EP2370184A2 - Appareil d'exercice musculaire et/ou articulaire - Google Patents
Appareil d'exercice musculaire et/ou articulaireInfo
- Publication number
- EP2370184A2 EP2370184A2 EP09802163A EP09802163A EP2370184A2 EP 2370184 A2 EP2370184 A2 EP 2370184A2 EP 09802163 A EP09802163 A EP 09802163A EP 09802163 A EP09802163 A EP 09802163A EP 2370184 A2 EP2370184 A2 EP 2370184A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- exercise
- user
- movable member
- motor
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
- A63B21/0058—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors
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- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
- A63B24/0006—Computerised comparison for qualitative assessment of motion sequences or the course of a movement
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- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0075—Means for generating exercise programs or schemes, e.g. computerized virtual trainer, e.g. using expert databases
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- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
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- A63B2024/0012—Comparing movements or motion sequences with a registered reference
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- A63B21/002—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices isometric or isokinetic, i.e. substantial force variation without substantial muscle motion or wherein the speed of the motion is independent of the force applied by the user
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Definitions
- the present invention relates to a muscular and / or joint exercise apparatus, to a muscular and / or joint exercise device comprising such an exercise apparatus and to a method of using this exercise apparatus; such apparatus being adapted for rehabilitation and / or physical training of a body part of a user, such as an upper limb (arm) and / or lower limb (leg), or a part of upper limb (forearm, wrist, elbow) and / or lower (ankle, thigh, knee), or another part of the body such as the hip or pelvis.
- a body part of a user such as an upper limb (arm) and / or lower limb (leg), or a part of upper limb (forearm, wrist, elbow) and / or lower (ankle, thigh, knee), or another part of the body such as the hip or pelvis.
- the reeducation of a limb, arm or leg, following an illness or an accident mainly comprises the following steps: a first articular mobilization during which the limb is moved without involving the patient's muscle, more a period of joint rest with immobilization of the member concerned;
- any member has two muscles or chains of muscles working in opposition, one agonist and the other antagonist (such as for example the biceps and the triceps for the arm, or the quadriceps and the muscles hamstrings for the leg), it is possible to define four distinct muscle forces of a limb relative to a lever, ie for the forearm:
- the muscles because of the asymmetry of the orientation of their fibers and their insertions, exert on the bones and their joints forces and / or simultaneous bidirectional or even multi-directional couples .
- almost all the muscles exert multi-directional stresses on the articular segments.
- the overactivation of the muscular activity can reach 15 to 25% of muscular motor units recruited in addition to a muscle exercise developing unidirectional efforts; the motor unit being defined as an assembly comprising a muscle fiber and a nerve fiber ensuring its control.
- bidirectional, multidirectional or pluridirectional terms express the possibility for a subject, a limb, or one or more joints, to be able to simultaneously or successively perform an effort according to several degrees of freedom, therefore according to several directions, as will be shown hereinafter in detail.
- the tensile force F of the machine remains during all the movement almost constant.
- the breathing is adjusted substantially to the rhythm of the movements, which do not correspond to the normal rhythm of breathing. So this breathing will not allow a correct oxygen supply and the muscle will work in anaerobic way, in other words with a deficit in oxygenation.
- Such a deficiency of oxygenation of the muscles creates toxins that will have to be evacuated, to avoid aches, by stretching at the end of exercise and a greater hydration.
- Such an apparatus is however expensive and unsuitable for certain types of movement, in particular because of the inherent inertia of a displacement controlled by a hydraulic or pneumatic unit, it is known from this document WO 2004/096501 to use a Exercise apparatus of the robotic or force-retaining arm type requiring pneumatic, hydraulic or motorized control with torque motors.
- a device is however particularly complex and expensive, and it allows to work only in a predefined plan imposed by the device.
- Document US 2007/0299371 A1 discloses an exercise apparatus designed to guide a patient to perform a movement along a determined spatial trajectory.
- This apparatus comprises in particular a telescopic arm l im Congress in terms of amplitude of the movement and is do n c for learning gestures on small amplitudes.
- This device is therefore not very suitable for joint rehabilitation which requires much greater amplitude possibilities.
- this telescopic arm is limited in terms of radial forces by its mechanical design. Indeed, this telescopic arm is poorly adapted to resume radial forces too strong, and thus limits the exercises to very low radial forces.
- This device is not suitable for muscle building exercises that require significant effort.
- the barycentre of this device varies significantly in operation, thus requiring particularly expensive compensation mechanisms, complex and cumbersome, namely servo mechanisms of the motors and the rudder brake.
- the apparatus described in the document US 2007/0299371 A1 constitutes a solution with four degrees of mobility of which at least three are motorized which is particularly expensive and bulky, especially with a work table, and therefore limited to clinical or hospital type rehabilitation centers.
- the clutter of the work table also prevents work in space.
- the present invention is intended in particular to solve all or part of the above-mentioned drawbacks, and proposes for this purpose a muscular and / or articular exercise apparatus adapted to the rehabilitation and / or the physical training of a part of the body, including an upper and / or lower limb of a user, said apparatus comprising: - a hollow body, open at one of its ends and having a bottom on the end opposite the open end;
- a movable member movable in translation within the body along a main axis and adapted to be moved by the body portion of the user and also to move said body part; a motor means disposed on the bottom of the body, connected to the movable member and adapted to move the movable member in both translation directions, and also to slow the movement of the movable member in both directions of movement; translation;
- this means of cooperation being arranged on the bottom of the body and comprising:
- At least one means of articulation of the body on the frame said hinge means providing at least one degree of freedom in rotation for the body about an axis of rotation;
- This device has the advantage of being lightweight and compact, transportable or portable, mainly comprising the hollow body, the motor means and the movable member.
- the bulk of such a device lies essentially in the bulk of the body, when the arm is retracted at least partially inside the body; the motor medium being advantageously fixed on the bottom of the body, inside or outside the body.
