JP5200336B2 - Joint assist device - Google Patents

Description

  The present application relates to a technical field of a joint assist device that electrically assists movement of a joint portion of a human body.

  In recent years, a walking assist device has been designed to help prevent muscle weakness by assisting elderly people and victims with weak muscle strength by walking, raising and lowering stairs, standing up from a sitting position, and sitting up from a standing position. Exists (see, for example, Patent Document 1).

  The walking assist device of Patent Document 1 includes a first link fixed to a side surface of an abdominal band wound around the user's abdomen and a second link fixed to a side surface of a leg pad wound around the user's thigh. Are connected by an electric actuator, and the second link is swung back and forth with respect to the first link by the electric actuator, thereby assisting the movement of the user's thigh. Note that a storage battery for supplying electricity to an electrical component such as an electrical actuator in the walking assist device is carried on the back.

  In addition, since the walking assist device uses an electrical component such as an electric actuator, it is necessary to supply electricity to the electrical component, and wiring for that is always necessary. Usually, this type of device is connected by a connector having contacts exposed to the outside.

JP 2002-301124 A

  However, when it is connected via an electrical contact such as a connector, it is not easy for the user to connect, and the electrical contact degree is reduced by repeatedly attaching and detaching (resistance value at the contact). As a result, there is a problem in that electricity supply may become inefficient or contact failure may occur.

  Further, in the case of electrical contacts, the metal part is exposed to the outside air, which causes problems such as corrosion or rust.

  In addition, since it is worn on the human body, if it is used for a long time (time), the footrest may become dirty due to dust, sweat, etc., and it may be desired to wash it. In addition, when the connector is used, there is a problem that it cannot be washed as it is.

  In addition, a user is required to use an inexpensive device that can be used easily.

  Therefore, in order to solve an example of such a problem, an object of the present application is to provide a joint assist device that is less likely to cause an electrical failure.

In order to solve the above-described problem, the joint assisting device (S) according to claim 1 is provided with a link mechanism portion (20) in a joint portion (5) of a user's knee, and the link is made by the drive portion (40). In the joint assist device that drives the mechanism unit to assist the operation of the joint unit, a plurality of operations are provided on the soles of the users, and the operation state of the user is detected as an operation signal by weight movement of the user Detection means (30), drive signal generation means (60) for generating a drive signal for driving and controlling the drive unit based on the operation signal, and communication means for communicating the operation signal and the drive signal in a non-contact manner (54, 59) and power supply / communication means (50) including power supply means (52, 52a, 57, 57a) for supplying power in a non-contact manner to the drive unit, and by the user It is operated from the outside, A rotation control means (72) for controlling the rotation speed of the drive unit, and a rotation speed controlled by the user when the rotation speed of the drive unit is controlled by the user. A rotation speed resetting means (60) for resetting the power supply, wherein the power supply / communication means is arranged to overlap the power supply / communication unit and the power supply / communication unit, and is detachably attached A communication unit, each of the power supply / communication unit and the power reception / communication unit is sealed with a resin, and a cover sheet is provided on the upper part thereof to be waterproofed. .

  With this configuration, the joint assist device can perform power supply to the drive unit or transmission / reception of predetermined information without contact.

  With this configuration, the joint assist device can be easily washed with water.

The joint assist device according to claim 2 is a power control that controls the joint assist device according to claim 1 to a minimum power necessary for starting the joint assist device when the drive unit is not driven. it characterized by comprising a means.

  With this configuration, the power is controlled to the minimum power when the drive unit is not driven. Therefore, heat generated by supplying power can be minimized. That is, the heat transferred to the user can be minimized.

Further, the joint assist device according to claim 3 is the joint assist device according to claim 1 or 2 , further comprising a heat dissipating means for dissipating heat generated by supplying the electric power to the outside. Features.

  With this configuration, heat generated by supplying electric power can be radiated to the outside. Moreover, the heat transmitted to the user can be radiated to the outside.

