US20170368300A1 - Mechanical device for soothing agitated patients - Google Patents
Mechanical device for soothing agitated patients Download PDFInfo
- Publication number
- US20170368300A1 US20170368300A1 US15/702,851 US201715702851A US2017368300A1 US 20170368300 A1 US20170368300 A1 US 20170368300A1 US 201715702851 A US201715702851 A US 201715702851A US 2017368300 A1 US2017368300 A1 US 2017368300A1
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- US
- United States
- Prior art keywords
- hand
- motor
- subassembly
- armature
- operationally connected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
- A61M21/02—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis for inducing sleep or relaxation, e.g. by direct nerve stimulation, hypnosis, analgesia
-
- 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
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/002—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for by rubbing or brushing
- A61H7/004—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for by rubbing or brushing power-driven, e.g. electrical
-
- 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
- A61H2201/0142—Beds
-
- 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
-
- 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
- A61H2201/50—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
- A61H2201/5048—Audio interfaces, e.g. voice or music 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
- A61H2201/5058—Sensors or detectors
-
- 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
- A61H2201/5097—Control means thereof wireless
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
- A61M2021/0005—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus
- A61M2021/0022—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus by the tactile sense, e.g. vibrations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
- A61M2021/0005—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus
- A61M2021/0027—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus by the hearing sense
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Anesthesiology (AREA)
- Veterinary Medicine (AREA)
- Pain & Pain Management (AREA)
- Public Health (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Rehabilitation Therapy (AREA)
- Physical Education & Sports Medicine (AREA)
- Epidemiology (AREA)
- Dermatology (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Psychology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Hematology (AREA)
- Rehabilitation Tools (AREA)
Abstract
A system for soothing an agitated patient, including a motor, a linkage operationally connected to the motor, an armature operationally connected to the linkage, and a lifelike hand connected to the armature. Energization of the motor enables the lifelike hand to move in a generally circular, rubbing motion.
Description
- This patent application is a divisional of, and claims priority to, co-pending U.S. patent application Ser. No. 14/960,972, filed on Dec. 7, 2015, which claimed priority to then co-pending U.S. provisional patent application Ser. No. 62/124,023, filed on Dec. 8, 2014, now abandoned.
- The present novel technology relates generally to mechanical engineering and, more particularly, to biomechanical devices.
- Some residents in Alzheimer's disease and dementia-care facilities exhibit severe agitation and unprovoked loud, aggressive outbursts, often generalized and without any specific target. These behaviors prove to be highly disturbing to other residents, and can set off a ‘chain reaction’ of agitation. It has been observed that a human hand, gently placed on the agitated patient's back and rubbed in a circular motion, can often soothe the patient. The soothing effect is enhanced by softly spoken, reassuring language, and the calming effect can be almost immediate, thus ending the physical and vocal outbursts.
- The major drawback with this treatment strategy is that it is labor intensive; the caregiver is locked into providing the gentle, rubbing contact and thus cannot attend to any other patients while delivering the calming contact. Moreover, the outbursts often resume as soon as the rubbing contact is discontinued. Thus, there remains a need for an improved patient care strategy. The present novel technology addresses this need.
-
FIG. 1 is a perspective view of a first embodiment automatic mechanical soothing device of the present novel technology. -
FIG. 2 is a partial perspective view of the embodiment of claim 1 in use with a patient. -
FIG. 3 is a perspective front view of the motor and linkage of the embodiment ofFIG. 1 . -
FIG. 4 is a perspective rear view ofFIG. 3 . -
FIG. 5A is an isometric view of the shaft adjustment linkage ofFIG. 3 . -
FIG. 5B is a front elevational view ofFIG. 5A . -
FIG. 6A is an isometric view of the shaft to hand adaptor ofFIG. 3 . -
FIG. 6B is a front cutaway view ofFIG. 6A . -
FIG. 7A is an isometric view of the ball joint insert ofFIG. 3 . -
FIG. 7B is a front cutaway view ofFIG. 7A . - For the purposes of promoting an understanding of the principles of the invention and presenting its currently understood best mode of operation, reference will now be made to the embodiments illustrated in the drawings. It will nevertheless be understood that no limitations of the scope of the invention is intended by the specific language used to describe the invention, with such alterations and further modifications in the illustrated device and such further applications of the principles of the invention as illustrated therein being contemplated as would normally occur to one ordinarily skilled in the art
- As illustrated in
FIGS. 1-7B , the present novel technology relates to anautomated system 10 for providing tactile relief to a distressed patient, such as a child or a patient suffering from Alzheimer's disease or like dementia. Thesystem 10 includes asurrogate hand portion 15 and abase portion 20 operationally connected by anintermediate armature portion 25. - The
surrogate hand portion 15 includes a lifelike artificial ormannequin hand 30 with aball joint insert 35 disposed therein. Thehand 30 may be made of any convenient material, such as plastic, rubber, silicone, foamed polymer or the like, and is typically formed around theball joint insert 35. Theball joint insert 35 further includes asocket 40 with aball joint 45 disposed therein for providing limited or restriction freedom of motion of thehand member 30, so as to better simulate the range of motion of a human hand extending from a wrist. Theball joint 45 typically includes aconnector 50 for connecting to thearmature portion 25. Thehand 30 is typically made of a foamed polymer material that is more typically poured or otherwise molded around theball joint insert 35. Theinsert 35 also includes aflange portion 55 extending from thesocket 40 to provide greater surface area to anchor theinsert 35 inside thehand 30. - The
base portion 20 typically includes aplate member 60, upon one side of which amotor 65 and a controller 70 are typically mounted. Themotor 65 is typically a D.C. electric motor, and the controller 70 is typically operationally connected to themotor 65. The controller 70 is typically a microcomputer or electronic controller, but may also simply be a relay switch or the like actuatable to energize themotor 65. Typically, the electronic controller 70 is Wi-Fi enabled so as to be remotely actuated and/or controlled, such as by a remotely located computer, a smart phone app, or the like. - In some embodiments, a pulse width modulator (PWM) 75 is operationally connected to the
motor 65 to afford better control of the motor speed. Themotor 65 is connected through theplate member 60 to alinkage 80 pivotably connected to the other side. Thelinkage 80 is typically a 4-bar linkage, although other convenient linkages may be selected. Thelinkage 80 typically includes anelongated member 85 that connects to a shaft adjustlinkage member 90, such as by a quick-lock orlike connector 95. - The linkage adjust
member 90 accepts or otherwise connects to an elongated arm or shaft no, which is part of thearmature portion 25. The linkage adjustmember 90 typically includes a built-inthumb screw 100 for adjustably securing theadjust member 90 to thearm 110. The shaft may be straight, or, more typically, include a bend or kink. In some embodiments the arm is rigid, while in others thearm 110 is partially flexible to lend itself to positioning adjustments. Theshaft 110 terminates in anadaptor 115 rotatably connected to the shaft no and which includes aconnector 120 matable withconnector 50. - The
base portion 20 may include ahousing 130 for holding theplate member 60 and the gear mounted thereto. Thehousing 130 may also include enclosures orcubbies 133 for storing medicines, equipment, tools, or the like. Thehousing 130 may also include apower supply 135 connectable to themotor 65. The housing may also include anaudio playback unit 140 having a speaker 145 and amemory 150 for storing prerecorded soothing messages, and may also include a telephone jack or interface 155 for operationally connecting to a cell phone. Thehousing 130 may also include a clip orfastener 170 for securing thesystem 10 within reach of the patient. In some embodiments, thesystem 10 includes a motion sensor, audio sensor, or the like for automatically actuating themotor 65 to drive thehand 30 in response to growing agitation of the patient. - In operation, the
system 10 is secured within reach of a patient, such as clipped or fastened to the patient's chair. Thehand 30 is placed against the patient's back and themotor 65 is energized. Thehand 30 gently rubs or massages the patient's back in a generally circular pattern, typically in an irregular pattern as governed by the linkage assembly to more accurately simulate a person's natural rhythm. Likewise, the controller 70 may be programmed to alter or vary the speed and pattern of motion to follow a randomized or predetermined course while rubbing in a generally circular motion. - The
playback unit 140 may likewise be energized to play soothing commentary and/or music. - When the
system 10 is attached to a chair, bed, or the like, the controller 70 (either via remote or built-in options) drives thesynthetic hand 30 so that the patient feels he is being soothed by a person. - While the novel technology has been illustrated and described in detail in the drawings and foregoing description, the same is to be considered as illustrative and not restrictive in character. It is understood that the embodiments have been shown and described in the foregoing specification in satisfaction of the best mode and enablement requirements. It is understood that one of ordinary skill in the art could readily make a nigh-infinite number of insubstantial changes and modifications to the above-described embodiments and that it would be impractical to attempt to describe all such embodiment variations in the present specification. Accordingly, it is understood that all changes and modifications that come within the spirit of the novel technology are desired to be protected.
Claims (17)
1-6. (canceled)
7. An assembly for providing tactile relief to an agitated patient, comprising:
a base subassembly;
a hand subassembly; and
an armature subassembly connected to the base subassembly and the hand subassembly;
wherein the base subassembly may be energized to provide an urging force; and
wherein when the hand subassembly receives the urging force from the base subassembly through the armature subassembly, the hand subassembly moves in a predetermined circuit.
8. The assembly of claim 7 , wherein the base subassembly further comprises:
a plate member;
an electric motor mounted to the plate member;
an electronic controller mounted to the plate member and operationally connected to the electric motor;
a linkage mounted to the plate member and operationally connected to the electric motor;
wherein energization of the electric motor urges mechanical movement of the linkage;
wherein the armature subassembly further comprises:
an adjustment member operationally connected to the linkage;
an elongated member mechanically connected to the adjustment member; and
a first connection member connected to the elongated member; and
wherein the hand subassembly further comprises:
an artificial human hand; and
a ball joint insert positioned within the artificial human hand and connectable to the first connector;
wherein the ball joint insert restricts the rotational freedom of the artificial human hand around the first connector; and
wherein movement of the linkage urges the hand member to move in a generally circular pattern.
9. The assembly of claim 8 and further comprising an audio playback unit operationally connected to the electronic controller.
10. The assembly of claim 8 and further comprising a clip operationally connected to the base subassembly for providing secure connection of the assembly to a piece of furniture.
11-12. (canceled)
13. A device for soothing a distressed patient, comprising:
a motor;
a linkage operationally connected to the motor;
an armature operationally connected to the linkage; and
a lifelike hand connected to the armature;
wherein energization of the motor enables the lifelike hand to move in a generally circular, rubbing motion.
14. The device of claim 13 and further comprising an electronic controller operationally connected to the motor.
15. The device of claim 13 and further comprising an audio playback unit operationally connected to the controller.
16. The device of claim 13 and further comprising a ball joint connector positioned inside the hand for connection to the armature; wherein the ball joint connector operates to limit the freedom of motion of the hand relative the armature.
17. The device of claim 14 wherein the electronic controller is remotely operated.
18. The device of claim 13 and further comprising a pulse width modulator operationally connected to the motor.
19. A mechanism for providing comfort to a disquieted patient, comprising:
a motor;
a base plate connected to the motor;
a lifelike artificial human hand;
an elongated armature having a first end and a second end, wherein the first end is connected to the motor and wherein the second end is connected to the lifelike artificial human hand;
an electronic controller mounted to the plate member and operationally connected to the electric motor;
wherein the electronic controller may be actuated to energize the electric motor;
wherein energization of the electric motor urges the elongated armature to move the lifelike artificial human hand through a predetermined generally circular pattern.
20. The mechanism of claim 19 wherein the lifelike artificial human hand is positioned against a patient's back.
21. The system of claim 19 wherein the plate is connected to a chair.
22. The system of claim 19 wherein the electronic controller may be actuated to play music.
23. The system of claim 19 and further comprising a patient agitation sensor operationally connected to the electronic controller, wherein upon receipt of a signal from the pateitn agitation sensor, the electronic controller energizes the motor.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/702,851 US20170368300A1 (en) | 2014-12-08 | 2017-09-13 | Mechanical device for soothing agitated patients |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201462124023P | 2014-12-08 | 2014-12-08 | |
US14/960,972 US10099031B2 (en) | 2014-12-08 | 2015-12-07 | Mechanical device for soothing agitated patients |
US15/702,851 US20170368300A1 (en) | 2014-12-08 | 2017-09-13 | Mechanical device for soothing agitated patients |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/960,972 Division US10099031B2 (en) | 2014-12-08 | 2015-12-07 | Mechanical device for soothing agitated patients |
Publications (1)
Publication Number | Publication Date |
---|---|
US20170368300A1 true US20170368300A1 (en) | 2017-12-28 |
Family
ID=56093317
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/960,972 Expired - Fee Related US10099031B2 (en) | 2014-12-08 | 2015-12-07 | Mechanical device for soothing agitated patients |
US15/702,852 Abandoned US20180001051A1 (en) | 2014-12-08 | 2017-09-13 | Mechanical device for soothing agitated patients |
US15/702,851 Abandoned US20170368300A1 (en) | 2014-12-08 | 2017-09-13 | Mechanical device for soothing agitated patients |
Family Applications Before (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/960,972 Expired - Fee Related US10099031B2 (en) | 2014-12-08 | 2015-12-07 | Mechanical device for soothing agitated patients |
US15/702,852 Abandoned US20180001051A1 (en) | 2014-12-08 | 2017-09-13 | Mechanical device for soothing agitated patients |
Country Status (1)
Country | Link |
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US (3) | US10099031B2 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20160100550A1 (en) * | 2014-10-08 | 2016-04-14 | Richard N. Hartley | Scratching Device |
US20160136039A1 (en) * | 2014-11-14 | 2016-05-19 | Kay Spence | Infant Soothing Device |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3403674A (en) * | 1965-05-10 | 1968-10-01 | Alimanestiano Constantin | Massaging apparatus with simulated hands |
US3552388A (en) * | 1968-11-07 | 1971-01-05 | Thomas V Zelenka | Baby patting machine |
US4872422A (en) * | 1988-03-04 | 1989-10-10 | Della Vecchia Rita A | Scratching and petting device for household pets |
US5016617A (en) * | 1989-12-27 | 1991-05-21 | Russell P. Wood | Automatic body massaging apparatus |
IL133551A0 (en) * | 1999-12-16 | 2001-04-30 | Nissim Elias | Human touch massager |
US6485442B2 (en) * | 2000-12-13 | 2002-11-26 | Antonietta Batula | Crib mounted baby soothing device |
US6837860B1 (en) * | 2002-09-30 | 2005-01-04 | Lynda Auletta | Cranial base massage unit |
US20060207518A1 (en) * | 2005-03-04 | 2006-09-21 | Steffen Anthony W | Automatic dog petter |
US7749178B2 (en) * | 2006-02-01 | 2010-07-06 | Jimmyjane, Inc. | Inductively chargeable massager |
US8262631B1 (en) * | 2009-02-04 | 2012-09-11 | