CN203234870U - Human-simulated artificial hand - Google Patents

Human-simulated artificial hand Download PDF

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Publication number
CN203234870U
CN203234870U CN2013201143588U CN201320114358U CN203234870U CN 203234870 U CN203234870 U CN 203234870U CN 2013201143588 U CN2013201143588 U CN 2013201143588U CN 201320114358 U CN201320114358 U CN 201320114358U CN 203234870 U CN203234870 U CN 203234870U
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China
Prior art keywords
dactylus
connecting rod
facial expression
finger
gesture
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Expired - Fee Related
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CN2013201143588U
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Chinese (zh)
Inventor
朱德荣
戴建广
王永昌
关帅国
王飞
谢科
娄建伟
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Luoyang Institute of Science and Technology
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Luoyang Institute of Science and Technology
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Priority to CN2013201143588U priority Critical patent/CN203234870U/en
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Abstract

The utility model discloses a human-simulated artificial hand which comprises a wrist (2), fingers (4), a palm (3) and a control system (1), wherein the palm (3) is connected with the wrist (2) and used for bearing and fixing the fingers (4), and the control system (1) supplies power and a control signal for the artificial hand. The grabbing mode that each finger has one freedom degree is adopted to form a six-connecting-rod coupling mechanism of the fingers to simulate the bending operation of the fingers, so that the opening and shutting speed of the fingers is high, and the artificial hand is more similar to a real hand in the grabbing process. The control system of the artificial hand is integrated into the artificial hand, a sensor system is inlaid to the interior of a finger mechanism, the mechanical-electrical integration design of the artificial hand is achieved, and the artificial hand is made to be small in size and light in weight.

Description

The apery type is done evil through another person
Technical field
This utility model relates to hand prosthesis technique field.
Background technology
Along with the development of scientific and technological level and people to the degree of concern rising of welfare services for the disabled, occurred successively doing evil through another person based on the people with disability of various principles.Comprising practical application the most German Otto Bock single-degree-of-freedom do evil through another person, the Stanford university that adopts rope to drive does evil through another person, and the Spain Manus that adopts tendon to drive does evil through another person, Italian ARTS laboratory does evil through another person, adopts the Southampton University of Southampton of owing actuation techniques to do evil through another person and the CyberHand of four countries' joint research and development etc.
The TBM of University of Toronto does evil through another person and has adopted linkage, be a kind of be that tentative many fingers of 7~11 years old age bracket designed for children are done evil through another person.Four fingers (forefinger, middle finger, the third finger and little finger of toe) have respectively three dactylus, and each finger has one degree of freedom, the movement locus apery; Four finger structures are identical, consist of by six rods, and interchangeability of parts is very high.Thumb has flexion/extension and two degree of freedom of interior receipts/abduction, is made of four rod members.Wherein in receipts/abduction degree of freedom be passive freedom degree, need adjust by staff or other external force, interior receipts/abduction degree of freedom with other four fingers by a motor-driven.This hands structure is small and exquisite, and rigidity is better, can realize the passive adaptation crawl.But because five fingers all rely on a motor-driven, therefore the unbalanced problem of grasp force has appearred.
The Limb hands is by the commercial multiple freedom degrees hand-prosthesis of Britain's " bionical contact " (Touch Bionics) company development, reaches 67% in the market share of Britain.It is to utilize the self-movement of five fingers of five motor-driven of two-way EMG input control; Four fingers respectively have two movable joints, and basic joint is by Worm Wheel System, and middle joint is by Timing Belt and the coupled motions of basic joint; Thumb has increased a passive freedom degree at basic joint, can regulate by external force the interior receipts/abduction exercise of thumb.This hands can switch between four kinds of action patterns, can finish smoothly the exercises such as unblank to carry a tray.Sheathing material has adopted light plastic, and weight is lighter than people's natural hand.Outer packing artificial skin, the outward appearance apery.The appearance of Limb hands indicates that multiple freedom degrees hand-prosthesis begins to be applied to clinical.