- this device is easily transportable by hand or in a car, allowing for example a therapist or a sports trainer to move with one or more devices according to the invention and to go to the home of his patients or clients to have them perform exercises on these devices.
- This device thus makes it possible to make the user work in a quasi-half space, of approximately - 90 ° to + 90 ° in horizontal and approximately - 90 ° to + 90 ° in vertical.
- This apparatus advantageously makes it possible to perform aerobic exercises. With this device, it is indeed possible to work with an effort during a part of the exercise and so avoid to copy its exhalation on the effort and to regulate its breathing on the exercise and thus its heart rate on the breathing. Respiration and heart rate are therefore decoupled from the effort. Gaseous exchanges (oxygen supply to the muscle) are therefore optimized, thus allowing exercises to be performed without a consequent need for prior cardiovascular heating.
- This device allows the practice of physical training and / or rehabilitation to populations unable to perform a warm-up beforehand.
- this device therefore allows populations unable to perform a cardiovascular warm-up before exercise and / or stretching after exercise to practice this type of physical training and / or rehabilitation.
- this apparatus makes it possible to work on a single chain of muscles without the antagonistic muscle chain being solicited under load in the exercise.
- the device can provide energy, or resist energy, in a moving direction of the movable member and ensure a return to the initial position without the user having to develop effort.
- Such a work makes it possible to exercise a muscle or a muscular chain precisely without loading the muscles of the antagonistic chain, thus opening the practice of physical training and / or rehabilitation to people who have muscular trauma or problems of articulation, tendon or bone.
- This device can of course be programmed to solicit several muscles and also involve several chains of muscles during the same exercise. It is thus possible with this device to work antagonistic chains, for balancing, muscle development or time saving.
- the apparatus according to the invention may have two modes of operation:
- the hinge means is designed to provide two degrees of freedom in rotation about respectively two axes of rotation, in particular perpendicular to each other; one of the axes of rotation possibly coinciding with the main axis of translation.
- the articulation means comprises a first pivot connection along the main axis connected to a second pivot connection along a transverse axis perpendicular to the main axis.
- the or each articulation means further comprises at least one adjustable stop limiting the rotation of the body about at least one axis of rotation, so that said stop allows to define an adjustable angle range for the rotating said body about the corresponding axis of rotation.
- the or each angle sensor may be connected to a control means for controlling the or each secondary motor means so as to constrain the body part of the user to follow a defined path, said angle sensor being able to be associated a displacement sensor of the movable member to be able to locate the movable member in the space; the control means for performing a step of controlling the path of the movable member in space.
- the apparatus has a connection means adapted to connect said part of the body of the user to said movable member so that the user can impose a displacement force on said movable member and vice versa.
- the connecting means corresponds to one of the means chosen from a spherical handle, a ball-and-socket handle, a pivoting handle, a strap, a gripping surface formed on one end of the movable member, and any other equivalent gripping means for both pulling and / or pushing the movable member.
- the connecting means is adapted to the part of the body to be exerted, so that it is advantageous for the connecting means to be interchangeable.
- the connecting means is removably attached to the movable member to allow this interchangeability.
- the apparatus makes it possible, in particular, to perform exercises on notably the lower and upper limbs, without, for example, exclusive use of one or the other member. Work exercises involving other parts of the body (pelvis, back, etc.) may also be performed with this apparatus, for example by means of a strap.
- the body internally supports guide means of the movable member to support the radial forces perpendicular to the main axis and guide said movable member in its translational movement.
- these guiding means comprise: - several tie rods, preferably three tie rods, extending inside the body parallel to the main axis; and
- the motor means comprises a rotary motor, a threaded shaft rotated by the motor and a nut forming part fixed on the movable member and provided with a threaded hole cooperating with the shaft. threaded, and that the nut piece is secured to the slide.
- the body is for example of a length between 700 and 1500 mm, preferably between 1000 and 1200 mm.
- the movable member has for example a maximum travel distance of between 500 and 1000 mm, preferably between 700 and 800 mm.
- the apparatus further comprises display means adapted to perform a step of displaying the evolution of the main exercise parameter and / or of at least one setpoint parameter during the exercise so that to inform the user and / or a third person of the evolution of this or these characteristic parameters of the exercise performed by the user, said display means being in particular realized in the form of a screen or of a monitor or set of light-emitting diodes on or off the device.
- This display makes it possible to follow in real time the work performed by the user, either for a third party practitioner or sports trainer anxious to control the exercise in progress, possibly to modify the exercise en route according to curves displayed by the display means.
- the apparatus further comprises a transmission means adapted to perform a data transmission step reflecting the evolution of the main exercise parameter and / or at least one setpoint parameter during the exercise at destination.
- a transmission means adapted to perform a data transmission step reflecting the evolution of the main exercise parameter and / or at least one setpoint parameter during the exercise at destination.
- an external terminal in particular of the telephone and / or computer terminal type, in order to inform a third party located at a distance from the user of the evolution of this or these parameters characteristic of the exercise performed by the user, said transmission means being in particular of the type wired transmission or wireless transmission.
- a remote person such as a practitioner or a sports trainer
- the apparatus further comprises at least one user guidance means adapted to generate a guidance signal, in particular of the visual, tactile or audible signal type, intended for the user and intended to guide the user. user in particular in terms of:
- This guidance means thus allows the user to be guided in his exercises in a visual way (with for example a screen positioned in front of him) and / or in a sound manner (with for example a loudspeaker which emits prerecorded sentences) , with the issue of written or spoken sentences of the informative type (such as "you have five minutes left” or “go slower") or type intended to encourage the user (such as "you will beat your record ").
- the device is for example equipped with integrated man-machine interfaces (such as a screen, a keyboard, a speech synthesizer, a microphone, etc.) and communication devices (such as a touch screen, a computer, etc. .) that allow entry or recording of setpoint curves and data transfer before and after exercise. It also provides the user and his immediate or distant entourage with sound, visual and graphical data in real time during the exercises.
