CN210078751U - Motion rehabilitation equipment with rotating shaft structure - Google Patents

Abstract

The utility model discloses a motion rehabilitation device with a rotating shaft structure, which comprises a training device, a motion measuring device arranged on the training device, and an intelligent device connected with the motion measuring device through a wireless network; the movement measuring equipment comprises a front shell, a rear shell, a fixing block arranged on the outer side surface of the rear shell, a function board arranged between the front shell and the rear shell, a key arranged on the front shell and connected with the function board, and a rotation measuring assembly, a data sending assembly and an angle filtering assembly arranged on the function board. The utility model provides a pivot structure motion rehabilitation equipment has reduced the setting degree of difficulty of equipment, fine improvement the use flexibility of equipment, can be simple and convenient gather and handle the data of patient's recovery motion to make the patient can be according to the more scientific recovery training that carries on of data, very big improvement patient's recovery effect.

Description

Motion rehabilitation equipment with rotating shaft structure

Technical Field

The utility model belongs to the field of motion brace measurement, specifically indicate a pivot structure recovered equipment of motion.

Background

At present, the exercise rehabilitation training can be performed to a large extent by means of equipment. Among these apparatuses, a large number of rotating shaft structures are used, such as upper limb training turntables, upper limb stretching trainers, resistance bicycles, treadmills, and four-limb strength trainers. If the rehabilitation equipment of a certain rotating shaft structure is active, the rotating shaft is usually used as a power transmission hub, a speed regulation or transmission part connected with a motor, and a part on the driving equipment, which is contacted with a user, moves jointly to guide or actively pull the user to perform exercise training; if a device is passive, the rotating shaft is usually used as a conversion point and a supporting point of the reciprocating motion or periodic motion of the user to assist or support the patient to perform active exercise rehabilitation training. The exercise rehabilitation equipment with the rotating shaft structure, especially the passive type, is usually designed for realizing a certain single function, has a simple structure and low price, and has no data processing capacity, so that the exercise rehabilitation equipment does not have the functions of monitoring, prompting or guiding the training process. For the user who uses the equipment to carry out rehabilitation training by oneself, the doctor can not know the training quality and the actual movement ability, so certain difficulty is brought to the guidance and the treatment.

If an accessory with monitoring and analyzing functions can be installed for the existing sports rehabilitation equipment, the medical value and the user experience of the original equipment can be greatly improved. To accomplish this, the accessory must be equipped with motion capture and related data processing capabilities. Patent No. ZL2011205619611 discloses an interactive upper limbs rehabilitation equipment based on microsensor, adopts a plurality of wearing formula sensors to track the upper limbs motion, realizes interactive training. However, the data processing flow of the utility model is specially designed for the upper limb movement mode, and cannot be applied to the periodic/reciprocating shaft movement. In addition, this utility model adopts the bayesian network to fuse the data of a plurality of sensors, and the complexity is too high, is not suitable for simple pivot motion relatively. At present, a single sensor and a set of software are not adopted to realize a mature technology for monitoring and data analysis of the exercise rehabilitation equipment.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome above-mentioned problem, provide a pivot structure motion rehabilitation equipment, reduced the degree of difficulty that sets up of equipment, fine improvement the use flexibility of equipment, can be simple and convenient gather and handle the data of patient's recovery motion to make the patient can be according to the more scientific recovery training that carries on of data, very big improvement patient's recovery effect.

The purpose of the utility model is realized through the following technical scheme:

a motion rehabilitation device with a rotating shaft structure comprises a training device, a motion measuring device arranged on the training device, and an intelligent device connected with the motion measuring device through a wireless network; the movement measuring equipment comprises a front shell, a rear shell, a fixing block arranged on the outer side surface of the rear shell, a function board arranged between the front shell and the rear shell, a key arranged on the front shell and connected with the function board, and a rotation measuring assembly, a data sending assembly and an angle filtering assembly arranged on the function board.

Furthermore, the rotation measuring component consists of a nine-axis sensor and a peripheral circuit thereof and is used for measuring the rotation angle, the angular speed and the magnetic field intensity in real time; the angle filtering component consists of a microprocessor and a peripheral circuit thereof and is used for carrying out filtering calculation on the measured corner angle, the measured angular speed and the measured magnetic field intensity and obtaining a corner parameter and an angular speed parameter; the data sending assembly consists of a Bluetooth module and a peripheral circuit thereof and is used for sending the corner parameter and the angular speed parameter to the outside in a wireless mode.

