JP2013031538A - Posture balance measuring apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a posture balance measuring apparatus that obtains measurement data for training to improve a balance function.SOLUTION: The posture balance measuring apparatus 100 includes: a platform 120 on which a person stands; a control part for oscillating the posture balance of the person on the platform 120 by swinging the platform 120; and a force plate for measuring the body gravity position of the person on the platform 120. The control part includes a movement stimulation application means for giving the movement stimulation to the person on the platform 120 by moving the platform 120 in a horizontal direction, and a rotation stimulation application means for giving the rotation stimulation to the person on the platform 120 by rotating the platform 120 in a horizontal direction.

Description

  The present invention relates to a posture balance measuring apparatus.

  Training is important for suppressing the decline in balance function associated with aging. However, this requires measurement data that is the basis for training. Patent Document 1 discloses a center of gravity sway meter that measures the stability of a standing posture as the sway of the body center of gravity.

Japanese Patent Laid-Open No. 08-215176

  The center-of-gravity sway meter of Patent Document 1 measures the stability in a standing posture (that is, the static balance function), and the stability when a sudden external force is applied (that is, the dynamic balance function). Balance function). Therefore, it cannot be said that it has a sufficient function from the viewpoint of an apparatus that acquires measurement data for training aimed at improving the balance function.

  The present invention has been made in view of the above-described matters, and an object of the present invention is to provide a posture balance measurement apparatus capable of acquiring measurement data for training aimed at improving the balance function.

The posture balance measuring device of the present invention is
Stands on which people ride upright,
Balance shaking means for shaking the posture balance of the person riding on the stand by moving the stand.
Measuring means for measuring the position of the body center of gravity of the person riding on the stand, myoelectric potential, the position of the crown, and / or the joint angle;
The balance shaking means is
A moving stimulus applying means for applying a moving stimulus to a person on the stand by moving the stand in a horizontal direction;
Rotation stimulus applying means for applying a rotation stimulus to a person riding on the stand by rotating the stand on the axis of a predetermined vertical line,
It is characterized by that.

Movement information setting means for setting movement information composed of information on the moving direction, moving distance, and / or moving speed of the stand,
The movement stimulus applying unit may horizontally move the stand based on the movement information set by the movement information setting unit.

A rotation information setting means for setting rotation information composed of information on the rotation direction, rotation angle, and / or rotation speed of the stand,
The rotation stimulus applying unit may rotate the upright based on the rotation information set in the rotation information setting unit.

  The moving stimulus applying means may change the moving direction of the upright base every time a moving stimulus is applied.

  The rotational stimulus applying means may change the direction of rotation of the uprights every time a rotational stimulus is applied.

  You may provide the notification means which notifies the operation start of the said stand to the person who got on the said stand.

  You may provide the moving image display means which displays the moving image for giving a visual stimulus to the person who got on the said stand.

Imaging means for imaging the subject's head from a plurality of directions,
The measuring means may calculate the position of the top of the subject based on images of the top of the head imaged from a plurality of directions.

A plurality of load sensors installed on the upright stand may be provided, and the measuring means may acquire an action center point of the load applied to the upright stand at predetermined time intervals based on a measurement value of the load sensor.

  You may provide the calculation means which calculates the locus | trajectory length of the said action | operation center point within a fixed time, or an outer periphery area after a stand is moved by the said balance shaking means.

  The person who got on the stand may be provided with a stimulus application start means for operating the balance swinging means.

  It is possible to provide a posture balance measuring apparatus capable of acquiring measurement data for training aimed at improving the balance function.

It is a perspective view of the attitude | position balance measuring apparatus which concerns on embodiment of this invention. It is a block diagram of a posture balance measuring device concerning an embodiment of the present invention. It is sectional drawing of the attitude | position balance measuring apparatus which concerns on embodiment of this invention. It is a figure for demonstrating operation | movement of a stand, (A) is a figure which shows a mode that a stand is horizontally moved, (B) is a figure for demonstrating a mode that a stand is rotating. It is a figure for demonstrating a mode that a force plate calculates the action | operation center point (COP) of a load. It is a figure for demonstrating the measurement data stored in a memory | storage part. It is a figure for demonstrating a mode that a stand is operated according to the instruction | indication of a control part, (A) is a figure for demonstrating the operation data transmitted to a control part from PC, (B) is based on operation data It is a figure for demonstrating a mode that an upright stand operate | moves. It is a figure for demonstrating a person's predictive control capability. It is a flowchart of the attitude | position balance measurement process performed with a control part. It is a figure for demonstrating posture balance change amount, (A) is a figure for demonstrating the locus | trajectory length of COP, (B) is a figure for demonstrating the outer periphery area of COP. It is a figure which shows a mode that a test subject's joint angle is measured using a goniometer. It is sectional drawing of the attitude | position balance measuring apparatus which attached the safety board.