- the invention also relates to a muscular and / or articular exercise device adapted to the rehabilitation and / or physical training of a part of the body, in particular an upper and / or lower limb, of a user, said device comprising : an exercise apparatus according to any one of the preceding claims; and
- a frame in which a support is slidably mounted; wherein the body is removably mounted on said support, via the removable means, so as to allow the adjustment of the position of the apparatus by adjusting the position of the support on the frame.
- Such a device is particularly advantageous because the combination of such a frame and such an apparatus allows to choose his work plan from an infinity of solutions. Indeed, this device allow work in a complete half space, limited by the frame that supports the support.
- the apparatus and device according to the invention allow the work of the upper limbs, lower limbs and also the trunk (work spine) with a single equipment.
- the invention also relates to a method of using an exercise machine according to the invention, comprising the following steps:
- this method of use further comprises a method of controlling the apparatus comprising the following steps: a) recording or input of at least one setpoint curve corresponding to a predefined variation of a predetermined main exercise parameter as a function of a state parameter such as the time or displacement of the movable member, said exercise parameter being representative of the displacement force imposed by the movable member to said part the body or conversely and in particular chosen from the force developed by the user on the movable member to move or brake the movable member, the torque or the force developed by the motor means for moving or braking the movable member, the speed moving the movable member and accelerating the displacement of the movable member; b) acquisition of an actual curve corresponding to the variation of the main exercise parameter measured during the exercise as a function of the state parameter; c) control of the motor means to enslave the actual curve around the setpoint curve during exercise, said motor means being controlled to
- This method thus controls in slaving a movable member moved or braked in translation, thus making it possible to perform linear movements according to a predefined setpoint curve.
- the enslavement aims essentially at the fact that the real curve is getting closer, with a certain tolerance, to the setpoint curve; said setpoint curve corresponding to an objective to be achieved by the user, during the exercise, in terms of effort during movement of the movable member.
- the movable member is able to push and pull the member, and also to withstand a force exerted by the body of the user on the movable member in both directions of movement; during a cycle (movement with return to the starting point) the main exercise parameter may vary depending on the setting.
- the programming of the effort thus makes it possible to have a multifunctional device, the same method (or device) that can be used for, for example, all the members of the user, lower and upper, and other parts of the body (hip , basin, etc.).
- the programming of the effort offers many physiological advantages for the user: the set-point curves (as for example curves of effort or velocity according to the displacement of the mobile organ) are entirely programmable or parameterizable by the user or by a practitioner, such as a physiotherapist, or by a sports trainer.
- the exercise corresponds to a static work because the user will exert an effort, or will resist a effort, so that the point of contact of his body and the movable organ will remain motionless in space.
- the exercises correspond to work in dynamics with a displacement of the movable member vis-à-vis the body of the user.
- control method further comprises the following steps: d) measuring during the exercise of at least one setpoint parameter chosen from: a secondary exercise parameter distinct from the main exercise parameter, said secondary exercise parameter being representative of the displacement force imposed by the movable member to said body part or vice versa and in particular selected from the force developed by the user on the movable member to move or brake the movable member , the torque or force developed by the motor means for moving or braking the movable member, the moving speed of the movable member, and the acceleration of the displacement of the movable member; and or
- a physiological parameter representative of the physiological state of the subject and chosen in particular from the electromyographic activity, the respiratory rate, the heart rate, the temperature of the user, the oxygen level in the blood, the blood pressure, and sweating and or
- a parameter of duration representative of the duration of the exercise and chosen in particular from the duration of the exercise, the number of movement cycle performed by the mobile device, the time required for the user to make one or more displacements predetermined ones of the movable member;
- the exercise can change along the way, with for example different series of successive work cycles (each series being associated with a very specific setpoint curve), for example: - adapting to the user ( who can tire and wish to reduce the effort or on the contrary wish to increase the effort); and or
- control method makes it possible to modify the exercise (by modifying or replacing the setpoint curve) or to stop the exercise in case, for example, of fatigue or of user failure; we then speak of a process (or device) of self-adaptive exercise because the exercise automatically adapts itself to the user according to a protocol or a preset parameterization.
- this apparatus can comprise:
- control means connected to the first and second measuring means, to the motor means and to the storage or gripping means, said control means being designed for:
- the setpoint curve or curves can be curves of effort (or counter-force) as a function of the displacement of the movable member or time.
- the servocontrol of the motor means ensures the respect of the main parameter of effort, or counter-force, and the speed of the movable member is a resultant taken into account to ensure a range of operation or to view or save the data; the speed being here a predetermined setpoint parameter.
- the setpoint curve or curves may be velocity curves of the movable member as a function of the displacement of the movable member or time.
- the motor means ensures compliance with the main speed parameter, and the effort is a consequence whose measurement ensures a range of operation and can be displayed or recorded; the force here being a predetermined setpoint parameter.
- control method comprises a step of receiving at least one instruction issued by the user or a third party, and a step of modifying or changing the setpoint curve according to said instruction in order to modify the current year or replace the current year with another year.
- This step of modifying or replacing the setpoint curve is of the same type as step f) described above; the only difference being the origin (or starting point) of the step, namely the reception of a setpoint sent by an individual in this case and a variation of a setpoint parameter in the case of step f ). It is of course conceivable that these two steps are carried out in parallel.
- a practitioner such as a physiotherapist, or a sports trainer can intervene on the exercise by forcing the control means to modify the exercise, the goal being for example to adapt the exercise according to the user placed under the observation of the practitioner or the sports trainer.
- the user can modify the exercise himself on the road according to his physical impressions of the current exercise.
- the apparatus may thus comprise means for receiving an instruction adapted to perform the reception step in accordance with the control method.
- the user as well as the therapist or sports trainer can thus intervene in real time during an exercise to modify one or more parameters, such as, for example, the effort or the speed as the main parameter of exercise.