  The best mode for carrying out the present application will be described below with reference to the drawings. FIG. 1 is a configuration diagram of a joint assist device, FIG. 2 is a state diagram when the joint assist device is mounted on a user's knee, and FIG. 3 is a diagram illustrating an example of mounting a power feeding core / coil or a power receiving core / coil. 4 is a cross-sectional view showing a state in which the power feeding core / coil, the power receiving core / coil, and the communication terminal are arranged so as to overlap each other, FIG. 5 shows the structure of the power feeding unit or the power receiving unit, and FIG. FIG. 5B is a sectional view, and FIG. 6 is a flowchart showing an operation example of the joint assisting device. In addition, embodiment described below is embodiment at the time of applying this application as the joint assistance apparatus S which assists the motion of the joint in the knee part of a human body.

  As shown in FIGS. 1 and 2, the joint assist device S of the present embodiment includes a link mechanism unit 20 attached to a joint part of the user's knee 5 and an operation detection unit that detects the operation of the user's foot. 30, a drive unit 40 that drives the link mechanism unit 20 according to the motion of the user's foot, and a power supply unit 45 such as a storage battery, and a power supply / The communication unit 50, the switch unit 70 operated by the user, and each unit that needs to be electrically controlled (for example, the operation detection unit 30, the drive unit 40, the power supply / communication unit 50, and the switch unit 70) are integrated. And a control unit 60 to be controlled.

  As shown in FIG. 2, the link mechanism unit 20 is fixed to the first link 21 attached to the side surface of the upper leg rest 11 wound around the user's thigh 2, and the user's lower leg 3. A second link 22 fixedly attached to the side surface of the lower leg rest 12 to be wound, and a third link that obtains power from the drive unit 40 and swings the second link 22 in the front-rear direction with respect to the first link 21. And a link 23.

  The first link 21 is attached to extend from the user's waist side to the knee 5 side, and the second link 22 is attached to extend from the user's knee 5 side to the tip (ground) side of the foot. The first link 21 and the second link 22 are connected so as to be rotatable in the vicinity of the knee portion 5 of the user. The end of the third link 23 is connected to the vicinity of the center of the second link 22.

  Although the upper leg rest 11 and the lower leg rest 12 are not shown, each of them includes a pair of leg rest members. The leg rest members of the user's thigh 2 and lower leg 3 are included. It arrange | positions so that the circumference | surroundings may be covered, for example, it attaches so that attachment or detachment is possible with Velcro (trademark) 13.

  Moreover, the said leg contact member is formed by shape | molding PP resin etc., for example, The elastic sponge member etc. are attached to the part which contact | connects a user's thigh.

  The drive unit 40 includes a DC motor 41 having a rotation mechanism, and a drive control unit 42 that drives and controls the DC motor 41 at a predetermined rotation direction and speed.

  Although not shown, the DC motor 41 is connected to the third link 23 via a gear box whose rotation shaft includes a predetermined gear group. Then, the rotational driving force obtained by rotating the rotating shaft of the DC motor 41 is converted into linear motion via the gear group and transmitted to the third link 23, and the driving force is transmitted to the second link 22. It has become so. And the 2nd link 22 is rock | fluctuated to the front-back direction with respect to the 1st link 21 with the rotation direction of the DC motor 41, and assists the motion of the joint in a user's knee part 5. FIG.

  The motion detection unit 30 includes, for example, a plurality of pressure sensors 30a, and the pressure sensors 30a are respectively disposed on the toe and heel portions of the shoe sole worn by the user. Then, the motion detection unit 30 detects a load generated on the shoe sole due to the weight shift of the user as the motion signal Sf indicating the motion state of the user. The detected operation signal Sf is transmitted to the control unit 60 via the power supply / information communication unit 50. In addition, the operation | movement detection part 30 of this embodiment functions as an operation | movement detection means of this application.

  The power supply / communication unit 50 includes a power supply / communication unit 51 and a power reception / communication unit 56, and supplies power from the power supply / communication unit 51 to the power reception / communication unit 56 in a contactless manner. Is possible. Further, the power supply / communication unit 50 can transmit and receive predetermined information between the power supply / communication unit 51 and the power reception / communication unit 56 in a contactless manner. The predetermined information is, for example, the operation signal Sf detected by the operation detection unit 30 or the drive signal Sh generated by the control unit 60. Further, the power supply / communication unit 50 of the present embodiment functions as the power supply / communication means of the present application.

