storage
Pond, the element that surges, safety belt, control switch.It is characterized in that the ontology is folding device, size after folding are as follows: 500mm
× 500mm × 500mm, when use, trail, the full-size after expansion are as follows: before and after 1500mm() × 1200mm(or so) ×
2000mm(high), shape is small handcart type structure, and surge described in setting element and the battery in the storage tank, the liquid
Dynamic element is the leg support frame, the seat, the hanger provide power, and the battery is used to provide for the driving wheel
Power, the control switch are arranged on the push rod, are operated by retinue, therefore a kind of lower limb rehabilitation robot energy
Enough power-assisted retinue carts are moved to the region for needing rehabilitation.
A kind of lower limb rehabilitation robot is that movable fixture can independently carry out rehabilitation instruction when Rehabilitation is trained
Practice, can indoors, outdoor carry out rehabilitation training, a kind of lower limb rehabilitation robot moving direction controls by retinue.
The leg support frame is mechanical exoskeleton structure, can assist any state that extends in of lower limb, and the leg is solid
Determine device to be used to fix lower limb, make lower limb and the leg support frame cooperative motion, the leg support frame is that length is adjustable, institute
The force aid system for stating leg support frame is cylinder, and the leg support frame extreme length is 1300mm, the leg support frame shortest length
For 400mm, help can be provided for adult or teen-age lower limb rehabilitation.
The driving wheel and the universal wheel are tire construction, it is possible to reduce a kind of lower limb rehabilitation robot is to suffering from
Person's bring shakes discomfort, and a kind of lower limb rehabilitation robot has 4 universal wheels, and 2 driving wheels are protected
Patient's integrally-built stabilization of any stage in rehabilitation is demonstrate,proved, secondary injury is avoided.
The protecting frame can protect patient in rehabilitation, and the hand steered protecting frame of patient guarantees the stabilization of center of gravity, needs to leave
When a kind of lower limb rehabilitation robot, the buckle is unclamped, is conveniently left, the protecting frame is fixed on the hanger, can
With landing, height can be adjusted according to the body structure of patient.
The hanger is used to mitigate the boom hoisting of patient weight, is equipped with the safety belt, Huan Zhe on the hanger
When carrying out standing rehabilitation, patient covers on the safety belt, can mitigate patient's weight and give lower limb bring burden；Patient is sitting in
When on the seat, patient covers on the safety belt, can be easy to individually keep the flat of center of gravity by the hanger patient
Weighing apparatus, the hanger lifting are realized by the ontology with lock-bit.
The seat be can folding-unfolding apparatus, when patient needs to be sitting in the seat and carries out rehabilitation training, the seat opens
The weight of patient is accepted, when patient needs standing to carry out rehabilitation training, the seat is collapsed, and facilitates patient stand's rehabilitation training.
The hanger and the seat are linkage structure, patient need to stand rehabilitation training when, the hanger increases, is described
Seat collapses, patient need to sit down rehabilitation training when, hanger decline, the seat open, and the storage tank is used to store
Carry-on articles, the emergency article etc. that the battery, the element that surges, patient need to carry.
The good effect that technical solution of the present invention generates is as follows:
A kind of lower limb rehabilitation robot is the band folding mobile device of force aid system, and the indoor rehabilitation of patient may be implemented
Outdoor rehabilitation can also be carried out, the pressure of Rehabilitation is mitigated；When Rehabilitation, a kind of lower limb rehabilitation robot can be stretched
Exhibition meets patient's diversification requirement and guarantees the stability and safety of Rehabilitation training；When patient's not rehabilitation training, institute
Smaller size can be folded by stating a kind of lower limb rehabilitation robot, saved space, be readily transported carrying.
Retinue need to only shift a kind of lower limb rehabilitation robot onto one place, and patient can be increased with independent operation
The self-confidence of Rehabilitation is added.
A kind of lower limb rehabilitation robot is provided with the load-bearing that the hanger is used to mitigate lower limb, and the protecting frame is used to
Protection patient prevents center of gravity unbalance.Present apparatus structure is simple, highly-safe, foldable, cheap, easy to promote and utilize.
Detailed description of the invention
Fig. 1 is that a kind of lower limb rehabilitation robot of the present invention is sat down rehabilitation figure；
Fig. 2 is that protection block diagram is unclamped in a kind of lower limb rehabilitation robot standing of the present invention；
Fig. 3 is a kind of lower limb rehabilitation robot standing rehabilitation figure of the present invention；
Fig. 4 sits down for a kind of lower limb rehabilitation robot of the present invention unclamps protection block diagram.
1, foot pedal；2, universal wheel；3, ontology；4, leg support frame；5, leg restraint；6, hydraulic cylinder；7, seat；
8, protecting frame；9, it buckles；10, hanger；11, push rod；12, storage tank；13, driving wheel；14, battery.
Specific embodiment
It elaborates below in conjunction with attached drawing 1,2,3,4 to a specific embodiment of the invention.
It is that a kind of lower limb rehabilitation robot of the present invention is sat down rehabilitation figure by Fig. 1, patient is sitting on the seat 7, by accompanying
Personnel are fixed on the leg of patient on the leg support frame 4 by leg restraint 5, as retinue safety described in patient
Band covers the waist in patient, by buckle 9, closes the protecting frame 8, patient, which can sit down, carries out rehabilitation training；Patient needs
By rehabilitation of sitting down to when standing rehabilitation, patient only needs the hand steered protecting frame 8 to stand, and retinue passes through the fixation on ontology 3
Positioning device, set up the position of the hanger 10, the hanger 10 is linkage, the seat 7 with the seat 7
Downwards, the hanger 10 continues to support the weight of patient by the safety belt, and the gravity balance of patient passes through the protecting frame 8
It realizes, patient can stand alone and carry out rehabilitation training.
When Rehabilitation for a period of time, when needing replacing environment, patient is sitting on the seat 7, and the protecting frame 8 continues
The balance of patient is protected, the safety belt is not required to unlock, and the leg support frame 4 continues to support patient legs by hydraulic cylinder 6, accompanies
The control switch is adjusted with personnel, the driving wheel 13 is controlled and works, a kind of leg rehabilitation instrument is pushed by push rod 11
Device people is to other environment.
When patient terminates rehabilitation training, the leg restraint 5 is unclamped by retinue, opens the protecting frame 8, is suffered from
Person can be assisted to leave a kind of lower limb rehabilitation robot by retinue, folded a kind of lower limb rehabilitation robot, led to
It crosses and falls the hanger 10, folding body 3 folds the leg support frame 4, folding, convenient transportation can be realized.
Claims (8)
1. a kind of lower limb rehabilitation robot, including foot pedal, universal wheel, ontology, leg support frame, leg restraint, cylinder, seat
Chair, protecting frame, buckle, hanger, push rod, storage tank, driving wheel, battery, pneumatic element, safety belt, control switch, feature
It is that the ontology is folding device, size after folding are as follows: 500mm × 500mm × 500mm, when use trail, after expansion
Full-size are as follows: before and after 1500mm() × 1200mm(or so) × 2000mm(high), shape is small handcart type structure, the storage
The pneumatic element and the battery be set in object case, and the pneumatic element is the leg support frame, the seat, described hangs
Frame provides power, and the battery is used to provide power for the driving wheel, and the control switch is arranged on the push rod, by
Retinue operation, therefore a kind of lower limb rehabilitation robot can power-assisted retinue's cart be moved to the area for needing rehabilitation
Domain.
2. a kind of lower limb rehabilitation robot according to claim 1, it is characterised in that: a kind of lower limb rehabilitation machine
People, is movable fixture, when Rehabilitation training, can independently carry out rehabilitation training, can indoors, outdoor carry out rehabilitation instruction
Practice, a kind of lower limb rehabilitation robot moving direction is controlled by retinue.
3. a kind of lower limb rehabilitation robot according to claim 1, it is characterised in that: the leg support frame is mechanical dermoskeleton
Bone structure, can assist any state that extends in of lower limb, and the leg restraint is used to fix lower limb, make lower limb with it is described
Leg support frame cooperative motion, the leg support frame are that length is adjustable, and the force aid system of the leg support frame is cylinder, described
Leg support frame extreme length is 1300mm, and the leg support frame shortest length is 400mm, under being adult or being teen-age
Limb rehabilitation provides help.
4. a kind of lower limb rehabilitation robot according to claim 1, it is characterised in that: the driving wheel and the universal wheel
It is tire construction, it is possible to reduce a kind of lower limb rehabilitation robot gives patient's bring to shake discomfort, described one kind
Lower limb rehabilitation robot has 4 universal wheels, and 2 driving wheels guarantee that patient's any stage in rehabilitation is integrally tied
The stabilization of structure, avoids secondary injury.