In the Dextrous Hand of motor-driven, integral drive class, the Gifu-II(hands of Gifu, Japan university and the cooperative development of a few company approaches the most with staff on size and dimension, and whole hands size is near two times of staff.What it adopted is that the microdrive that is integrated in palm and the finger directly drives.The Gifu hands has five modular fingers, 16 degree of freedom in totally 20 joints.Its middle finger has four degree of freedom in four joints, and other finger has four joint three degree of freedoms, and interlock is realized by connecting rod in latter two joint of four fingers of other except thumb.Whole abundant touch sensor is housed on hand, comprises joint position sensor, joint moment sensor, finger tip six-dimensional force/torque sensor, palm touch sensor, have 859 sensing points.
Tsing-Hua University has developed the myoelectrically controlled hand with the NEW ADAPTIVE force-increasing mechanism on the basis that the German Otto Bock of research does evil through another person.Full hands total thumb, forefinger and three fingers of middle finger, wherein forefinger and middle finger are fixed with one, and adopt a motor by spiral and link transmission.For the Otto Bock complex structure of doing evil through another person, the processing and manufacturing hard problem has designed double-spiral automatic-switching-over step-up mechanism.This mechanism is composed in series by two spirals of different pitch, before the finger contact object by the quick transmission of the king bolt head that pushes the work forward, behind the contact object by the minor spiral transmission force-aid.This prosthetic finger brings out power 50~100N, and 100mm opens hands time 1~1.5s, and noise does not have resilience less than 42dB, and reliability is high, but because degree of freedom is few, simple in structure, relatively poor to the adaptability of crawled body form.
Harbin Institute of Technology has developed the HIT multi-finger clever hand, and this hand getting drives with direct current generator, realizes transmission by bevel gear, connecting rod etc.HIT/DLR-I hand getting modularity, Integration Design, four identical fingers, each finger have four joint three degree of freedoms; Thumb has designed the degree of freedom of a rotation, can satisfy different crawl requirements by the relative position of configuration thumb.The finger tip of HIT/DLR-I hands has been arranged six-dimensional force/torque sensor.But be subjected to the restriction of bevel gear and direct current generator, the size of finger-base joint is bigger.
The defectives such as to sum up, doing evil through another person that prior art provides exists volume, weight is large, consumes energy larger, and outward appearance and forms of motion apery degree are bad.
Summary of the invention
For the defective of above-mentioned prior art, the invention technical problem to be solved provides a kind of finger structure compactness, size is little, and folding speed is fast, and the grasping process is done evil through another person near the apery type of staff.
The invention is for solving the problems of the technologies described above, by the following technical solutions:
The apery type of the invention is done evil through another person, and comprises wrist, finger, is connected the palm of carrying and fixed finger with wrist, and the control system of power and control signal is provided for doing evil through another person;
Described wrist comprises disc-shaped base, palm fixed disk, connects the connecting axle of disc-shaped base and palm fixed disk, is fixed on the servomotor in the disc-shaped base, is equipped with crank on the servomotor, the connecting rod of connecting crank and palm fixed disk;
Described palm is arranged on the top of wrist, comprises front gesture and facial expression, rear gesture and facial expression and connects both side plate, and described rear gesture and facial expression is provided with the finger fixing hole, and the corresponding position of described front gesture and facial expression is provided with groove, and groove and finger fixing hole are used for assembling hands and refer to;
Described finger comprises the pedestal that is connected on the palm, the servomotor that is arranged on driving finger in the pedestal, the brace and connecting rod framework of driven by servomotor and the dactylus that is connected with connecting rod, and described dactylus and connecting rod consist of coupled mode; Described pedestal is connected to the finger fixing hole place on the rear gesture and facial expression, and is corresponding one by one with groove on the front gesture and facial expression;
Described control system integration is inner at palm, comprises central processing module, electric servo-actuated module, angle displacement transducer module, moment sensing module and display module; The servo-actuated module of described electricity comprises initiatively module and servo-actuated module; Initiatively module is used for producing displacement signal through user control, and central processing module is processed this signal and controlled servo-actuated module and carry out corresponding action; Angle displacement transducer and torque sensor are used for the anglec of rotation that Real-time Measuring must point and the size of finger root Moment, after central processing module is processed, are delivered to and are convenient to user control in the display module.