- the user therefore completely controls his exercises and can adapt them voluntarily within a unitary movement to accelerate, increase the force, add iterations or time, lengthen or shorten a movement (ie say increase or decrease the amplitude of a translational movement of the movable member) and see the modification taken into account in real time.
- an exercise protocol defines several successive exercise phases:
- steps b) and c) are performed with a first setpoint curve
- step f) is carried out during steps iv) and v) if one of the setpoint parameters (P c ) studied during step v) is greater than or less than a determined threshold value, replacing the second setpoint curve (C c 20) by another setpoint curve or by modifying said second setpoint curve (Cc20).
- a drive may thus consist of a programmed movement according to a given setpoint curve, itself repeated according to a defined number of iteration (or cycle). Some parameters of this initial exercise may change depending on one or more selected setpoint parameters.
- Some exercises of different types can be combined within the same exercise protocol; the complete exercise protocol that can be represented in a control algorithm.
- the conditions of linking from one exercise to another exercise and the number of exercise cycles may depend on the predetermined setpoint parameter (s).
- an exercise protocol defines at least one exercise phase during which, during a determined number of movement cycles, the motor means is controlled for, at each cycle:
- the setpoint curve (as recorded or entered or possibly as replaced or modified) corresponds to the predefined variation of the predetermined main exercise parameter as a function of the displacement of the movable member, said variation effected only within a predetermined range of movement between a predetermined minimum value and a predetermined maximum value of the displacement.
- FIG. 1 represents a curve CO illustrating the variation of the force F as a function of the displacement D of the load, for a load raising / lowering cycle of the load, in the case of a known pulley-therapy apparatus;
- FIGS. 3a to 3c are respectively rear, front and side views of an apparatus according to the invention with a movable member in the retracted position, and FIG. 3d is a back view of this apparatus with the movable member in the deployed position;
- FIGS. 4a and 4b are respectively front and side views of the inside of an apparatus according to the invention illustrating a motor means according to a first embodiment;
- - Figure 5 is a side view of the interior of an apparatus according to the invention illustrating a motor means according to a second embodiment;
- FIG. 37 schematically illustrates, on the one hand, the user of FIG. 34 attempting to remain within the tolerance zone under the constraint of the motor means and / or secondary motor means of the apparatus, and on the other hand, an enlarged section of the zone of tolerance;
- FIG. 46 and 47 each illustrate a user of an apparatus according to the invention with a third person such as a therapist or a sports trainer;
- FIGS. 46a and 46b are schematic views in longitudinal section, respectively vertical and horizontal, of the apparatus shown in Figures 46a and 46b, with its cooperation means;
- FIG. 50 is a schematic perspective view of the handle forming a connecting means of the apparatus illustrated in FIGS. 46a and 46b;
- - Figure 51 is a schematic perspective view of the cooperation means of the apparatus shown in Figures 46a and 46b;
- this apparatus 1 comprises:
- a connecting means 4 adapted to connect a portion of the user's limb to said arm 3 so that said limb can impose a displacement force on said arm 3 and vice versa, in other words so that the limb can pull and push the arm 3 and that the arm 3 can pull and push the member; a motor means 5 fixed to the body 2 and connected to said arm 3, said motor means 5 being adapted for, on the one hand, in a driving mode, to cause the arm 3 to move in both translation directions, and for secondly, in a braking mode, braking the movement of the arm 3 in both directions of translation.
- the body 2 is an elongated body along the main axis A which has the open end 20 and a bottom 21 on the end opposite to the open end 20.
- the body 2 is made from two half-shells assembled together; these two half-shells being for example made by molding a plastic material or by deformation of a metal sheet.
- the body 2 delimits internally an elongate cavity 22.
- the body 2 supports a means of cooperation 6 between the body 2 and a frame, such as for example a gantry, a wall or the floor or any other fixed element.
- This cooperation means 6 is disposed on the bottom 21 at the other end of the body 2 opposite to the open end 20.
- cooperation means 6 further comprises a removable means 63 for mounting and dismounting on a support, such as for example a support (not illustrated) mounted on sliding and adjustably in frame B, in order to connect the hinge means 60 to the frame B via said removable means 63 and to be able to adjust the position (vertical or horizontal) of the apparatus 1 by adjusting the position of this support in the frame B.
- a support such as for example a support (not illustrated) mounted on sliding and adjustably in frame B
- the detachable means 63 is fixed on the movable support and is for example made in the form of a clipping means, removable collapse, screwing, suction cup or any other equivalent means. It is thus possible to fix the body 2 of the apparatus 1 in a removable manner on the mobile support via this removable means 63, in order to be able to assemble and dismount easily and quickly the apparatus 1 on the frame B.
- the hinge means 60 and the removable means 63 are reversed in position, that is to say that the removable means 63 is fixed directly on the body 2 while the hinge means 60 is fixed directly to the movable support in the frame B.
- the cooperation means 6 can be fixed on a heavy mass, of the cast type, or on a gyroscopic inertial mass, and not directly on a frame.
- the articulation means 6 may also be in the form of a single ball joint having three degrees of freedom in rotation.
- the cooperation means 6 is made in the form of a spherical piece or a point link.
- This spherical piece can come into specific support against a flat surface, such as a wall or the floor, thereby providing three degrees of rotation to the device 1.
- This spherical piece can also engage inside a spherical cage fixed to a frame, thus providing a pivot connection with three degrees of freedom in rotation for the apparatus 1.
- the arm 3 is an elongate member slidably mounted inside the body 2.
- the arm 3 has two opposite ends, namely:
- a first end 31 said free end and on which the connecting means 4 is arranged so that the user can move the arm 3 in both directions and also so that the arm 3 can move the member the user;
- the movable member is in the form of a telescopic arm.