An attitude balance measuring apparatus according to an embodiment of the present invention will be described with reference to the drawings.
The posture balance measuring device 100 is a device that acquires measurement data for training aimed at improving the balance function. As shown in FIG. 1, a pedestal 110, a stand 120, a safety rod 130, a safety belt, and the like. 140, a display 150, a notification device 160, a communication cable 170, and a PC (Personal Computer) 180.

  The pedestal 110 is a pedestal in which a quadrangular recess is formed in the center of the upper part, and a control unit 111 and a storage unit 112 are stored inside the pedestal as shown in FIG. Further, as shown in FIG. 1, a connector portion 113 is formed on the side surface of the base 110.

  The control unit 111 includes a processing device such as a processor, and operates according to a program stored in the storage unit 112, and executes various operations including a “posture balance measurement process” described later.

  The storage unit 112 includes a storage device such as a RAM (Random Access Memory), and stores various data such as a program and measurement data.

  The connector unit 113 is configured by, for example, a USB connector or the like for connecting the communication cable 170. As shown in FIG. 2, the connector part 113 is connected to the control part 111 inside the base.

  As shown in FIG. 3, the stand 120 is a place for a posture balance measurement subject (hereinafter referred to as “subject”) to stand upright and is installed in a concave portion in the upper center of the base 110.

  The stand 120 applies a moving stimulus and a rotational stimulus to the subject, and can measure the posture balance change amount of the subject at that time. Here, the “movement stimulus” is, for example, an acceleration applied to the subject when the upright 120 is moved in the horizontal direction suddenly or after the advance notice as shown in FIG. The “stimulation” is, for example, acceleration applied to the subject when the stand 120 rotates suddenly or after the advance notice as shown in FIG. The “posture balance change amount” is a numerical value or symbol representing the degree of fluctuation of the subject's posture balance. For example, the degree of change in the subject's body center of gravity is quantified. The posture balance change amount will be described in detail later.

  As shown in FIG. 3, the stand 120 includes a carriage 121 and a force plate 122.

  The trolley part 121 is a trolley part below the stand 120. For example, an electric motor is installed on each wheel of the carriage unit 121. The carriage unit 121 can receive a command via electrical communication (for example, communication via a communication cable or wireless communication) from the control unit 111, and operates an electric motor according to the command from the control unit 111. The stand 120 is moved horizontally and rotated.

  The force plate 122 is a device for measuring the shaking of the subject's body center of gravity. A plurality of load sensors are built in the force plate 122, and the force plate 122 measures the amount of movement of the body center of gravity based on the value of the load sensor. More specifically, the force plate 122 measures the center of pressure (COP) of the load applied to the force plate 122 as the center of gravity of the body.

The COP is output as, for example, two-dimensional coordinate information (hereinafter, this coordinate information is referred to as “COP coordinate data”). For example, as shown in FIG. 5, it is assumed that load sensors A, B, C, and D that can measure a load in milligram units, for example, are installed inside the force plate 122 and at the positions of the vertices of the rectangle. . At this time, the COP coordinate data (P _X , P _Y ) is calculated by, for example, the following (Expression 1) and (Expression 2) with the center O of the force plate 122 as the origin (0, 0).

_{Here, W A, W B, W} C, W D is the value measured each load sensor A, B, C, the D. L _X1 is a distance in the X-axis direction from the center O to the load sensors B and D, and L _X2 is a distance in the X-axis direction from the center O to the load sensors A and C. L _Y1 is a distance in the Y-axis direction from the center of gravity O to the load sensors A and B, and L _Y2 is a distance in the Y-axis direction from the center O to the load sensors C and D.