Further, the dactylus of described coupled mode and connecting rod, dactylus comprise nearly dactylus, middle finger joint and dactylus far away, and described connecting rod comprises connecting rod one, connecting rod two and connecting rod three; Connecting rod hold one by one be arranged on the servomotor output shaft on crank be connected, connecting rod one other end links to each other with nearly dactylus lower end, nearly dactylus lower end is arranged on the pedestal by connecting axle, nearly dactylus is rotated around pedestal by the driving of crank and connecting rod one; The middle finger joint lower end links to each other with nearly dactylus upper end, and the middle finger joint lower end is connected with an end of connecting rod two simultaneously, and the other end of connecting rod two is connected on the pedestal; The coupling that moves through nearly dactylus and connecting rod two of middle finger joint is determined; Dactylus lower end far away links to each other with the middle finger joint upper end, and dactylus lower end far away is connected with connecting rod 31 ends simultaneously, and connecting rod three other ends link to each other with nearly dactylus upper end; The coupling that moves through middle finger joint and connecting rod three of dactylus far away is determined.
Further, described rear gesture and facial expression is curved surface, and the normal of rear gesture and facial expression edge line is in the determined plane of two edges line, and the angle of two normals is 155 °.
Further, described front gesture and facial expression is curved surface, and take up an official post 2 an of correspondence of front gesture and facial expression and rear gesture and facial expression are equidistant.
Further, described front gesture and facial expression upper groove equal and opposite in direction, shape are identical.
Further, the central distribution of upper end groove is mutually 10 ° of angles on the front gesture and facial expression on same circumference; Front gesture and facial expression upper side edge groove is 60 ° with the angle of the most adjacent groove.
Further, described angular displacement sensor is arranged on the rear portion of servomotor, and torque sensor is arranged on the root of finger.
Owing to having adopted technique scheme, the invention to have following beneficial effect:
1, the whole hands of abandoning tradition only has the Grasp Modes of one degree of freedom, adopts the Grasp Modes of every finger one degree of freedom.The Grasp Modes that whole hands only has an one degree of freedom only can by with four except thumb fingers and be one, drive and thumb generation relative motion apish grasping attitude by servomotor.And the Grasp Modes of each finger one degree of freedom can not only be finished above-mentioned functions, under the operation of control system and user, can also finish pinching that thumb cooperates with forefinger and get, 3 crawls that thumb cooperates with forefinger, middle finger, five fingers cooperatively interact and carry out the expression of body language.
2, the whole finger interior of abandoning tradition is without any the mechanism of degree of freedom, adopt six connecting rod coupling mechanisms to point the simulation of flexure operation, the servomotor that namely is fixed on the pedestal transmits motion on the nearly dactylus by crank, connecting rod one, and nearly dactylus is rotated around pedestal; Middle finger joint is connected on the pedestal by connecting rod two, and middle finger joint is connected with nearly dactylus, and the coupling that moves through nearly dactylus and connecting rod two of middle finger joint is determined; Dactylus far away is connected on the middle finger joint, and dactylus far away is connected on the nearly dactylus by connecting rod three, and the coupling that moves through middle finger joint and connecting rod three of dactylus far away is determined.
3, point the weighted mean that data that the size of each dactylus adopts statistics to get are asked, adapt to most crowd.
4, with the control system integration of doing evil through another person to the inside of doing evil through another person, sensing system is embedded into finger mechanism inside, realized the Electromechanical Design of doing evil through another person, volume is little, lightweight so that do evil through another person, and the integrated-type intelligent controller system of employing is again so that the multiple degrees of freedom complex control function of doing evil through another person becomes possibility.