  The power supply / communication unit 51 includes a power supply coil 52 including a power supply core 52a, a power supply / communication unit 53 including a communication circuit and a power supply circuit, and a communication terminal 54 that transmits and receives information. The power supply / communication unit 53 transmits the power supply signal Sc to the power supply coil 52 based on the power supply signal Sa transmitted from the power supply unit 45 and the power control signal Sb transmitted from the control unit 60, and from the communication terminal 54. The operation signal Sf to be transmitted is received and transmitted to the control unit 60, and the drive signal Sh transmitted from the control unit 60 is received and transmitted to the communication terminal 54.

  On the other hand, the power reception / communication unit 56 includes a power reception coil 57 including a power reception core 57a, a power reception / communication unit 58 including a communication circuit and a power reception circuit, and a communication terminal 59 that transmits and receives information. The power reception / communication unit 58 supplies the power received by the power reception coil 57 to the DC motor 41 via the drive control unit 42 and receives the operation signal Sf detected by the operation detection unit 30 to receive the communication terminal 59. In addition, the drive signal Sh transmitted from the communication terminal 59 is received and transmitted to the drive control unit 42.

  The control unit 60 mainly includes a CPU (Central Processing Unit) having a calculation function, a working RAM, and a ROM that stores various data and programs. The CPU executes various programs stored in the ROM, for example, thereby controlling each unit and overall controlling the joint assisting device S as a whole. Note that the control unit 60 of the present embodiment functions as a drive signal generation unit, a power control unit, a determination unit, and a rotation speed resetting unit of the present application.

  Specifically, the control unit 60 generates a drive signal Sh for driving and controlling the DC motor 41 based on the operation signal Sf detected by the operation detection unit 30. Specifically, for example, the control unit 60 specifies the degree of load applied to the sole due to the movement of the user's weight based on the operation signal Sf detected by the pressure sensor 30a, and the sole of the identified user's foot The movement direction of the user is estimated on the basis of the load applied to the motor and the movement of the joint is estimated, and a drive signal Sh for driving and controlling the DC motor 41 such as the rotation direction and the rotation speed of the DC motor 41 is generated. Then, the drive signal Sh is transmitted to the power feeding / communication unit 53.

  In addition, the control unit 60 is the minimum necessary for the power supplied to the power reception / communication unit 53 controlled by the power supply / communication unit 53 to control each unit in a state where the operation signal is not detected by the operation detection unit 30. A power control signal Sb that is controlled to be electric power is transmitted to the power feeding / communication unit 53. Further, the control unit 50 generates power necessary for driving the DC motor 41 when transmitting the drive signal Sh generated based on the operation signal Sf detected by the operation detection unit 30 to the power supply / communication unit 53. The power control signal Sb to be raised is transmitted to the power feeding / communication unit 53. By controlling the power supplied to the power receiving unit 53 in accordance with the operating state of the user's foot in this way, it is possible to minimize the electrical loss and minimize the heat generated by supplying the electricity. Can be limited.

  In the present embodiment, the minimum power refers to the minimum power required to electrically drive the joint assisting device S.

  The switch unit 70 includes a start switch 71 for starting the joint assisting device S and a rotation control switch 72 for controlling the rotation speed of the DC motor 41, both of which are the control unit 60 and the control unit 60. Electrically connected. The joint assisting device S is activated by transmitting an activation signal Si to the control unit 60 when the start switch 71 is pressed. Note that the rotation control switch 72 of the present embodiment functions as the rotation control means of the present application.

  For example, the memory of the control unit 60 stores rotation signal information for rotation control for controlling the rotation speed of the DC motor 41 as a default value in advance, and the DC motor 41 is driven with the default value. However, the user can change the rotation speed of the DC motor 41 using the rotation control switch 72. Further, when the user changes the rotation speed of the DC motor 41 using the rotation control switch 72, the default value is rewritten to the rotation speed changed by the user.

  Next, the structure of the power feeding / communication unit and the power receiving / communication unit will be described.

  As shown in FIG. 3, annular grooves 52b and 57b are formed in the power feeding core 52a and the power receiving core 57a, respectively. In each of the grooves 52b and 57b, an annular power feeding coil 52 and a power receiving coil 52b and 57b are received. A coil 57 is mounted and attached.

  As shown in FIG. 4, in this embodiment, the power feeding core 52a has a substantially U-shaped cross section, the power receiving core 57a has a substantially rectangular parallelepiped shape, and the power feeding core 52a is a power receiving core. It is attached so as to be detachable so as to cover from the upper part of 57a.