Preferably, the function board is further provided with an interface.

Preferably, the fixing block is an adhesive structure, and one side of the fixing block is fixed on the rear case.

Still further, the training device is any one of an upper limb training turntable, an upper limb stretching trainer, a resistance bicycle, a treadmill, a rotation balance trainer and a waist rotation trainer.

Preferably, the upper limb training turntable is composed of a circular rotating wheel, a rotating shaft arranged at the position of a central shaft of the rotating wheel, a plurality of connecting strips connected between the rotating shaft and the inner side wall of the rotating wheel, and two handles symmetrically arranged at the left side and the right side of the front surface of the rotating wheel; the motion measuring equipment is fixed on the front surface of the rotating shaft through the fixing block.

Preferably, the upper limb stretching trainer consists of a support frame, two linkage wheels which are arranged on the support frame in groups, a connecting chain hung on the two linkage wheels, and two handles which are respectively arranged at two ends of the connecting chain; the connecting chain sequentially spans the two linkage wheels from the upper part and connects the two linkage wheels together, the distance between the two ends of the connecting chain when the two ends naturally droop is the width of two shoulders of a human body, and the motion measuring equipment is fixed on any one linkage wheel through the fixing block.

Preferably, the resistance bicycle consists of a bicycle body, a rotating shaft transversely penetrating through the bicycle body, two connecting rods respectively arranged at two ends of the rotating shaft, and pedals respectively arranged at the end parts of the two connecting rods; the motion measuring equipment is arranged on the connecting rod at any end of the rotating shaft.

Compared with the prior art, the utility model, following advantage and beneficial effect have:

(1) the utility model discloses can provide real-time supervision and aassessment function for having a large amount of recovered medical instrument of pivot structure on the market, greatly promote user experience and the specialty of this type of recovered instrument, the user is when using this type of recovered instrument, can obtain quantized motion state parameter and statistical data in real time, this system can real-time analysis multinomial motion parameter through smart machine, judge whether the motion reaches the standard, whether have abnormal motion mode, the doctor can be accurate in view of the above, in time master user's actual motion ability, formulate more scientific recovered scheme, and then the user also can know the recovered effect of oneself at any time.

(2) The utility model discloses can lead to the recovered medical instrument that the current most of market has the pivot structure, do not require that this type of apparatus has the accessory assembly point of special customization, also need not carry out any secondary operation to it, the installation is very simple, as long as with the motion measuring equipment fix near the pivot of training equipment can, whole installation only need a few minutes with the configuration process, need not any instrument.

(3) The utility model discloses an intelligent device's selection is various, and can be as required with control and the big categorised storage in batches of aassessment data in the database of difference, and such data management mode has precipitated the establishment of rehabilitation device management and the big data of rehabilitation, accords with the development direction of the big datumization of current medical treatment, for the innovation of the recovered means in the future provides the foundation, also provides effective data support for quality assessment, the improvement of this kind of recovered apparatus.

Drawings

Fig. 1 is an exploded view of the motion measuring device of the present invention.

Fig. 2 is a front view of the exercise measuring device of the present invention.

Fig. 3 is a rear view of the exercise measuring device of the present invention.

Fig. 4 is a left side view of the exercise measuring device of the present invention.

Fig. 5 is a first usage state diagram of the present invention.

Fig. 6 is a second usage state diagram of the present invention.

Fig. 7 is a third usage state diagram of the present invention.

Description of reference numerals: 1. a motion measurement device; 11. a front housing; 12. a rear housing; 13. a fixed block; 14. an interface; 15. rotating the measuring assembly; 16. a data sending component; 17. an angle filtering component; 18. a function board; 2. an upper limb training turntable; 21. a rotating wheel; 22. a connecting strip; 23. a handle; 3. an upper limb stretching trainer; 31. a support frame; 32. a linkage wheel; 33. a connecting chain; 34. a handle; 4. a resistance bicycle; 41 pedals; 42. a connecting rod; 43. bicycle main part.

Detailed Description

The present invention will be described in further detail with reference to examples, but the present invention is not limited thereto.