Description of drawings
Fig. 1 is the overall structure schematic diagram that the invention preferred embodiment is done evil through another person based on the apery type of coupled links;
Fig. 2 is the invention preferred embodiment based on the do evil through another person structural representation of wrist of the apery type of coupled links;
Fig. 3 is that the invention preferred embodiment is based on the structural representation of the apery type artificial palm of coupled links;
Fig. 4 is the invention preferred embodiment based on the do evil through another person structural representation of finger connecting rod of the apery type of coupled links;
Fig. 5 is the invention preferred embodiment based on the do evil through another person connection diagram of finger connecting rod of the apery type of coupled links;
Fig. 6 is that the invention preferred embodiment is based on the theory diagram of the apery type artificial hand control system of coupled links.
Fig. 7 is the overall structure application state schematic diagram one that the invention preferred embodiment is done evil through another person based on the apery type of coupled links;
Fig. 8 is the overall structure application state schematic diagram two that the invention preferred embodiment is done evil through another person based on the apery type of coupled links;
The specific embodiment
Such as Fig. 1, the apery type based on coupled links of the present embodiment is done evil through another person, and comprises wrist 2, is connected the palm 3 that carries and fix five fingers with wrist 2, points 4, and the control system 1 of power and control signal is provided for doing evil through another person.
Such as Fig. 2, wrist 2 comprises disc-shaped base 201, palm fixed disk 202, connects the connecting axle 203 of disc-shaped base and palm fixed disk, be fixed on the servomotor in the disc-shaped base, be equipped with crank on the servomotor, the connecting rod 204 of connecting crank and palm fixed disk 202.
Such as Fig. 3, palm is arranged on the top of wrist, comprises front gesture and facial expression 301 and rear gesture and facial expression 303, and five groups of finger fixing holes 304 are arranged on the rear gesture and facial expression, corresponding to finger fixing hole 304 places five equal and opposite in directions, groove that shape is identical are arranged on the front gesture and facial expression, groove and finger fixing hole 304 are used for assembling five fingers; Front gesture and facial expression 301 is connected by side plate 302 with rear gesture and facial expression 303.Rear gesture and facial expression 303 is set to curved surface, and the normal of rear gesture and facial expression edge line is in the determined plane of two edges line, and the angle of two normals is 155 °.Front gesture and facial expression 301 is set to the curved surface identical with rear gesture and facial expression 303 shapes.The central distribution of four grooves in upper end is mutually 10 ° of angles on the front gesture and facial expression 301 on same circumference; Front gesture and facial expression upper side edge groove is 60 ° with the angle of the most adjacent groove.
The crawl of hands is divided into accurate crawl and powerful crawl, wherein accurately crawl be finger tip with object between contact less demanding for the palm structure; And powerful crawl be palm and finger to the space envelope of object large tracts of land, this crawl needs between palm and object the good stability that contacts the guarantee crawl is arranged, so the palm that apery is done evil through another person design can have a significant impact whole chirality.When the large sphere of staff crawl size, elliposoidal and complex-shaped object, palm and finger are close to the profile of object, and crawl could be firm like this.Therefore the palm of staff has the envelope in space in crawl as can be known, is about to palm and is designed to have the stereochemical structure of curved surface.
Such as Fig. 4 and Fig. 5, finger 4 comprises the pedestal 401 that is connected on the palm 3, the servomotor that is arranged on driving finger in the pedestal, the brace and connecting rod framework of driven by servomotor and the dactylus that is connected with connecting rod, and dactylus and connecting rod consist of coupled mode.Wherein, pedestal 401 is connected to finger fixing hole 304 places on the rear gesture and facial expression by fastening side plate, and is corresponding one by one with groove on the front gesture and facial expression.Coupled modes are adopted in the connection of finger, connecting rod one 407 one ends are connected with crank 408 on being arranged on the servomotor output shaft, connecting rod one 407 other ends link to each other with nearly dactylus 402 lower ends by axle 1, nearly dactylus 402 lower ends are arranged on the pedestal 401 by axle 2 410, and nearly dactylus 402 is rotated around pedestal 401 by the driving of crank 408 and connecting rod 1; Middle finger joint 403 lower ends link to each other with nearly dactylus 402 upper ends by axle 3 412, and middle finger joint 403 lower ends are connected with an end of connecting rod 2 406 by axle 4 414 simultaneously, and the other end of connecting rod 2 406 is connected on the pedestal 401 by axle 5 409; The coupling that moves through nearly dactylus 402 and connecting rod 2 406 of middle finger joint 403 is determined; Dactylus 404 lower ends far away link to each other with middle finger joint 403 upper ends by axle 6 415, and dactylus 404 lower ends far away are connected with connecting rod 3 405 1 ends by axle 7 416 simultaneously, and connecting rod 3 405 other ends link to each other with nearly dactylus 402 upper ends by axle 8 413; The coupling that moves through middle finger joint 403 and connecting rod 3 405 of dactylus 404 far away is determined.
In conjunction with Fig. 1 and Fig. 6, control system 1 is integrated in palm inside, comprises electric servo-actuated control module, servomotor, angle displacement transducer, torque sensor and display module; Angular displacement sensor is arranged on the rear portion of servomotor, and torque sensor is arranged on the root of nearly dactylus.The servo-actuated control module of electricity comprises initiatively module and servo-actuated module; User makes servo-actuated module carry out corresponding action by control active module, and the size of the anglec of rotation of finger and finger root Moment is delivered in real time by angle displacement transducer and torque sensor is convenient to user control in the display module.
In conjunction with Fig. 1 and Fig. 6, control system 1 is integrated in palm inside, comprises central processing module, electric servo-actuated module, angle displacement transducer module, moment sensing module and display module; The angle displacement transducer module is arranged on the rear portion of servomotor, and the moment sensing module is arranged on the root of nearly dactylus, and electric servo-actuated module comprises initiatively module and servo-actuated module; User produces displacement signal by control active module, after processing through central processing module, makes servo-actuated module carry out accordingly action; The actual anglec of rotation of finger and the size of finger root Moment get by angle displacement transducer and torque sensor Real-time Measuring, after central processing module is processed, a part is compared with the signal that transmits from the active module and is carried out suitable fine setting, and another part is delivered to is convenient to user control in the display module.
In conjunction with Fig. 7 and Fig. 8, take the PWM pulsewidth modulation that each speed-down servo motor that drives finger is controlled, adopt the force information that is subjected to of each finger of closed loop control program Real-time Collection, adjust timely control signal, improve the precision of control, the exercises of doing evil through another person to implement the apery type.

Claims (7)

1. the apery type is done evil through another person, and it is characterized in that: comprise wrist (2), finger (4), be connected with wrist (2) and carry and the palm (3) of fixed finger, the control system (1) of power and control signal is provided for doing evil through another person;
Described wrist (2) comprises disc-shaped base (201), palm fixed disk (202), connects the connecting axle (203) of disc-shaped base and palm fixed disk, be fixed on the servomotor in the disc-shaped base, be equipped with crank on the servomotor, the connecting rod (204) of connecting crank and palm fixed disk (202);
Described palm (3) is arranged on the top of wrist, comprise front gesture and facial expression (301), rear gesture and facial expression (303) and connect both side plate (302), described rear gesture and facial expression is provided with finger fixing hole (304), the corresponding position of described front gesture and facial expression is provided with groove, and groove and finger fixing hole (304) are used for assembling finger;
Described finger (4) comprises the pedestal (401) that is connected on the palm (3), the servomotor that is arranged on driving finger in the pedestal, the brace and connecting rod framework of driven by servomotor and the dactylus that is connected with connecting rod, and described dactylus and connecting rod consist of coupled mode; The finger fixing hole (304) that described pedestal (401) is connected on the rear gesture and facial expression is located, and is corresponding one by one with groove on the front gesture and facial expression;
Described control system (1) is integrated in palm inside, comprises central processing module, electric servo-actuated module, angle displacement transducer module, moment sensing module and display module; The servo-actuated module of described electricity comprises initiatively module and servo-actuated module; Initiatively module is used for producing displacement signal through user control, and central processing module is processed this signal and controlled servo-actuated module and carry out corresponding action; Angle displacement transducer and torque sensor are used for the anglec of rotation that Real-time Measuring must point and the size of finger root Moment, after central processing module is processed, are delivered to and are convenient to user control in the display module.
2. apery type according to claim 1 is done evil through another person, it is characterized in that: the dactylus of described coupled mode and connecting rod, dactylus comprises dactylus one (402), dactylus two (403) and dactylus three (404), and described connecting rod comprises connecting rod one (407), connecting rod two (406) and connecting rod three (405); Connecting rod one (407) one end is connected with crank (408) on being arranged on the servomotor output shaft, connecting rod one (407) other end links to each other with dactylus one (402) lower end, dactylus one (402) lower end is arranged on the pedestal (401) by connecting axle, and dactylus one (402) is rotated around pedestal (401) by the driving of crank (408) and connecting rod one (407); Dactylus two (403) lower ends link to each other with dactylus one (402) upper end, and dactylus two (403) lower ends are connected with an end of connecting rod two (406) simultaneously, and the other end of connecting rod two (406) is connected on the pedestal (401); The coupling that moves through dactylus one (402) and connecting rod two (406) of dactylus two (403) is determined; Dactylus three (404) lower ends link to each other with dactylus two (403) upper ends, and dactylus three (404) lower ends are connected with connecting rod three (405) one ends simultaneously, and connecting rod three (405) other ends link to each other with dactylus one (402) upper end; The coupling that moves through dactylus two (403) and connecting rod three (405) of dactylus three (404) is determined.
3. apery type according to claim 1 is done evil through another person, and it is characterized in that: described rear gesture and facial expression (303) is curved surface, and the normal of rear gesture and facial expression edge line is in the determined plane of two edges line, and the angle of two normals is 155 °.
According to claim 1 or 3 described apery types do evil through another person, it is characterized in that: described front gesture and facial expression (301) is for curved surface, and take up an official post 2 an of correspondence of front gesture and facial expression and rear gesture and facial expression are equidistant.
5. apery type according to claim 1 is done evil through another person, and it is characterized in that: described front gesture and facial expression (301) upper groove equal and opposite in direction, shape are identical.
6. the apery type is done evil through another person according to claim 1 or 5, it is characterized in that: the central distribution of the upper upper end of described front gesture and facial expression (301) groove is on same circumference, and the centrage of upper end groove is mutually 10 ° of angles; Front gesture and facial expression upper side edge groove is 60 ° with the angle of the most adjacent groove.
7. apery type according to claim 1 is done evil through another person, and it is characterized in that: described angular displacement sensor is arranged on the rear portion of servomotor, and torque sensor is arranged on the root of finger (4).
CN2013201143588U 2013-03-14 2013-03-14 Human-simulated artificial hand Expired - Fee Related CN203234870U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103284820A (en) * 2013-03-14 2013-09-11 洛阳理工学院 Humanoid artificial hand
CN104367404A (en) * 2014-11-21 2015-02-25 华南理工大学 Palm mechanism of humanoid type myoelectricity artificial hand
CN106974749A (en) * 2017-04-25 2017-07-25 北京展翼计划科技发展有限公司 Bionical prosthetic hand and device based on 3D printing
CN109009883A (en) * 2018-09-20 2018-12-18 麦志邦 A kind of Multifunctional hand device for healing and training

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103284820A (en) * 2013-03-14 2013-09-11 洛阳理工学院 Humanoid artificial hand
CN103284820B (en) * 2013-03-14 2017-06-23 洛阳理工学院 Imitating human algorithm
CN104367404A (en) * 2014-11-21 2015-02-25 华南理工大学 Palm mechanism of humanoid type myoelectricity artificial hand
CN104367404B (en) * 2014-11-21 2016-07-06 华南理工大学 A kind of palm mechanism of apery myoelectricity artificial hand
CN106974749A (en) * 2017-04-25 2017-07-25 北京展翼计划科技发展有限公司 Bionical prosthetic hand and device based on 3D printing
CN109009883A (en) * 2018-09-20 2018-12-18 麦志邦 A kind of Multifunctional hand device for healing and training
WO2020056807A1 (en) * 2018-09-20 2020-03-26 麦志邦 Multifunctional hand rehabilitation training device

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Granted publication date: 20131016

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