  The force plate 122 measures COP coordinate data at intervals of, for example, 0.01 seconds, and transmits the data to the control unit 111 using a wireless communication device or the like. When the control unit 111 receives the COP data from the force plate 122, the control unit 111 attaches the reception time to the measurement data as shown in FIG. 6 and stores it in the storage unit 112.

  The safety rod 130 is an auxiliary rod that protects the subject from falling, and as shown in FIG. 1, an inverted U-shaped iron pipe 131 having both ends fixed to the pedestal 110, and a height around the waist of the subject. It is comprised from the iron pipe 132 located and the iron pipe 133 located vertically in the front and upper part of a test subject.

  The safety belt 140 is a belt for protecting the subject from falling, and is fixed and suspended at the upper part of the iron pipe 131 as shown in FIG. For example, as shown in FIG. 3, the safety belt 140 is used by being fixed to a subject's waist belt or the like.

  The display 150 includes a video playback device such as an LCD (Liquid Crystal Display). The display 150 displays, for example, an image of a car approaching or an image of a landscape rotating to give a visual stimulus to the subject (hereinafter, a stimulus applied to the subject is a moving stimulus, a rotational stimulus, This is called “disturbance” including visual stimuli). The display 150 is connected to the control unit 111 through a signal line, and displays a video based on the video signal transmitted from the control unit 111. Note that the display 150 may display a 3D video in order to give a realistic visual stimulus to the subject.

  The alarm device 160 includes a sound generator such as a speaker, a chime, and a bell. The alarm device 160 is connected to the control unit 111 through a signal line, and issues a buzzer sound or the like according to a command from the control unit 111.

  The communication cable 170 is composed of a communication cable such as a USB cable. One end of the communication cable 170 is connected to the connector portion 113, and the other end is connected to the PC 180.

  The PC 180 is configured by a personal computer or the like provided with an input / output device (for example, a monitor, a keyboard, a mouse, etc.). Dedicated application software for operating the posture balance measuring apparatus 100 is installed in the PC 180. An operator (for example, a person having specialized knowledge regarding posture balance) operates the application software to operate the posture balance measuring apparatus 100.

  The PC 180 operates the posture balance measuring apparatus 100 by transmitting operation data described later to the control unit 111 via the communication cable 170.

  The operation data is data for controlling the posture balance measuring apparatus 100, and is generated by the application software. The operation data is, for example, packet data in a format as shown in FIG. 7A. For example, “movement direction”, “movement distance”, “movement speed”, “rotation direction”, “rotation angle”, “ Items such as “rotation speed” and “operation start notification” are included.

  “Movement direction” is information indicating the direction of horizontal movement of the stand 120, and an arbitrary angle can be set. The “movement direction” is specified as angle information from 0 ° to 360 °, for example. For example, when 90 ° is designated as the “movement direction”, the control unit 111 sets the front direction (direction with the iron pipe 133) to 0 ° as shown in FIG. The stand 120 is moved horizontally in the direction.

  “Movement distance” is information indicating the distance of horizontal movement of the stand 120, and an arbitrary distance (or position) can be set. The “movement distance” is specified in the range of 0 mm to 180 mm, for example. For example, when 100 mm is designated as the “movement distance”, the control unit 111 horizontally moves the stand 120 by 100 mm with reference to the current position, as shown in FIG. 7B.

  “Movement speed” is information indicating the horizontal movement speed of the stand 120, and an arbitrary speed can be set. “Movement speed” is specified in the range of speed 0 mm / second to 400 mm / second, for example. For example, when 60 mm / second is designated as the “movement speed”, the control unit 111 horizontally moves the stand 120 at a speed of 60 mm / second.

  The “rotation direction” is information indicating the rotation direction of the stand 120, and an arbitrary direction can be set. For example, “clockwise” or “counterclockwise” is designated as the “rotation direction”. For example, when “clockwise” is designated as the “rotation direction”, the control unit 111 causes the stand 120 to be turned around the vertical line passing through the center O of the stand 120 as shown in FIG. Rotate around.

  “Rotation angle” is information indicating the rotation angle of the stand 120, and an arbitrary angle can be set. The “rotation angle” is specified by an angle from 0 ° to 90 °, for example. For example, when 30 ° is designated as the “rotation direction”, the control unit 111 rotates the stand 120 by 30 ° as shown in FIG.