Example 1

As shown in fig. 1 to 4, a sports rehabilitation device with a rotating shaft structure comprises a training device, a sports measuring device 1 arranged on the training device, and an intelligent device connected with the sports measuring device 1 through a wireless network; the movement measuring device 1 further comprises a front shell 11 and a rear shell 12, a fixing block 13 arranged on the outer side surface of the rear shell 12, a function board 18 arranged between the front shell 11 and the rear shell 12, a key arranged on the front shell 11 and connected with the function board 18, and a rotation measuring component 15, a data sending component 16 and an angle filtering component 17 arranged on the function board 18.

The intelligent device comprises a computer, a smart phone, a special hardware device and the like.

The inner side of the rear shell 12 is further provided with a power supply, the power supply can be a rechargeable battery or a dry battery, the optimal choice of the power supply is the rechargeable battery, the power supply is used for supplying power to the function board and all components arranged on the function board, the power supply is arranged in the prior art, and the power supply can be well arranged by a person skilled in the art without creative labor according to the content, so that the detailed description is omitted.

The rotation measuring component 15 consists of a nine-axis sensor and a peripheral circuit thereof and is used for measuring the rotation angle, the angular speed and the magnetic field intensity in real time; the angle filtering component 17 consists of a microprocessor and a peripheral circuit thereof and is used for carrying out filtering calculation on the measured corner angle, the measured angular speed and the measured magnetic field intensity and obtaining a corner parameter and an angular speed parameter; the data sending module 16 is composed of a bluetooth module and a peripheral circuit thereof, and is used for sending the corner parameter and the angular velocity parameter to the outside in a wireless manner.

The nine-axis sensor and its peripheral circuit, the microprocessor and its peripheral circuit, the bluetooth module and its peripheral circuit are all prior art, and they can be used maturely in other fields, but they are not used yet in this field, but their installation and use methods in this field are the same as those in other fields, and those skilled in the art can complete their installation and use according to the above description, and will not be described herein again.

The motion measuring equipment adopts a micro-sensor motion capture technology, which is a mature technology and is widely applied to the fields of cartoon manufacture, multimedia interaction and games. However, the application of the technology to the rehabilitation medical device is still rare, and no published document applies the technology to the rehabilitation medical device with a rotating shaft structure so as to detect and evaluate the motion state of the user.

The function board 18 is also provided with an interface 14.

The fixing block 13 is an adhesive structure, and one side of the fixing block 13 is fixed on the rear case 12.

The bonding structure can be bonded and used by double-sided adhesive tapes or other bonding agents, and even can be bonded by a magic tape; however, the adhesive structure cannot be selected from magnetic structures, such as magnets, so as not to affect the normal use of the product, which results in errors in the measurement accuracy.

As shown in fig. 5, the training device is an upper limb training turntable 2, the upper limb training turntable 2 is composed of a circular rotary wheel 21, a rotary shaft arranged at the central axis of the rotary wheel 21, a plurality of connecting strips 22 connected between the rotary shaft and the inner side wall of the rotary wheel 21, and two handles 23 symmetrically arranged at the left and right sides of the front surface of the rotary wheel 21; the movement measuring device 1 is fixed on the front of the rotating shaft by a fixing block 13.

Example 2

As shown in fig. 6, the present embodiment is different from embodiment 1 in that the training device is an upper limb stretching trainer 3, and the upper limb stretching trainer 3 is composed of a support frame 31, two linkage wheels 32 arranged on the support frame 31 in a group, a connecting chain 33 hung on the two linkage wheels 32, and two handles 34 respectively arranged at two ends of the connecting chain 33; the connecting chain 33 sequentially spans the two linkage wheels 32 from the upper part and connects the two linkage wheels 32 together, the distance between the two ends of the connecting chain 33 when the two ends naturally droop is the width of two shoulders of a human body, and the motion measuring equipment 1 is fixed on any one linkage wheel 32 through the fixing block 13.

Example 3

As shown in fig. 7, the present embodiment is different from embodiments 1 and 2 in that the training device is a resistance bicycle 4, and the resistance bicycle 4 is composed of a bicycle body 43, a rotating shaft transversely penetrating through the bicycle body 43, two connecting rods 42 respectively disposed at two ends of the rotating shaft, and pedals 41 respectively disposed at ends of the two connecting rods 42; the movement measuring device 1 is arranged on a connecting rod 42 at either end of the rotation shaft.

In addition, the training equipment can also be a treadmill, a rotating balance trainer, a waist rotating trainer and other sports equipment with most rotating shaft structures.

Example 4

A use method of a rotary shaft structure exercise rehabilitation device comprises the following steps:

(1) selecting training equipment;

(2) mounting a movement measurement device at a respective location of the exercise device;

(3) connecting the movement measuring equipment with intelligent equipment through a wireless network, and collecting real-time corner parameters and angular velocity parameters;

(4) setting the equipment type, various motion parameters, cycle parameters, target times or training time on the intelligent equipment;

the motion parameters comprise any one or combination of more of parameters such as average execution time, average finishing angle, average finishing amplitude, average finishing angular velocity, average finishing linear velocity, up-to-standard motion quantity and the like; the target times or training time are times or time for completing the motion parameters; the cycle parameter is the number of times of repeatedly completing the target or the training time.

(5) Calibrating the movement measuring equipment through the intelligent equipment according to the set parameters, and performing the step (6) after the calibration is confirmed;

(6) calculating and displaying the motion parameters in real time through intelligent equipment, judging whether the parameters accord with a period or not, if not, performing the step (7), and if not, repeating the step (6);

(7) recording various motion parameters in the target times or training time through intelligent equipment, detecting whether the various motion parameters are abnormal or not, if not, entering a step (8), and if so, entering a step (9);

(8) counting and storing various motion parameters through intelligent equipment, judging whether a period parameter is reached, entering the step (10) if the period parameter is reached, and returning to the step (6) if the period parameter is not reached;

(9) counting and storing various normal motion parameters and abnormal motion parameters through intelligent equipment, judging whether a period parameter is reached, entering the step (10) if the period parameter is reached, and returning to the step (6) if the period parameter is not reached;

(10) and (4) the intelligent equipment generates a statistical report according to the motion parameters in the step (8) and the abnormal motion parameters in the step (9), and finishes training.

Experimental example 1

As shown in fig. 5, after steps (1) - (3) are completed, in step (4), the device type is selected to be a bilateral symmetry training device, non-uniform speed, reciprocating type, rotation of less than 360 degrees, and the angular displacement of the rotating shaft is mapped to the angular displacement of motion; selecting the motion parameters as a minimum/maximum angle, and setting the effective monitoring range to be-150 degrees; setting the angular velocity to be more than 2 DEG/second as the normal angular velocity, otherwise, setting the angular velocity as abnormal. And setting a target angle to judge the angle up to which the movement meets the standard, such as: counterclockwise rotation < -90 ° and clockwise rotation >90 °, target angular velocity is set to judge the angular velocity up to which the movement meets, such as: 10 degrees/s-300 degrees/s, and the number of movements is set to complete the number of movements required by the doctor, such as: setting a target training time to complete the training time required by the doctor for 100 times, such as: 10 minutes, set cycle parameters such as: the number of repeated exercises or training time was 3.

In the step (5), the connecting line of the rotating wheel and the two handles is adjusted to be parallel to the ground, so that the rotating wheel is set to be at the initial position, and any two angles are set for angle calibration, such as-90 degrees and 90 degrees. When the connecting line of the two handles is vertical to the ground and the two handles are respectively positioned at the lowest points of the rotating wheel, the rotating wheel is judged to rotate by-90 degrees or 90 degrees, and then the calibration is completed.

And (5) starting step (6) after the calibration is finished, displaying and recording the angle, the angular speed, the movement times or the training time in real time, and performing step (7) when the set movement times or the training time is reached.

The abnormality in step (7) needs to be set according to the actual training situation, for example: and when the left side angular displacement is-123 degrees and the right side angular displacement is 95 degrees, judging that the abnormity that the left side corner exceeds the right side corner by more than 20 degrees occurs once.

And (4) entering step (8) or step (9) according to whether abnormal motion parameters exist, finally entering step (10) after the cycle parameters are completed, and generating the parameters without the abnormality, the parameters with the abnormality and the abnormal contents when the statistical report is generated.

The statistical report can be locally stored or uploaded to a cloud server according to requirements.

Experimental example 2

As shown in fig. 6, after steps (1) - (3) are completed, selecting a bilateral symmetry training device, non-uniform speed, reciprocating type, rotation of more than 360 degrees, and mapping the angular displacement of the rotating shaft to the displacement of the motion line in step (4); selecting the motion parameters as a minimum/maximum angle, and setting an effective monitoring range to be-180 degrees; setting the angular velocity more than 10 DEG/second as the normal angular velocity, otherwise, setting the angular velocity as abnormal. And setting a target angle to judge the angle up to which the movement meets the standard, such as: and rotating by < -90 degrees anticlockwise and rotating by >90 degrees clockwise, and setting target linear displacement to judge the linear displacement distance up to the standard of the movement, such as: left side stretch > 30cm and right side stretch > 30cm, setting the linear velocity range to judge the speed of motion, such as: 2cm/s to 100cm/s, and setting the exercise times to complete the exercise execution times required by the doctor, such as: setting a target training time to complete the training time required by the doctor for 100 times, such as: 10 minutes, set cycle parameters such as: the number of repeated exercises or training time was 3.

The linear displacement and the linear velocity are converted through the angular displacement and the angular velocity respectively, and the specific conversion rate needs to be determined according to the actual diameter of the linkage wheel, namely the determination of a conversion formula is completed in the calibration process.

In step (5) the operator can select any starting position to calibrate the mounting position, for example: adjusting the left handle and the right handle to be at the same height and keeping the left handle and the right handle static, and inputting the position of 0 degree in the intelligent equipment; the operator selects two or more calibration positions for calibration, for example: pulling down the relative installation position of the left handle by 30cm, and inputting a first calibration position which is marked as 30cm into the intelligent equipment; and then pulling the right handle down by 30cm relative to the installation position, and inputting a second calibration position which is marked as-30 cm into the intelligent equipment, thereby completing the initial setting and calibration.

And (5) starting the step (6) after the calibration is finished, displaying and recording the linear displacement, the linear speed, the movement times or the training time in real time, and performing the step (7) when the set movement times or the training time is reached.

The abnormality in step (7) needs to be set according to the actual training situation, for example: when the left side linear displacement is 62cm and the right side linear displacement is 43cm, judging that an abnormal motion mode of 'the left side linear displacement exceeds the right side linear displacement by more than 10 cm' occurs once.

And (4) entering step (8) or step (9) according to whether abnormal motion parameters exist, finally entering step (10) after the cycle parameters are completed, and generating the parameters without the abnormality, the parameters with the abnormality and the abnormal contents when the statistical report is generated.

The statistical report can be locally stored or uploaded to a cloud server according to requirements.

Experimental example 3

As shown in fig. 7, after steps (1) - (3) are completed, in step (4), asymmetric, non-uniform, unidirectional rotation, rotation greater than 360 degrees, and rotation shaft angular displacement mapping to motion angular displacement are selected; selecting the motion parameters as a minimum/maximum angle, and setting an effective monitoring range as a full angle and a rotation cycle number; setting the angular velocity more than 10 DEG/second as the normal angular velocity, otherwise, setting the angular velocity as abnormal. And setting a target angle to judge the angle up to which the movement meets the standard, such as: sequentially passing through 0 degrees, 90 degrees and 90 degrees in the rotating direction, and setting a target angular velocity to judge the angular velocity up to which the movement reaches, such as: 20/s-720/s, and the number of movements is set to complete the number of movements required by the doctor, such as: setting a target training time to complete the training time required by the doctor for 100 times, such as: 10 minutes, set cycle parameters such as: the number of repeated exercises or training time was 3.

In step (5) the operator can select any starting position to calibrate the mounting position, for example: adjusting the left pedal and the right pedal to be at the same height and keeping the left pedal and the right pedal still, and interactively inputting the installation position of 0 degree in the intelligent equipment; the operator selects two or more calibration positions for calibration, for example: firstly, adjusting a connecting line of a left pedal and a right pedal to be vertical to the ground, keeping the left pedal stationary at an upper position, and inputting a first calibration position which is calibrated to be 90 degrees in intelligent equipment; and then, adjusting the connecting line of the left pedal and the right pedal to be vertical to the ground, keeping the right pedal at a stationary upper position, and inputting a second calibration position which is calibrated to be 90 degrees into the intelligent equipment to finish the setting.