- the connecting means 4 is adapted so that the body part of the user can: - both pull and push the arm 3, pulling the arm 3 consisting in moving the arm 3 from the retracted position to the position deployed, and pushing the arm of moving the arm 3 from the deployed position to the retracted position; and or
- the connecting means 4 can take different forms depending in particular on the part of the body to exercise, such as:
- a gripping means for a hand such as for example a spherical handle (illustrated in FIGS. 3 to 7), an articulated handle of the type, in particular a ball-and-socket handle with several degrees of freedom in rotation, or a pivoting handle offering a single degree of freedom in rotation, or a hand-forming surface provided on the first end 31 of the arm 3; a strap or a fastener for attaching the arm 3 around a part of the user's body, such as for example a strap which passes around a limb (for example at the level of the knee, the ankle, the thigh one leg or wrist, elbow, shoulder of the arm) or other part of the body (around the pelvis, hip, back etc.) of the user.
- a spherical handle illustrated in FIGS. 3 to 7
- an articulated handle of the type in particular a ball-and-socket handle with several degrees of freedom in rotation, or a pivoting handle offering a single degree of freedom in rotation, or a
- connecting means 4 in accessory of the apparatus 1 to make the connection between the arm 3 and the different parts of the body of the user; said connecting means 4 being adapted to the part of the body (limb or other) to be exerted, such as for example the elbow, the knee, the hand, the ankle etc.
- the connecting means 4 are removably attached to the arm 3 to be able to assemble, disassemble, interchange and replace each other.
- said motor means 5 comprises:
- a rotary motor 50 said to be reversible and provided for four-quadrant operation
- a braking mode otherwise called regeneration mode or generator mode
- the motor 50 brakes the movement of the arm 3 in one or the other direction of translation.
- This four-quadrant operation is illustrated in FIG. 16 where the four quadrants are schematized on a graph with the motor torque CM on the abscissa and the angular velocity VA on the output side of the motor:
- the second quadrant Q2 corresponds to a braking mode in which the speed at the output of the motor and the direction of the motor torque have opposite directions of rotation, respectively a counterclockwise and a clockwise direction, and where the arm 3 is moved by the user in the positive direction of translation, that is to say pulled by the user, while the motor 50 brakes this movement;
- the third quadrant Q3 corresponds to a motor mode in which the speed at the output of the motor and the direction of the engine torque have the same direction of rotation (in this case a counterclockwise direction opposite to the clockwise direction) and where the motor 50 drives the arm 3 in translation in a second direction of translation, said negative direction opposite to the positive direction and corresponding to a displacement of the deployed position to the retracted position, while the user does not resist this movement or even supports it by pushing on the arm;
- the fourth quadrant Q4 corresponds to a braking mode in which the output speed of the motor and the direction of the motor torque have opposite directions of rotation, respectively a clockwise and a counterclockwise direction, and where the arm 3 is moved by the user in the negative direction of translation, that is to say pushed by the user, while the motor 50 brakes this movement.
- the motor means 5 optionally comprises a speed variator 52 for the motor 150; said drive 52 being of the reversible electric type with an equally reversible power supply connected to the sector S.
- the power supply 52 must be reversible in voltage and current so that, in braking mode of the motor 50, the energy can be either dissipated is sent back to the power grid.
- the motor 50 is then connected to the arm 3 via the conversion means 51 reversible.
- the motor 150 operates only in the two quadrants Q1 and Q3 described above.
- the generator mode is no longer used with respect to the "four-quadrant reversible" embodiment, the braking is carried out by creating a resistive torque in the motor 150.
- the principle is thus to create a torque (or a force) which opposes the displacement of the motor 150 to rotate in order to slow down the movement.
- a speed variator 252 for the motor 250 electrically connected to the sector S; and irreversible conversion means 251 for the rotational movement of the rotary motor 250 and provided with mechanical friction braking means.
- the motor 250 operates all the time in motor mode and the conversion means 251 are not reversible. If an effort is exerted on the arm 3, the mechanical conversion means 251 will automatically block the displacement of the arm 3 due to this effort by the internal mechanical friction of the conversion means 251, as schematically illustrated by the arrow RM translating the internal mechanical resistance by friction of the conversion means 251. In the case where the motor means 5 must create a force to move the arm 3, the motor 250 must provide, in addition to the effort required to move the arm 3, an additional effort necessary to overcome the internal mechanical friction of the conversion means 251. In the case where the motor means 5 must oppose a movement of the arm 3, the engine 250 will eventually operate in engine mode to accompany the external force applied to the arm 3. Without power supply, the arm 3 is locked in position due to internal friction of the conversion means 251.
- a non-reversible rotary motor 350 provided for operation only in engine mode and for moving forward and backward without an internal braking mode to the engine 350;
- a speed changer 352 for the motor 350 electrically connected to the sector S;
- a mechanical brake 354 arranged in parallel with the motor 350 and designed to slow down the movement of the arm 3.
- the motor 350 operates all the time in motor mode and the conversion means 351 are not reversible.
- the motor 350 is not electrically powered and the mechanical brake 354 is in charge of creating a counter-force which opposes the displacement of the arm 3.
- the motors 50, 150, 250, 350 may for example be made in the form of one of the following types of electric motor:
- FIGS. 4 to 8 illustrate different embodiments of the motor means 5 of the "four-quadrant reversible" type adapted to translate the arm 3 in translation and to brake the movement of this same arm 3.
- the arm 3 is an elongated hollow piece, open at its second end 32 and guided in translation in the body 2 via guide pads 23 fixed in the body 2 and surrounding the arm 3.
- the conversion means 51 extend in part to inside the arm 3.
- the conversion means 51 comprise:
- a belt 510 rotatably connected on the one hand to the rotary motor shaft 500 of the motor 50 and on the other hand to a pulley 511 fixed on a support 24 integral with the body 2, said support 24 extending over a portion of the length of the body 2 inside the arm 3 and said belt 510 passing through said support 24;
- toothed wheel 512 integral in rotation with the pulley 511 and fixed on the support 24;
- the motor shaft 500 extends along an axis perpendicular to the main axis A. As illustrated, the motor 50 optionally exceeds the body 2 via a suitable opening in said body 2.