  “Rotation speed” is information indicating the rotation speed of the stand 120, and an arbitrary speed can be set. The “rotation speed” is specified in the range of, for example, an angular speed of 0 rad / sec to 6.28 rad / sec. For example, when 3.14 rad / sec is specified for the “rotation speed”, the control unit 111 rotates the stand 120 at a speed of 3.14 rad / sec.

  “Operation start notification” is information indicating whether or not the subject is to be notified of the operation start before operating the stand 120. As the “operation start notification”, for example, “notified” or “not notified” is designated. For example, when “notified” is designated in the “operation start notification”, the control unit 111 uses the notification device 160 to issue a buzzer sound or the like before the operation of the stand 120 is started.

  This “operation start notification” is a function for immediately supporting the body with feet as shown in FIG. 8 after sudden acceleration is applied to the subject. When an elderly person suddenly receives a force, his / her legs do not come back forward or backward, often resulting in a fall accident. Even in such an elderly person, if a signal such as a buzzer sound is given before force is applied, the feet can be put out forward or backward to support the body. Elderly people, etc., practice to put out their feet using the motion start notification function, so that the predictive control ability (that is, the body immediately predicts the next state at the initial stage when the stimulus is applied and reflects the body in a reflective manner. The ability to control) will increase. By practicing repeatedly, even if a signal such as a buzzer is not given, the foot can be reflected back and forth to compensate.

Next, the operation of the posture balance measuring apparatus 100 having such a configuration will be described.
When the posture balance measuring apparatus 100 is turned on, the control unit 111 starts a “posture balance measurement process” for measuring the posture balance of the subject. Hereinafter, the posture balance measurement process will be described with reference to the flowchart of FIG.

  When the posture balance measuring apparatus 100 starts to operate, the control unit 111 enters a state of waiting for operation data from the PC 180 (step S101). The operator operates the PC 180 with the subject standing on the stand 120. The PC 180 converts the operation content of the operator into operation data and transmits it to the control unit 111.

  When the control unit 111 receives the operation data from the PC 180 (step S101: Yes), the control unit 111 determines whether to notify the subject of the operation start of the stand 120 based on the “operation start notification” information included in the operation data. It discriminate | determines (step S102). When not starting notification of operation, it progresses to Step S104 (Step S102: No), and when notifying operation start, it progresses to Step S103 (Step S102: Yes).

  When notifying the start of operation (step S102: Yes), the control unit 111 fires an operation start buzzer sound using the alarm device 160 before operating the stand 120 (step S103).

  Next, the control part 111 operates the stand 120 according to the content of the operation data (step S104). For example, if a value other than 0 is set in the “movement distance” and “movement speed” of the operation data, the control unit 111 horizontally moves the stand 120 in the designated movement direction. If a value other than 0 is set in the “rotation angle” and “rotation speed” of the operation data, the control unit 111 rotates the stand 120 in a specified rotation direction. In addition, if 0 is set for any of “movement distance”, “movement speed”, “rotation angle”, and “rotation speed”, the stand 120 is operated in order to measure the posture data when the subject is in a resting posture. Without proceeding to step S105. Note that the control unit 111 may rotate the stand 120 while moving it horizontally, or may perform only the horizontal movement or rotation operation.

  Next, the control unit 111 adds the current time to the COP coordinate data transmitted during a predetermined time (for example, 20 seconds) from the start of the operation of the stand 120 and stores it in the storage unit 112 as measurement data ( Step S105).

  The control unit 111 calculates the posture balance change amount of the subject based on the measurement data stored in the storage unit 112 (step S106). The posture balance change amount is a value representing the degree of disturbance of the posture balance of the subject, and more specifically, the COP trajectory length, outer peripheral area, etc. within a predetermined time from the start of the operation of the stand 120.

  The trajectory length is, for example, the length of a line (hereinafter referred to as “COP trajectory”) obtained by connecting COP coordinate data stored in measurement data in time order, as shown in FIG. The longer the trajectory length, the more the posture balance is disturbed.

  For example, as shown in FIG. 10B, the outer peripheral area is the area of the surrounded portion when the outer periphery of the COP locus is surrounded by an envelope. The larger the outer peripheral area, the more the posture balance is disturbed.

  After calculating the posture balance change amount, the control unit 111 transmits the calculated posture balance change amount to the PC 180 (step S106). The PC 180 displays the received posture balance change amount on the monitor. When the transmission of the posture balance change amount is completed, the control unit 111 again waits for operation data reception from the PC 180 (step S101).