And (5) starting the step (6) after the calibration is finished, displaying and recording the angular speed, the movement times or the training time in real time, and performing the step (7) when the set movement times or the training time is reached.

The abnormality in step (7) needs to be set according to the actual training situation, for example: if the time required for completing a week is 8 seconds and the average weekly completion time is 5 seconds, it is determined as an abnormal motion pattern in which the completion time exceeds the average value by 2 seconds or more.

And (4) entering step (8) or step (9) according to whether abnormal motion parameters exist, finally entering step (10) after the cycle parameters are completed, and generating the parameters without the abnormality, the parameters with the abnormality and the abnormal contents when the statistical report is generated.

The statistical report can be locally stored or uploaded to a cloud server according to requirements.

As described above, the utility model discloses alright fine realization.

Claims (8)

1. The utility model provides a pivot structure recovered equipment of motion which characterized in that: the intelligent exercise training system comprises training equipment, exercise measuring equipment (1) arranged on the training equipment, and intelligent equipment connected with the exercise measuring equipment (1) through a wireless network; the movement measuring equipment (1) comprises a front shell (11), a rear shell (12), a fixing block (13) arranged on the outer side surface of the rear shell (12), a function board (18) arranged between the front shell (11) and the rear shell (12), a key arranged on the front shell (11) and connected with the function board (18), and a rotation measuring component (15), a data sending component (16) and an angle filtering component (17) arranged on the function board (18).

2. The exercise rehabilitation device with the rotating shaft structure as claimed in claim 1, wherein: the rotation measuring component (15) consists of a nine-axis sensor and a peripheral circuit thereof and is used for measuring the angle of rotation, the angular speed and the magnetic field intensity in real time; the angle filtering component (17) consists of a microprocessor and a peripheral circuit thereof and is used for carrying out filtering calculation on the measured corner angle, the measured angular speed and the measured magnetic field intensity and obtaining a corner parameter and an angular speed parameter; the data sending component (16) is composed of a Bluetooth module and a peripheral circuit thereof, and is used for sending the corner parameter and the angular speed parameter to the outside in a wireless mode.

3. The exercise rehabilitation device with rotary shaft structure as claimed in claim 2, wherein: the function board (18) is also provided with an interface (14).

4. The exercise rehabilitation device with rotary shaft structure as claimed in claim 3, wherein: the fixing block (13) is of an adhesive structure, and one side of the fixing block (13) is fixed on the rear shell (12).

5. The exercise rehabilitation device with rotary shaft structure as claimed in claim 4, wherein: the training equipment is any one of an upper limb training turntable (2), an upper limb stretching trainer (3), a resistance bicycle (4), a treadmill, a rotation balance trainer and a waist rotation trainer.

6. The exercise rehabilitation device with rotary shaft structure as claimed in claim 5, wherein: the upper limb training turntable (2) consists of a circular rotating wheel (21), a rotating shaft arranged at the middle shaft position of the rotating wheel (21), a plurality of connecting strips (22) connected between the rotating shaft and the inner side wall of the rotating wheel (21), and two handles (23) symmetrically arranged at the left side and the right side of the front surface of the rotating wheel (21); the motion measuring equipment (1) is fixed on the front surface of the rotating shaft through a fixing block (13).

7. The exercise rehabilitation device with rotary shaft structure as claimed in claim 5, wherein: the upper limb stretching trainer (3) consists of a support frame (31), two linkage wheels (32) which are arranged on the support frame (31) in a group, a connecting chain (33) hung on the two linkage wheels (32), and two handles (34) which are respectively arranged at two ends of the connecting chain (33); the connecting chain (33) sequentially spans the two linkage wheels (32) from the upper part and connects the two linkage wheels (32), the distance between the two ends of the connecting chain (33) when the two ends naturally droop is the width of two shoulders of a human body, and the movement measuring equipment (1) is fixed on any one linkage wheel (32) through the fixing block (13).

8. The exercise rehabilitation device with rotary shaft structure as claimed in claim 5, wherein: the resistance bicycle (4) consists of a bicycle body (43), a rotating shaft transversely penetrating through the bicycle body (43), two connecting rods (42) respectively arranged at two ends of the rotating shaft, and pedals (41) respectively arranged at the ends of the two connecting rods (42); the movement measuring equipment (1) is arranged on a connecting rod (42) at any end of the rotating shaft.

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