5. a kind of lower limb rehabilitation robot according to claim 1, it is characterised in that: the protecting frame can protect patient
In rehabilitation, the hand steered protecting frame of patient guarantees the stabilization of center of gravity, when needing to leave a kind of lower limb rehabilitation robot, unclamps
The buckle, conveniently leaves, and the protecting frame is fixed on the hanger, can be with landing, can be according to the body structure of patient
Adjustment height.
6. a kind of lower limb rehabilitation robot according to claim 1, it is characterised in that: the hanger is used to mitigate patient's weight
The boom hoisting of amount is equipped with the safety belt on the hanger, and when carrying out standing rehabilitation, patient covers in the safety patient
It takes, patient's weight can be mitigated and give lower limb bring burden；When patient is sitting on the seat, patient covers in the safety belt
On, it can be easy to individually keep the balance of center of gravity by the hanger patient, the hanger lifting is by with lock-bit
The ontology is realized.
7. a kind of lower limb rehabilitation robot according to claim 1, it is characterised in that: the seat be can folding-unfolding apparatus,
When patient needs to be sitting in the seat and carries out rehabilitation training, the seat opens the weight for accepting patient, patient need to stand into
When row rehabilitation training, the seat is collapsed, and facilitates patient stand's rehabilitation training.
8. a kind of lower limb rehabilitation robot according to claim 1, it is characterised in that: the hanger and the seat are connection
Dynamic structure, patient need to stand rehabilitation training when, the hanger increases, the seat collapses, and patient needs rehabilitation training of sitting down
When, the hanger decline, the seat open, and the storage tank is used to store the battery, the pneumatic element, Huan Zhexu
Carry-on articles, the emergency article to be carried etc..
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810465616.4A CN108969308A (en) | 2018-05-16 | 2018-05-16 | A kind of lower limb rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810465616.4A CN108969308A (en) | 2018-05-16 | 2018-05-16 | A kind of lower limb rehabilitation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108969308A true CN108969308A (en) | 2018-12-11 |
Family
ID=64541969
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810465616.4A Pending CN108969308A (en) | 2018-05-16 | 2018-05-16 | A kind of lower limb rehabilitation robot |
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| CN (1) | CN108969308A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110960403A (en) * | 2019-12-31 | 2020-04-07 | 布法罗机器人科技（成都）有限公司 | Walking safety support and exoskeleton robot |
| CN111012628A (en) * | 2019-12-30 | 2020-04-17 | 陈明忠 | Walking rehabilitation equipment |
| CN111449906A (en) * | 2020-04-10 | 2020-07-28 | 黑龙江省医院 | Recovered branch of academic or vocational study is with recovered ware of limbs |
| CN113171273A (en) * | 2021-04-22 | 2021-07-27 | 南京林业大学 | Rehabilitation standing training equipment based on ergonomics |
| CN114642567A (en) * | 2022-02-28 | 2022-06-21 | 燕山大学 | Multi-position open type lower limb rehabilitation robot |
| CN115634103A (en) * | 2022-12-23 | 2023-01-24 | 潍坊医学院附属医院 | Nursing infusion chair capable of adjusting limb height of patient |
| CN116158948A (en) * | 2023-02-16 | 2023-05-26 | 杭州程天科技发展有限公司 | Single-drive lower limb exoskeleton walker |
-
2018
- 2018-05-16 CN CN201810465616.4A patent/CN108969308A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111012628A (en) * | 2019-12-30 | 2020-04-17 | 陈明忠 | Walking rehabilitation equipment |
| CN110960403A (en) * | 2019-12-31 | 2020-04-07 | 布法罗机器人科技（成都）有限公司 | Walking safety support and exoskeleton robot |
| CN110960403B (en) * | 2019-12-31 | 2021-08-24 | 布法罗机器人科技（成都）有限公司 | Walking safety support and exoskeleton robot |
| CN111449906A (en) * | 2020-04-10 | 2020-07-28 | 黑龙江省医院 | Recovered branch of academic or vocational study is with recovered ware of limbs |
| CN113171273A (en) * | 2021-04-22 | 2021-07-27 | 南京林业大学 | Rehabilitation standing training equipment based on ergonomics |
| CN114642567A (en) * | 2022-02-28 | 2022-06-21 | 燕山大学 | Multi-position open type lower limb rehabilitation robot |
| CN115634103A (en) * | 2022-12-23 | 2023-01-24 | 潍坊医学院附属医院 | Nursing infusion chair capable of adjusting limb height of patient |
| CN116158948A (en) * | 2023-02-16 | 2023-05-26 | 杭州程天科技发展有限公司 | Single-drive lower limb exoskeleton walker |
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Application publication date: 20181211 |