  According to the present embodiment, it is possible to acquire posture balance measurement data (for example, COP coordinate data) when applying a disturbance as well as in a resting posture. A subject, an operator, or the like can create a training program for improving posture balance using the measurement data.

  In addition, the posture balance measuring apparatus 100 can apply not only a movement stimulus but also a rotation stimulus assuming that a twisting force is applied to the subject. Moreover, the movement stimulus and the rotation stimulus can be applied simultaneously. Therefore, the posture balance measuring apparatus 100 can measure posture balance under a more complex and more realistic stimulus for the subject.

  The posture balance measuring apparatus 100 can change the intensity of stimulation (for example, moving speed, moving distance, rotational speed, rotational angle, etc.). Therefore, it is possible to apply a stimulus according to the condition of the subject.

  The posture balance measuring apparatus 100 has an operation start notification function for notifying the subject of the start of stimulus application before applying the stimulus. Therefore, the subject can repeatedly practice putting out their feet using the operation start notification function. By practicing, subjects can improve their predictive control ability. In addition, it is possible to know the operation mode for dealing with the disturbance of the subject, and to determine whether it is an appropriate treatment, which is an important clue for creating a training program.

  Further, the posture balance measuring apparatus 100 can change the moving direction and the rotating direction by an operator's operation. The posture balance measuring apparatus 100 can apply a moving stimulus and a rotational stimulus simultaneously. Therefore, it becomes extremely difficult for the subject to predict the next movement of the posture balance measuring apparatus 100, and the predictive control ability can be enhanced more efficiently.

  Moreover, although the balance function of elderly people around the age of 70 is reduced by about 80% compared to those in their 20s, it is difficult to be aware because control using visual information functions as a compensation. The posture balance measuring apparatus 100 of this embodiment can apply a visual stimulus so that control using visual information as a clue does not function compensatoryly, and thus can measure the posture balance function of a subject more accurately. Is possible.

  Note that the measurement data measured by the posture balance measuring apparatus 100 is not limited to COP. For example, the posture balance measuring apparatus 100 may include electrodes attached to muscles in the vicinity of the subject's ankle joint, knee joint, hip joint, and the like and in each body part, and the myoelectric potential of the subject may be measured using the electrodes. The measured myoelectric potential may be displayed as an electromyogram on, for example, the PC 180. It enables analysis of mutual cooperation between various muscle groups corresponding to disturbance stimuli. Further, when the posture is greatly disturbed, the amplitude of the myoelectric potential tends to increase, so that the posture balance function evaluation based on the electromyogram can be performed.

  Further, the measurement data obtained from the posture balance measuring apparatus 100 may be the position of the head of the subject. For example, the posture balance measuring apparatus 100 includes a plurality of cameras that capture images of the subject's head from different directions. The plurality of cameras are configured to sequentially transmit captured images to the control unit 111. For example, the subject wears a cap with a mark indicating the position of the top of the head with a reflective mark having a shape such as a sphere (a mark with a retroreflective material having a property that incident light returns to the incident direction again). I'm wearing it. The control unit 111 processes videos from a plurality of directions, and calculates the position of the mark as three-dimensional coordinate data. In a state where the upper body is moved back and forth around the waist (Hip Strategy), the COP may not change much even if the posture is greatly disturbed, and the sway cannot be evaluated. Can capture changes in posture balance more accurately. If the reflection mark is placed as a mark on a specific part of the body, it is possible to analyze the movement of the whole body.

  Moreover, the measurement data by the posture balance measuring apparatus 100 may be a joint angle of the subject. For example, as shown in FIG. 11, two angle measuring plates 191 of the goniometer 190 are fixed to each joint such as a subject's foot, knee, and waist. The goniometer main body 192 can communicate with the control unit 111 wirelessly, and transmits the angle of the two angle measurement plates 191 to the control unit 111 as the joint angle of the subject. Changes in the posture balance of the subject can be captured in more detail.

  Further, a pressure sensor may be attached to the surface of the iron pipe of the safety rod 130 of the posture balance measuring apparatus 100 so that the grip pressure can be measured. Since it is possible to detect whether or not the subject has grasped the safety rod 130 or the degree of strength thereof, it is possible to determine whether measurement data such as COP is valid or invalid. As a result, more accurate measurement data can be acquired.

