JP6794500B2 - 駆動モジュール及び駆動モジュールを含む運動補助装置 - Google Patents
駆動モジュール及び駆動モジュールを含む運動補助装置 Download PDFInfo
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- JP6794500B2 JP6794500B2 JP2019110981A JP2019110981A JP6794500B2 JP 6794500 B2 JP6794500 B2 JP 6794500B2 JP 2019110981 A JP2019110981 A JP 2019110981A JP 2019110981 A JP2019110981 A JP 2019110981A JP 6794500 B2 JP6794500 B2 JP 6794500B2
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- 230000005540 biological transmission Effects 0.000 claims description 84
- 239000003638 chemical reducing agent Substances 0.000 claims description 81
- 230000033001 locomotion Effects 0.000 claims description 50
- 238000010586 diagram Methods 0.000 description 50
- 239000000969 carrier Substances 0.000 description 19
- 239000002131 composite material Substances 0.000 description 16
- 210000002683 foot Anatomy 0.000 description 16
- 230000002093 peripheral effect Effects 0.000 description 10
- 210000000689 upper leg Anatomy 0.000 description 10
- 230000004048 modification Effects 0.000 description 8
- 238000012986 modification Methods 0.000 description 8
- 244000309466 calf Species 0.000 description 6
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- 230000008859 change Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
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- 238000005452 bending Methods 0.000 description 4
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- 230000007480 spreading Effects 0.000 description 4
- 238000003892 spreading Methods 0.000 description 4
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- 210000004197 pelvis Anatomy 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
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- 229910000831 Steel Inorganic materials 0.000 description 1
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- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
-
- 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0244—Hip
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
- F16H3/62—Gearings having three or more central gears
- F16H3/66—Gearings having three or more central gears composed of a number of gear trains without drive passing from one train to another
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
- F16H3/62—Gearings having three or more central gears
- F16H3/66—Gearings having three or more central gears composed of a number of gear trains without drive passing from one train to another
- F16H3/666—Gearings having three or more central gears composed of a number of gear trains without drive passing from one train to another with compound planetary gear units, e.g. two intermeshing orbital gears
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/02—Gearings for conveying rotary motion by endless flexible members with belts; with V-belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2002/6836—Gears specially adapted therefor, e.g. reduction gears
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
-
- 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
- A61H2201/1238—Driving means with hydraulic or pneumatic 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1481—Special movement conversion means
- A61H2201/149—Special movement conversion means rotation-linear or vice versa
-
- 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
- A61H2201/1628—Pelvis
-
- 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
- A61H2201/164—Feet or leg, e.g. pedal
-
- 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
- A61H2201/165—Wearable interfaces
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Vascular Medicine (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Cardiology (AREA)
- Transplantation (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
- Retarders (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Description
他の例として、減速機940、960がハーモニックドライブ(登録商標)構造によって動力を伝達する場合、入力側回転体930、第1及び第2連結回転体942、962及び第1及び第2リング部材946、966は、それぞれ「ウェーブジェネレータ」、「フレクスプライン」、及び「サーキュラスプライン」であり得る。
20:固定部材
30:制御部
40、60:動力伝達部材
50、70:支持モジュール
920、120、220、320、420:駆動源
930:入力側回転体
940、140、240、340、440、:第1減速機
960、160、260、360、460:第2減速機
Claims (10)
- 対象体に固定される固定部材と、
前記固定部材の一側に設けられ、駆動源と、前記駆動源から動力が伝達されて動作する第1減速機及び第2減速機を含む駆動モジュールと、
前記対象体の第1部分及び第2部分の回転動作をそれぞれ補助するための第1ジョイント部材及び第2ジョイント部材と、
前記第1減速機の出力端及び第1ジョイント部材の回転方向が互いに反対になるように、前記第1減速機の出力端及び第1ジョイント部材を連結する第1動力伝達部材と、
前記第2減速機の出力端及び第2ジョイント部材の回転方向が互いに一致するように、前記第2減速機の出力端及び第2ジョイント部材を連結する第2動力伝達部材と、
を含む運動補助装置。 - 前記第1動力伝達部材及び前記第2動力伝達部材は、前記駆動モジュールに対して互いに非対称的に配置される、請求項1に記載の運動補助装置。
- 前記第1動力伝達部材は、前記駆動モジュール及び第1ジョイント部材の間で交差するように連結され、
前記第2動力伝達部材は、前記駆動モジュール及び第2ジョイント部材の間で交差しないように連結される、請求項1又は請求項2に記載の運動補助装置。 - 前記第1減速機は、第1遊星歯車、第1キャリア、第1リングギア、及び前記第1減速機の出力端に該当する第1プーリーを含み、
前記第2減速機は、第2遊星歯車、第2キャリア、第2リングギア、及び前記第2減速機の出力端に該当する第2プーリーを含む、請求項1乃至請求項3のいずれか一項に記載の運動補助装置。 - 前記第1遊星歯車及び前記第2遊星歯車の対並びに前記第1リングギア及び前記第2リングギアの対のうちの一方の対は互いに1つの剛体運動を行い、
前記第1遊星歯車及び前記第2遊星歯車の対並びに前記第1リングギア及び前記第2リングギアの対のうちの他方の対のそれぞれは、前記第1プーリー及び前記第2プーリーのそれぞれと1つの剛体運動を行う、請求項4に記載の運動補助装置。 - 前記駆動モジュールは、
対象体の一側に設けられ、動力を伝達する駆動源と、
前記駆動源に連結されて回転する入力側回転体と、をさらに含み、
前記第1減速機及び前記第2減速機は、前記入力側回転体から動力が伝達されて動作する、請求項1乃至請求項5のいずれか一項に記載の運動補助装置。 - 前記入力側回転体から前記第1減速機の出力端までの減速比と、前記入力側回転体から前記第2減速機の出力端までの減速比は互いに異なる、請求項6に記載の運動補助装置。
- 前記第1減速機は、第1遊星歯車、第1キャリア、第1リングギア、及び第1プーリーを含み、
前記第2減速機は、第2遊星歯車、第2キャリア、第2リングギア、及び第2プーリーを含む、請求項6又は請求項7に記載の運動補助装置。 - 前記第1遊星歯車及び前記第2遊星歯車に対応する前記第1リングギア及び前記第2リングギアの対のうち一方の対は、互いに1つの剛体運動を行い、
前記第1遊星歯車及び前記第2遊星歯車に対応する前記第1リングギア及び前記第2リングギアの対のうち他方の対のそれぞれは、前記第1プーリー及び第2プーリーのそれぞれと1つの剛体運動を行う、請求項8に記載の運動補助装置。 - 前記運動補助装置は、
前記対象体の一部分を支持するための第1支持モジュールと、
前記対象体の他の部分を支持するための第2支持モジュールと、をさらに含み、
前記駆動モジュールは、前記固定部材を基準として前記第1支持モジュール及び前記第2支持モジュールの反対側に配置される、請求項1乃至請求項9のいずれか一項に記載の運動補助装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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KR1020140101743A KR102167184B1 (ko) | 2014-08-07 | 2014-08-07 | 구동 모듈, 구동 모듈을 포함하는 운동 보조 장치 및 운동 보조 장치의 제어 방법 |
KR10-2014-0101743 | 2014-08-07 |
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JP2015056768A Division JP6543058B2 (ja) | 2014-08-07 | 2015-03-19 | 駆動モジュール及び駆動モジュールを含む運動補助装置 |
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JP2019193811A JP2019193811A (ja) | 2019-11-07 |
JP6794500B2 true JP6794500B2 (ja) | 2020-12-02 |
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JP2019110981A Active JP6794500B2 (ja) | 2014-08-07 | 2019-06-14 | 駆動モジュール及び駆動モジュールを含む運動補助装置 |
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US (1) | US10441441B2 (ja) |
EP (2) | EP2982482B1 (ja) |
JP (2) | JP6543058B2 (ja) |
KR (1) | KR102167184B1 (ja) |
CN (1) | CN105362041B (ja) |
Families Citing this family (51)
Publication number | Priority date | Publication date | Assignee | Title |
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US9808073B1 (en) | 2014-06-19 | 2017-11-07 | Lockheed Martin Corporation | Exoskeleton system providing for a load transfer when a user is standing and kneeling |
KR102167182B1 (ko) * | 2014-07-29 | 2020-10-16 | 삼성전자주식회사 | 구동 모듈 및 이를 포함하는 운동 보조 장치 |
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