  In this configuration, at the time of power feeding, as shown in FIG. 4, the power feeding coil 52 is superimposed on the power receiving coil 57, and the power receiving coil 57 and the power feeding coil 52 are disposed in close proximity and in parallel to each other. An electromagnetic induction circuit is configured between the power feeding coil 52 and the power receiving coil 57. When a power supply signal is supplied to the power supply coil 52 in this state, an induced electromotive force corresponding to the magnitude is generated in the power reception coil 57, so that the power reception coil 57 transmits power to the power reception / communication unit 53. A power reception signal is output.

  On the other hand, in a state where the power feeding coil 52 and the power receiving coil 57 are close to each other and face each other in parallel, both the communication terminals 54 and 59 are also close to each other and face each other in parallel. The communication terminals 54 and 59 provided in the power receiving / communication unit 56 and the power feeding / communication unit 51 are configured using, for example, IR-phototransistors and IR-LEDs, and transmit / receive data to / from each other. It is possible. In this embodiment, infrared is used as a communication method, but it may be wireless.

  When the joint assisting device S is used, the power feeding coil 52, the power receiving coil 57, and the communication terminals 54 and 59 are arranged to face each other in parallel and to be close to a distance of about 2 millimeters, for example. Is preferred.

  Further, as shown in FIG. 5, the communication terminal 54 and the power supply coil 52 are electrically connected to the power supply circuit and communication circuit functioning as the power supply / communication unit 53 on the glass epoxy substrate via, for example, the electric wire 80. It is configured. On the other hand, the communication terminal 59 and the power receiving coil 57 are also configured to be electrically connected to a glass epoxy substrate via a power receiving circuit and a communication circuit functioning as the power receiving unit 58, for example, via an electric wire 80 or the like. Further, the power feeding / communication unit 51 and the power receiving / communication unit 56 are each molded with a resin 82 or the like, and are integrally formed by arranging a cover sheet on the upper portion, so that contacts and the like are not exposed. ing.

  In addition, the drive part 40 is also built in a casing etc. and is kept airtight, and the waterproof measure is taken. In addition, it is preferable that a part to be attached to the leg rest is provided with a countermeasure against water in consideration of washing by the user.

  The joint assisting device S including the power receiving / communication unit 56 and the power feeding / communication unit 51 thus configured eliminates the need to use contacts exposed to the outside, such as connectors, and is easily detachable and waterproof. For example, even if the leg rest is washed as it is, corrosion and rust, etc. occur at the contact as in the conventional case, power supply can be reduced, and leakage can be prevented. Does not occur.

  In addition, the power supply / communication unit 50 including the power supply / communication unit 51 and the power reception / communication unit 56, the drive unit 40, the control unit 60, and the like, which generate heat by supplying power, for example, aluminum It is good to fix and attach to the upper leg rest 11 through the flame | frame comprised with materials, such as. The fixing method may be any method, but for example, fixing with Velcro (registered trademark) or the like. Note that the frame of the present embodiment functions as a heat dissipation means of the present application.

  In this way, heat generated from the power supply / communication unit 51, the power reception / communication unit 56, the drive unit 40, the control unit 60, etc. can be dissipated to the outside through the frame, and transmitted to the thigh. It is possible to easily suppress the generated heat.

  Next, an operation example of the joint assist device will be described with reference to FIG.

  First, when the user activates the joint assisting device S using the start switch 71, the power supply signal Sa based on the current value supplied from the power supply unit 45 is requested by the power supply / communication unit 53 to the power supply unit 45. Direct current is transmitted to the power supply / communication unit 53 and supplied from the power supply unit 45 to the power supply / communication unit 53 according to a predetermined specified value.

  Thus, the power supply / communication unit 53 converts the power supply signal Sa into a pulsed power supply signal Sc having a preset frequency based on the power control signal Sb from the control unit 60, and the power supply signal Sc 52. Note that the preset frequency can be changed by using the feeding coil 52 and the receiving coil 57.

  When the power supply signal Sc is supplied to the power supply coil 52, an electromagnetic induction circuit is formed between the power supply coil 52 and the power reception coil 57, and an induced electromotive force corresponding to the size is generated in the power reception coil 57. A power reception signal Sd is output from the power reception coil 57 to the power reception / communication unit 53. The power reception signal Sd is output from the power reception / communication unit 53 to the DC motor 41 via the drive control unit 42.