  Further, the operation of the stand 120 may be determined at random by the control unit 111, for example, without an instruction from the PC 180. For example, only the operation start command can be transmitted from the PC 180, and information such as “movement direction”, “movement distance”, “movement speed”, “rotation direction”, “rotation angle”, “rotation speed” The control part 111 determines at random. A more unpredictable stimulus can be applied.

  Further, the posture balance measuring apparatus 100 may be provided with a push button that can be held by the subject himself / herself on the stand 120. And it may be comprised so that the test stand 120 can operate | move when a test subject pushes the pushbutton. Thereby, the clue which determines the characteristic and capability of a predictive control function is obtained. Also, from the viewpoint of training, it is possible to train by one subject without an operator.

  In addition, as shown in FIG. 12, a subject may wear a vest and the safety belt 140 may be fixed to the vest. In addition, as shown in FIG. 12, the upright 120 is fixed to the side of the upright 120 and covers, for example, the upper surface of the upright 120 so as to cover the gap between the upright 120 and the pedestal 110. A safety plate 123 having a horizontal plate adjusted to the same height may be installed. The safety of the subject when the balance is lost can be further increased.

  It can be used to create training guidelines for the purpose of improving the balance function of the elderly and athletes.

DESCRIPTION OF SYMBOLS 100 Posture balance measuring apparatus 110 Pedestal 111 Control part 112 Storage part 113 Connector part 120 Standing stand 121 Car part 122 Force plate 123 Safety plate 130 Safety rod 131-133 Iron pipe 140 Safety belt 150 Display 160 Alarm 170 Communication cable 180 PC
190 Goniometer 191 Angle measuring plate 192 Goniometer body

Claims (11)

Stands on which people ride upright,
Balance shaking means for shaking the posture balance of the person riding on the stand by moving the stand.
Measuring means for measuring the position of the body center of gravity of the person riding on the stand, myoelectric potential, the position of the crown, and / or joint angle;
The balance shaking means is
A moving stimulus applying means for applying a moving stimulus to a person on the stand by moving the stand in a horizontal direction;
Rotation stimulus applying means for applying a rotation stimulus to a person riding on the stand by rotating the stand on the axis of a predetermined vertical line,
A posture balance measuring device characterized by that. Movement information setting means for setting movement information composed of information on the moving direction, moving distance, and / or moving speed of the stand,
The movement stimulus applying means horizontally moves the stand based on the movement information set by the movement information setting means;
The posture balance measuring device according to claim 1. A rotation information setting means for setting rotation information composed of information on the rotation direction, rotation angle, and / or rotation speed of the stand,
The rotation stimulus applying means rotates the upright based on the rotation information set in the rotation information setting means;
The posture balance measuring apparatus according to claim 1 or 2, wherein The moving stimulus applying means changes the moving direction of the stand whenever applying a moving stimulus.
The posture balance measuring apparatus according to any one of claims 1 to 3, wherein The rotational stimulus applying means changes the direction of rotation of the stand when applying a rotational stimulus.
The posture balance measuring device according to any one of claims 1 to 4, wherein Notification means for notifying the person on the stand of the start of operation of the stand;
The posture balance measuring device according to any one of claims 1 to 5, wherein A moving image display means for displaying a moving image for giving a visual stimulus to the person on the stand.
The posture balance measuring apparatus according to any one of claims 1 to 6, wherein Imaging means for imaging the subject's head from a plurality of directions,
The measuring means calculates the position of the head of the subject based on the image of the head of the head imaged from a plurality of directions;
The posture balance measuring device according to any one of claims 1 to 7, wherein A plurality of load sensors installed on the upright stand, wherein the measuring means obtains an action center point of a load applied to the upright stand based on a measurement value of the load sensor at predetermined time intervals.
The posture balance measuring apparatus according to any one of claims 1 to 8, wherein A calculating means for calculating a trajectory length of the central point of action within a certain time after the stand is moved by the balance swinging means, or an outer peripheral area;
The posture balance measuring apparatus according to claim 9. A stimulus application start means for allowing a person on the stand to operate the balance swinging means by himself;
The posture balance measuring apparatus according to any one of claims 1 to 10, wherein

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