JP5871001B2 - 運動装置、モータ制御装置およびモータ制御方法 - Google Patents
運動装置、モータ制御装置およびモータ制御方法 Download PDFInfo
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- JP5871001B2 JP5871001B2 JP2013526686A JP2013526686A JP5871001B2 JP 5871001 B2 JP5871001 B2 JP 5871001B2 JP 2013526686 A JP2013526686 A JP 2013526686A JP 2013526686 A JP2013526686 A JP 2013526686A JP 5871001 B2 JP5871001 B2 JP 5871001B2
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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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
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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
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
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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
- A63B21/40—Interfaces with the user related to strength training; Details thereof
- A63B21/4041—Interfaces with the user related to strength training; Details thereof characterised by the movements of the interface
- A63B21/4047—Pivoting movement
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- A—HUMAN NECESSITIES
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- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/03508—For a single arm or leg
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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
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1209—Involving a bending of elbow and shoulder joints simultaneously
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/1215—Rotary drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/123—Linear drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1664—Movement of interface, i.e. force application means linear
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1676—Pivoting
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5043—Displays
- A61H2201/5046—Touch screens
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0425—Sitting on the buttocks
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/0054—Features for injury prevention on an apparatus, e.g. shock absorbers
- A63B2071/0081—Stopping the operation of the apparatus
-
- 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
- A63B21/40—Interfaces with the user related to strength training; Details thereof
- A63B21/4027—Specific exercise interfaces
- A63B21/4033—Handles, pedals, bars or platforms
- A63B21/4035—Handles, pedals, bars or platforms for operation by hand
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2208/00—Characteristics or parameters related to the user or player
- A63B2208/02—Characteristics or parameters related to the user or player posture
- A63B2208/0228—Sitting on the buttocks
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/54—Torque
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/805—Optical or opto-electronic sensors
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Epidemiology (AREA)
- Electromagnetism (AREA)
- Physics & Mathematics (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Control Of Position Or Direction (AREA)
- Manipulator (AREA)
Description
まず、図1を参照して、本発明の第1実施形態による運動装置100の構成について説明する。
次に、図5を参照して、本発明の第2実施形態による運動装置200について説明する。この第2実施形態では、ユーザがアーム12(図1参照)を回動させることにより運動(トレーニング運動またはリハビリ運動)を行う上記第1実施形態と異なり、ユーザがアーム42を上下方向に移動させることにより運動を行う例について説明する。
次に、図6を参照して、本発明の第3実施形態による運動装置300について説明する。この第3実施形態では、アーム12(図1参照)を移動させるために回転モータ13(図1参照)を用いる上記第1実施形態と異なり、アーム52を移動させるためにリニアモータ53を用いる例について説明する。
Claims (8)
- ユーザの運動によって外力が加えられることにより移動可能に構成された可動部と、
前記ユーザの外力による移動とは別に前記可動部を移動させるための駆動力を前記可動部に付与する駆動部と、
前記可動部の現在の位置に対応する前記駆動部の現在の駆動位置を検出する位置検出部と、
前記駆動部の駆動を制御する制御部と、
を備え、
前記制御部は、前記位置検出部により検出された前記駆動部の現在の駆動位置に基づいて、前記可動部を現在の位置に留まらせるような第1制御方法により前記駆動部を駆動するとともに、
前記制御部は、
前記第1制御方法に加えて、
前記ユーザの加えた外力の方向の補助力を前記可動部を介して前記ユーザに付与する第2制御方法により、前記駆動部を駆動することが可能である、運動装置。 - 前記制御部は、非常状態が発生した場合に、前記駆動部の目標駆動位置を固定する、請求項1に記載の運動装置。
- 前記非常状態が発生した場合は、前記ユーザにより非常停止操作が行われた場合を含む、請求項2に記載の運動装置。
- 前記可動部に加えられる外乱の推定を行う外乱オブザーバをさらに備え、
前記非常状態が発生した場合は、前記外乱オブザーバによる推定結果が異常となった場合を含む、請求項2に記載の運動装置。 - 前記非常状態が発生した場合は、前記駆動部の現在の駆動位置と目標駆動位置との差が所定のしきい値以上となった場合を含む、請求項2に記載の運動装置。
- 前記制御部は、前記駆動部の目標駆動位置が固定され、かつ、前記ユーザによりリセット操作が行われた場合に、前記可動部を所定の速度以下で初期位置に戻すように前記駆動部を駆動する、請求項2〜5のいずれか1項に記載の運動装置。
- 前記制御部は、
前記第1制御方法により前記駆動部を駆動する場合には、前記ユーザの外力を負帰還させることにより補償された駆動力で前記駆動部を駆動する一方、
前記第2制御方法により前記駆動部を駆動する場合には、前記ユーザの外力を正帰還させることにより補償された駆動力で前記駆動部を駆動する、請求項1に記載の運動装置。 - 前記可動部に加えられる外乱の推定を行う外乱オブザーバをさらに備え、
前記制御部は、
前記第1制御方法により前記駆動部を駆動する際に、前記可動部を現在位置に留まらせるように、前記位置検出部により検出された前記駆動部の現在の駆動位置を目標駆動位置として前記駆動部を駆動するとともに、前記ユーザの外力に応じた大きさの負荷を、前記ユーザの外力の方向とは反対方向に、前記可動部を介して前記ユーザに付与し、
前記ユーザの外力により前記可動部が移動される際に、前記外乱オブザーバによる推定結果から、前記ユーザの外力が加えられていない状態において前記可動部に加えられている外乱を減算することにより、前記ユーザの外力を算出する、請求項1に記載の運動装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2011/067738 WO2013018205A1 (ja) | 2011-08-03 | 2011-08-03 | 運動装置、モータ制御装置およびモータ制御方法 |
Publications (2)
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JPWO2013018205A1 JPWO2013018205A1 (ja) | 2015-03-02 |
JP5871001B2 true JP5871001B2 (ja) | 2016-03-01 |
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JP2013526686A Expired - Fee Related JP5871001B2 (ja) | 2011-08-03 | 2011-08-03 | 運動装置、モータ制御装置およびモータ制御方法 |
Country Status (3)
Country | Link |
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JP (1) | JP5871001B2 (ja) |
CN (1) | CN103733155B (ja) |
WO (1) | WO2013018205A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2018183046A (ja) * | 2017-04-13 | 2018-11-15 | 株式会社ジェイテクト | モータ制御装置 |
Families Citing this family (5)
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JP6184353B2 (ja) * | 2014-03-17 | 2017-08-23 | 三菱電機エンジニアリング株式会社 | 運動療法装置の制御装置および制御方法 |
JP6591818B2 (ja) | 2015-07-30 | 2019-10-16 | ファナック株式会社 | 産業用ロボットシステムおよびその制御方法 |
JP6761499B2 (ja) * | 2019-02-28 | 2020-09-23 | 上銀科技股▲分▼有限公司 | 上肢訓練システム及び制御方法 |
US11123608B2 (en) | 2019-03-05 | 2021-09-21 | Hiwin Technologies Corp. | Upper limb training system and control method thereof |
CN110787026B (zh) * | 2019-11-11 | 2022-04-12 | 上海电气集团股份有限公司 | 一种基于多传感器信息的运动异常保护方法及康复设备 |
Family Cites Families (12)
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JPS5851748U (ja) * | 1981-10-07 | 1983-04-08 | セノ−株式会社 | 筋力トレ−ニング装置 |
DE3732883A1 (de) * | 1987-09-30 | 1989-04-20 | Kurt Berroth | Apparat zum positiven muskeltraining |
JP2002272795A (ja) * | 2001-03-14 | 2002-09-24 | Japan Science & Technology Corp | 上肢の運動機能回復訓練サポートシステム |
JP2005348779A (ja) * | 2004-06-08 | 2005-12-22 | Asahi Kasei Engineering Kk | 運動機能回復訓練システム |
JP4183696B2 (ja) * | 2005-06-07 | 2008-11-19 | 丸善工業株式会社 | パワーアシストつき体幹筋力トレーニングマシン |
CN101007205A (zh) * | 2006-01-27 | 2007-08-01 | 明根股份有限公司 | 应用于健身器材的可程序控制阻力装置及方法 |
JP2007307180A (ja) * | 2006-05-19 | 2007-11-29 | Matsushita Electric Ind Co Ltd | リハビリテーション装置 |
CN101347664A (zh) * | 2007-07-20 | 2009-01-21 | 王国梁 | 提供运动阻力及自动回卷效能的改进的马达控制装置 |
JP5308685B2 (ja) * | 2008-02-01 | 2013-10-09 | パナソニックヘルスケア株式会社 | 受動型運動機器 |
JP2009225845A (ja) * | 2008-03-19 | 2009-10-08 | Hitachi Ltd | トレーニングシステム、トレーニングマシンの制御方法およびトレーニングマシンの制御装置 |
JP5028348B2 (ja) * | 2008-07-07 | 2012-09-19 | パナソニック株式会社 | 揺動型運動装置 |
CN101810925B (zh) * | 2009-02-19 | 2013-08-07 | 杨华平 | 智能电磁式健身器械阻尼器 |
-
2011
- 2011-08-03 WO PCT/JP2011/067738 patent/WO2013018205A1/ja active Application Filing
- 2011-08-03 CN CN201180072744.9A patent/CN103733155B/zh not_active Expired - Fee Related
- 2011-08-03 JP JP2013526686A patent/JP5871001B2/ja not_active Expired - Fee Related
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2018183046A (ja) * | 2017-04-13 | 2018-11-15 | 株式会社ジェイテクト | モータ制御装置 |
JP7194326B2 (ja) | 2017-04-13 | 2022-12-22 | 株式会社ジェイテクト | モータ制御装置 |
Also Published As
Publication number | Publication date |
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WO2013018205A1 (ja) | 2013-02-07 |
CN103733155B (zh) | 2016-02-17 |
JPWO2013018205A1 (ja) | 2015-03-02 |
CN103733155A (zh) | 2014-04-16 |
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