  On the other hand, the operation signal Sf detected by the pressure sensor 30a is input to the communication terminal 59 on the power reception / communication unit 56 side as the user operation signal Sf. For example, communication on the power supply / communication unit 51 side is performed via infrared rays. It is transmitted to the terminal 54. The communication terminal 54 on the power supply / communication unit 51 side receives the operation signal Sf transmitted via infrared from the communication terminal 59 on the power reception / communication unit 56 side, and transmits it to the control unit 60 via the power supply / communication unit 53. To do.

  The control unit 60 generates a drive signal Sh for driving and controlling the DC motor 41 based on the operation signal Sf, and transmits the drive signal Sh to the power supply / communication unit 51 side communication terminal via the power supply / communication unit 53. 54. The communication terminal 54 on the power supply / communication unit 51 side transmits the infrared signal to the communication terminal 59 on the power reception / communication unit 56 side, and the communication terminal 59 on the power reception / communication unit 56 side receives the drive signal Sh. It transmits to the part 58.

  The power reception / communication unit 58 transmits the drive signal Sh to the drive control unit 42, and the drive control unit 42 controls the driving of the DC motor 41 based on the drive signal Sh.

  When the DC motor 41 is driven, the driving force is transmitted to the third link 23 of the link mechanism portion 20 through the gear group, and the second link 22 swings with respect to the first link 21 by the third link 23. Assisting the movement of the user's joints.

  Next, the operation executed in the joint assisting device will be described with reference to the flowchart shown in FIG. The joint assisting device S described below will be described with respect to control in which the pressure sensor 30a is provided on the toes and heels of the user, and the DC motor 41 is driven by detecting the movement directions of the user's right foot and left foot. Note that the direction of rotation is reversed when the legs are extended and contracted. Here, it is assumed that the DC motor 41 is rotated forward in the case of an operation of extending a leg, while the DC motor 41 is rotated in the reverse direction of an operation of contracting the leg.

  First, in step S101, the control unit 60 determines whether the user has pressed the start switch 71 and turned on the power. If this determination is affirmed, the process proceeds to the next step, and if not, the process waits until the power is turned on by the user.

  Next, in step S <b> 102, the control unit 60 transmits a power control signal Sb for controlling each unit with the minimum power to the power supply / communication unit 53.

  The power supply / communication unit 53 receives the power control signal Sb, supplies a predetermined current to the power supply coil 52 based on the power control signal Sb, and starts power supply with the minimum power.

  Next, in step S <b> 103, the control unit 60 determines whether the user's motion is detected by the pressure sensor 30 a of the motion detection unit 30. If this determination is affirmed, the process proceeds to the next step. If the determination is negative, the process waits until an operation is detected by the pressure sensor 30a. Specifically, the determination is made based on whether or not the control unit 60 has received the operation signal Sf.

  Next, in step S104, the control unit 60 determines the direction of movement of the user's right foot and left foot (whether or not a stretching operation is being performed) based on the motion signal Sf. If this determination is affirmed, the process proceeds to step S105. If the determination is negative, it is determined that the foot is contracted, and the process proceeds to step S106.

  Next, in step S <b> 105, the control unit 60 generates a drive signal Sh for forward rotation control of the DC motor 41 based on the user's operation state, and transmits the drive signal Sh to the communication terminal 54 via the power supply / communication unit 53. .

  On the other hand, in step S <b> 106, the control unit 60 generates a drive signal Sh for performing reverse rotation control of the DC motor 41 based on the operation state of the user, and transmits the drive signal Sh to the communication terminal 54 via the power supply / communication unit 53.

  The drive signal Sh transmitted to the communication terminal 54 in this way is transmitted to the drive control unit 42 via the communication terminal 59 and the power reception / communication unit 58 on the power reception / communication unit 56 side, and the drive control unit 42 Based on the drive signal Sh, the DC motor 41 is controlled to rotate forward (step) or reversely at a predetermined rotational speed defined by a preset default value.

  In addition, the control unit 60 transmits a power control signal Sb for controlling the power supplied to the power supply coil 52 to the power supply / communication unit 53.

  Based on the power control signal Sb transmitted in this way, the power supply / communication unit 53 controls the power supplied to the power supply coil 52 (specifically, increases the power to drive the DC motor 41). It has become.

  Next, in step S <b> 107, the control unit 60 determines whether the rotation speed of the DC motor 41 has been changed by the user using the rotation control switch 72. If this determination is affirmed, the process proceeds to step S108. If the determination is negative, the process proceeds to step S109.

  Next, in step S108, the control unit 60 sets the changed rotation speed of the DC motor 41 as a default value.

  Next, in step S109, the control unit 60 determines again whether the user's operation is detected by the pressure sensor 30a. If this determination is affirmed, the process waits until the process in step S109 is denied. If the determination is denied, the process proceeds to step S110.

  Next, in step S <b> 110, the control unit 60 generates a drive signal Sh for stopping the DC motor 41 and transmits the drive signal Sh to the communication terminal 54 via the power supply / communication unit 53.

  The drive signal Sh transmitted to the communication terminal 54 in this way is transmitted to the drive control unit 42 via the communication terminal 59 and the power reception / communication unit 58 on the power reception / communication unit 56 side, and the drive control unit 42 The DC motor 41 is controlled to stop based on the drive signal Sh.

  In addition, the control unit 60 transmits a power control signal Sb for controlling each unit with the minimum power to the power supply / communication unit 53.

  Based on the power control signal Sb transmitted in this manner, the power supply / communication unit 53 supplies a predetermined current to the power supply coil 52 to start power supply.

  Next, in step S111, the control unit 60 determines whether the user has pressed the start switch and turned off the power. If this determination is affirmed, the process ends. If the determination is negative, the process returns to step S103 to continue the process.

  In addition, this embodiment is one form and is not limited to this form. For example, based on the detection state of the motion detection unit 30, it is determined that the user is not operating, and the power flowing through each part of the joint assist device is controlled to the minimum power. On the basis of whether or not a load is applied (the load state of the DC motor), it is determined that the user is not operating, and the power flowing through each part of the joint assist device is controlled to the minimum power. I do not care.

It is a block diagram of a joint assistance apparatus. It is a state figure at the time of mounting | wearing a joint assistance apparatus to a user's knee part. It is a figure which shows the example of mounting of a feeding core / coil or a receiving core / coil. It is sectional drawing which shows a state when a feeding core / coil, a receiving core / coil, and a communication terminal are arranged in piles. FIG. 5A is a plan view and FIG. 5B is a cross-sectional view illustrating a structure of a power feeding unit or a power receiving unit. It is a flowchart figure which shows the operation example of a joint assistance apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS S Joint assistance apparatus 5 Knee part 20 Link mechanism part 30 Operation | movement detection part 40 Drive part 50 Power supply / communication part 60 Control part 54, 59 Communication terminal 52 Feed coil 52a Feed core 57 Receive coil 57a Receive core

Claims (3)

In a joint assisting device that provides a link mechanism part in a joint part of a user's knee and assists the operation of the joint part by driving the link mechanism part by a drive part.
A plurality of pressure sensors provided on the soles of the users, and motion detection means for detecting the motion status of the users as motion signals by shifting the weight of the users;
Drive signal generation means for generating a drive signal for driving and controlling the drive unit based on the operation signal;
Power supply / communication means including communication means for communicating the operation signal and the drive signal in a contactless manner, and a power supply means for supplying power to the drive section in a contactless manner;
A rotation control means that is operated from the outside by the user and controls a rotation speed of the driving unit;
A rotational speed resetting means for resetting a preset rotational speed to a rotational speed controlled by the user when the rotational speed of the drive unit is controlled by the user;
Equipped with,
The power supply / communication means includes:
Power supply / communication unit,
A power receiving / communication unit that is arranged so as to overlap with the power feeding / communication unit and is detachably attached;
Each of the power feeding / communication unit and the power receiving / communication unit is sealed with a resin, and a cover sheet is provided on an upper portion thereof to be waterproofed . The joint assist device according to claim 1 , further comprising a power control unit configured to control the minimum power necessary for starting the joint assist device when the drive unit is not driven. The joint assisting device according to claim 1 , further comprising a heat radiating unit that radiates heat generated by supplying the electric power to the outside.

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