- the conversion means 51 comprise:
- the threaded shaft 514 and the nut piece 516 together form a screw / nut system for converting a rotational movement into translation movement: the rotation of the threaded shaft 514 causes the translation of the nut member 516 which drives in translation the arm 3.
- the threaded shaft 514 extends along the main axis A.
- rollers 518 extends along respective axes perpendicular to the main axis A and guiding the movement of the belt 517 so that said belt has a long flat portion between two rollers, which is parallel to the main axis A the along the arm 3, said rollers 518 being here five in number and being fixed on a support 24 integral with the body 2 and extending over a part of the length of the body 2 inside the arm 3;
- the conversion means 51 comprise:
- a belt 519 rotatably connected to the drive shaft 500 which extends along an axis parallel to the main axis A;
- a pulley 520 enabling a right-angle return of the belt 519 so that said belt has a long flat portion, between the pulley 520 and a roller 521, said pulley 520 and said roller 521 being fixed on a support 24 integral with the body 2 and extending over a portion of the length of the body 2 within the arm 3;
- the motor means 5 comprises two rotary motors 50 each with a shaft motor 500 which extends along an axis parallel to the main axis A, and conversion means 51 which comprise, for each motor 50:
- the motor means 5 may also comprise a speed reducer 501 visible in particular in Figures 4b, 6b and 7b. In the fifth embodiment illustrated in FIG. 8, the reduction of speeds can be achieved by varying the transmission ratio between the two bevel gears 523.
- the conversion means 51 must be easily displaceable by the user, preferably under a force of less than 5 or 1 newton, in the case where the motor 50 is stopped or does not work.
- Figures 46 to 52 illustrate a preferred embodiment of an exercise device and an exercise apparatus according to the invention.
- the frame B is in the form of a vertical gantry having a rail R in which is slidably and adjustably mounted a support S made in the form of a slider.
- the motor means 5 comprises:
- a threaded shaft 514 (for example of the ball screw type) rotated by the motor 50;
- the apparatus 1 comprises a housing 26 fixed on the bottom 21 of the body 2 and in which the rotary motor 50 is mounted.
- a slider 28 slidably mounted on each of the three tie rods 27 and fixedly mounted on the arm 3 in particular by means of the screws 280 visible in Figure 49b, wherein the slider 28 is fixed, by screwing, on the nut member 516.
- the slider 28 is in the form of a disc provided with three holes for the passage of the respective tie rods 27, so that the translation of the nut member 516, and thus of the slider 28 integral with the nut piece 516, is guided by the tie rods 27.
- the arm 3 is hollow and the tie rods 27 extend inside the arm
- tie rods 27 respectively show:
- the cooperation means 6 comprises a hinge means 60 made in the form of a double pivot connection with two degrees of freedom in rotation.
- This articulation means 60 is mounted on the bottom 21 of the body 2, and more specifically on the casing 26 of the motor 50 after the motor 50.
- the connecting means 4 is made in the form of a handle possibly provided with switches 40 for controlling various functions of the apparatus.
- FIG. 12 and 13 schematically illustrate another type of apparatus 1 according to the invention.
- the cooperation means 6 comprising a hinge means 60 is completed or replaced by another means of cooperation 7 which comprises two secondary motor means 70 able to rotate the body 2 around respectively two axes of rotation B1, B2 perpendicular to each other, the two axes of rotation B1, B2 being perpendicular to the main axis A of the body 2.
- another means of cooperation 7 which comprises two secondary motor means 70 able to rotate the body 2 around respectively two axes of rotation B1, B2 perpendicular to each other, the two axes of rotation B1, B2 being perpendicular to the main axis A of the body 2.
- a third secondary motor means adapted to rotate the body 1 about an axis of rotation parallel to the main axis A (or another predefined axis), or to have only one of the secondary motor means 70.
- Each secondary motor means 70 is fixed on the body 2, for example outside the body 2 of the app 1, as schematically illustrated in FIG. 13.
- Each secondary motor means 70 is adapted to rotate the body 2 in both directions of rotation, and also to brake rotation of the body 2 in both directions of rotation.
- the or each secondary motor means 70 comprises a reversible rotary motor provided for four quadrant operation.
- Each secondary motor means 70 comprises an angle sensor for determining the angle of rotation of the body 2 about the associated axis of rotation B1, B2, thus making it possible to determine the angular position of the body 2 vis-à-vis this rotation axis.
- Each secondary motor means 70 is thus designed to ensure a radial movement transmission and the rotational power of the motor is calculated according to the lever effect of the body 2 and arm 3 together.
- Figures 14 and 15 illustrate an apparatus 1 provided with a secondary motor means 70 according to separate embodiments.
- the secondary drive means 70 is of the rudder system type and comprises: - a motor 71 driving in translation a control shaft 72, the translation of the control shaft 72 being illustrated by the arrows T in the figures;
- pivoting part 73 fixed, in particular removably, on the body 2, said pivoting part 73 extending along the main axis A; a hinge 74, in particular of the pivot connection type, between the control shaft 72 and the pivot piece 73;
- the support 75 is disposed above the hinge 74, in other words between the body 2 and the hinge 74; while in the embodiment of FIG. 15, the seat 75 is located below the hinge 74, that is to say the hinge 74 is disposed between the body 2 and the support 75.
- the motor 71 moves the control shaft 72 in translation T so that this control shaft 72 rotates the workpiece. pivoting 73, and thus the body 2, around the support 75, as shown schematically by the arrow R.
- the assembly of the secondary motor means 70 may be disposed inside a box CA, illustrated by broken lines in FIGS. 14 and 15, from which the free end of the pivot piece 73 on which will be connect the body 2 of the appliance 1.
- the secondary motor means 70 comprises a rotary / gear motor assembly in direct contact with the body 2.
- a secondary motor means which drives in translation the body 2 along an inclined axis (for example at right angles) with respect to the main axis A.
- Such a secondary motor means in translation could be coupled with a secondary motor means as described above, that is to say which rotates the body 2.
- This or these secondary motor means 70 allow to constrain the body part of the user to follow a trajectory bounded T in space. Such a constraint around a trajectory T is described at the end of the second part with reference to FIGS. 34 to 37.
- the invention also relates to a control method of the apparatus 1 described above.
- This control method comprises the following steps: a) recording or recording of at least one setpoint curve Cc corresponding to a predefined variation of a predetermined main exercise parameter Pp as a function of a state parameter P E such as the time or the displacement of the arm 3, said main exercise parameter being representative of the displacement force imposed by the arm 3 on the user's body part or vice versa and in particular chosen from the force developed by the user on the arm 3 to move or brake the arm 3, the torque or the force developed by the motor means 5 to move or brake the arm 3, the speed of movement of the arm 3 and the acceleration of the displacement of the arm 3; b) acquiring an actual curve C R corresponding to the variation of the main exercise parameter Pp measured during the exercise as a function of the state parameter P E ; c) controlling the motor means 5 in order to slave the real curve C R about the setpoint curve Cc during the exercise, said motor means 5 being controlled to move and / or brake the arm 3 in a translation
- the apparatus 1 is provided with means for implementing the method, these means comprising a control means 80 made in the form of a control unit or central unit. (visible in Figures 24 to 30 and 31).
- a control means 80 made in the form of a control unit or central unit. (visible in Figures 24 to 30 and 31).
- the apparatus 1 comprises:
- the first curve portion C1 is of the same type as the setpoint curve C C 2 described above with reference to FIG. 18, and the second curve portion C2 is also of the same type as this curve of FIG. set C C 2, with the same advantages as described above in both directions of translation of the arm 3.
- FIGS. 22 and 23 illustrate setpoint curves Cc6 and Cc7 in terms of speed, that is, curves for varying the speed V of displacement of the arm 3 as a function of the displacement D of the arm 3 (or possibly of the time) .
- These setpoint curves C C 6 and C C 7 are illustrated only for a half cycle of movement of the arm 3.
- the PHEX exercise phase can be broken down into two successive exercise phases:
- this condition 2 relating to a setpoint parameter as described above.
- this condition 2 may consist in comparing the movement speed V of the arm 3 with a minimum threshold value, for example the speed V to the point E1 of the first setpoint curve Cc10 illustrated; the first setpoint curve Cc10 being defined by the coordinates (in force F and displacement D) of three points E1, E2 and E3.
- a minimum threshold value for example the speed V to the point E1 of the first setpoint curve Cc10 illustrated; the first setpoint curve Cc10 being defined by the coordinates (in force F and displacement D) of three points E1, E2 and E3.
- condition 2 the number of movement cycles is also counted so that, if condition 2 is never fulfilled, the user accesses the end of the training when he has made a number predetermined predetermined cycle of movement of the arm 3.
- This condition corresponds to the condition 1 of Figure 32 which is met when the number of cycles reaches the predetermined value.
- this condition 3 may consist in comparing the actual effort at point E2 with a maximum threshold value.
- Multiaxis the method comprises a step of locating the arm 3 in space, and a step of controlling the position of the arm 3 in space in order to force the user to follow, with the arm 3, a trajectory bounded in space during the exercise.
- Figures 38 to 47 illustrate the many uses of the apparatus 1.
- This apparatus 1 allows in particular a rehabilitation for the lower and upper limbs in a sitting, standing or lying position, according to the setting of the position of the apparatus 1 on the built; such an adjustment being obtained by adjusting the position of the support (not shown) sliding on the frame.
- the user can work, as far as possible, simultaneously the two lower or upper limbs; it suffices for the connecting means to be suitable for such work.
- the device 1 will be used in the rehabilitation or fitness of the majority of the muscles of the user. To do this, the user and the apparatus 1 will be positioned in a multitude of combinations. The user may be in a lying, sitting or standing posture, and the apparatus 1 may be positioned horizontally or vertically or intermediately inclined.
- Figure 41 the user works an upper limb, standing, with a device 1 resting against the ground or articulated on the ground.
- the user U works an upper limb, while standing, with a device 1 set at a suitable height after adjusting the position of the support (not visible) on a rail R secured to the frame B (here a wall), and with a third party TP, such as a therapist or a sports coach, who supervises the exercise.
- a third party TP such as a therapist or a sports coach
- the third person TP can have access to the user U on almost 360 degrees, that is to say that he can turn around the user U, in particular to analyze his posture and possibly correct his posture before or during exercise with the apparatus 1;
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- Health & Medical Sciences (AREA)
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- Physical Education & Sports Medicine (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Software Systems (AREA)
- Databases & Information Systems (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Orthopedic Medicine & Surgery (AREA)
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Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0858483A FR2939687B1 (fr) | 2008-12-11 | 2008-12-11 | Procede de commande d'un appareil d'exercice musculaire et/ou articulaire et appareil d'exercice associe |
PCT/FR2009/052489 WO2010067034A2 (fr) | 2008-12-11 | 2009-12-11 | Appareil d'exercice musculaire et/ou articulaire |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2370184A2 true EP2370184A2 (fr) | 2011-10-05 |
EP2370184B1 EP2370184B1 (fr) | 2013-05-29 |
Family
ID=41061213
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP09802163.7A Active EP2370184B1 (fr) | 2008-12-11 | 2009-12-11 | Appareil d'exercice musculaire et/ou articulaire |
Country Status (5)
Country | Link |
---|---|
US (1) | US9005145B2 (fr) |
EP (1) | EP2370184B1 (fr) |
CA (1) | CA2746440A1 (fr) |
FR (1) | FR2939687B1 (fr) |
WO (1) | WO2010067034A2 (fr) |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8560365B2 (en) | 2010-06-08 | 2013-10-15 | International Business Machines Corporation | Probabilistic optimization of resource discovery, reservation and assignment |
US9646271B2 (en) | 2010-08-06 | 2017-05-09 | International Business Machines Corporation | Generating candidate inclusion/exclusion cohorts for a multiply constrained group |
US8968197B2 (en) * | 2010-09-03 | 2015-03-03 | International Business Machines Corporation | Directing a user to a medical resource |
US9292577B2 (en) | 2010-09-17 | 2016-03-22 | International Business Machines Corporation | User accessibility to data analytics |
JP5785716B2 (ja) * | 2011-01-13 | 2015-09-30 | クラブコング株式会社 | トレーニング装置及びトレーニング方法 |
ES2423532B1 (es) * | 2012-02-20 | 2014-07-30 | Ivolution R&D, S.L. | Plataforma electro-mecánica de administración, control, seguimiento y evaluación para la administración y control de estímulos neuromusculares, movilidad, flexibilidad, perturbación motora y tracciones |
JP5912722B2 (ja) * | 2012-03-22 | 2016-04-27 | 美津濃株式会社 | 野球又はソフトボール用バット、及び野球又はソフトボール用バットの製造方法 |
US9079059B2 (en) | 2012-03-28 | 2015-07-14 | Pioneer Advanced Solutions, Inc. | System and method for generating and using customized athletic workouts |
US9339692B2 (en) * | 2013-05-20 | 2016-05-17 | Rami Hashish | Exercise system for shifting an optimum length of peak muscle tension |
DE102013223603A1 (de) * | 2013-11-19 | 2015-05-21 | Ferrobotics Compliant Robot Technology Gmbh | Roboterarm |
US10130842B2 (en) * | 2014-05-21 | 2018-11-20 | IncludeFitness, Inc. | Fitness systems and methods thereof |
US9856037B2 (en) * | 2014-06-18 | 2018-01-02 | The Boeing Company | Stabilization of an end of an extended-reach apparatus in a limited-access space |
US20160059077A1 (en) * | 2014-08-27 | 2016-03-03 | University Of Utah Research Foundation | Exercise therapy and rehabilitation system and method |
WO2017027608A1 (fr) * | 2015-08-10 | 2017-02-16 | Hall Marlene | Système et procédé d'exercice |
US20170142501A1 (en) * | 2015-11-16 | 2017-05-18 | Qualcomm Incorporated | Internet of shoes |
US11266867B2 (en) * | 2016-03-31 | 2022-03-08 | Inventus Engineering Gmbh | Training equipment and method |
FR3050383A1 (fr) | 2016-04-22 | 2017-10-27 | Aubert Bruno Jean Marie | Procede de reeducation fonctionnelle ou d'entrainement sportif interactif, autonome et portable, et dispositifs associes |
US10384092B1 (en) * | 2016-05-07 | 2019-08-20 | Gregory Karapetian | Isometric exercise device |
KR101881028B1 (ko) * | 2016-11-21 | 2018-08-17 | 홍대건 | 운동 유형 인식 장치 및 방법 |
IL255036B (en) * | 2017-10-15 | 2020-07-30 | Luzzatto Yuval | Method and device for an activity environment generator |
CN111726793B (zh) * | 2020-06-17 | 2021-07-30 | 翱捷科技股份有限公司 | 定时偏差补偿方法、装置及电子设备 |
US11612778B2 (en) * | 2021-03-23 | 2023-03-28 | Joseph Liberatore | Pneumatic exercise apparatus |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2619723B1 (fr) | 1987-08-31 | 1990-01-19 | Angelloz Louis | Appareil d'exercices physiques a modes multiples et procede de commande d'un tel appareil |
US20030028130A1 (en) * | 2001-08-04 | 2003-02-06 | Craig Wunderly | Machine for upper limb physical therapy |
US8485996B2 (en) * | 2003-04-30 | 2013-07-16 | Bioxtreme Ltd. | Method and system for motion improvement |
US8753296B2 (en) * | 2004-02-05 | 2014-06-17 | Motorika Limited | Methods and apparatus for rehabilitation and training |
FR2875140B1 (fr) | 2004-07-02 | 2009-06-26 | Univ Reims Champagne Ardenne | Methode et systeme d'entrainement et reeducation personnalisable pour l'amelioration de gestes sportifs par utilisation d'un modele de cinematique du genou |
US8257284B2 (en) * | 2005-09-21 | 2012-09-04 | Wisconsin Alumni Research Foundation | Training device for muscle activation patterns |
US20070202992A1 (en) * | 2006-02-28 | 2007-08-30 | Eric Grasshoff | Programmable adaptable resistance exercise system and method |
US20070232467A1 (en) * | 2006-03-31 | 2007-10-04 | Michael Roydon Puzey | Reciprocable load resisting device |
WO2008136102A1 (fr) * | 2007-04-25 | 2008-11-13 | Panasonic Electric Works Co., Ltd. | Dispositif facilitant l'exercice |
TWI348663B (en) * | 2007-11-02 | 2011-09-11 | Ind Tech Res Inst | Force feedback and interactive system |
-
2008
- 2008-12-11 FR FR0858483A patent/FR2939687B1/fr not_active Expired - Fee Related
-
2009
- 2009-12-11 EP EP09802163.7A patent/EP2370184B1/fr active Active
- 2009-12-11 CA CA2746440A patent/CA2746440A1/fr not_active Abandoned
- 2009-12-11 WO PCT/FR2009/052489 patent/WO2010067034A2/fr active Application Filing
- 2009-12-11 US US13/132,668 patent/US9005145B2/en active Active
Non-Patent Citations (1)
Title |
---|
See references of WO2010067034A2 * |
Also Published As
Publication number | Publication date |
---|---|
US9005145B2 (en) | 2015-04-14 |
FR2939687B1 (fr) | 2016-04-15 |
EP2370184B1 (fr) | 2013-05-29 |
WO2010067034A2 (fr) | 2010-06-17 |
CA2746440A1 (fr) | 2010-06-17 |
US20110275480A1 (en) | 2011-11-10 |
WO2010067034A3 (fr) | 2010-09-02 |
FR2939687A1 (fr) | 2010-06-18 |
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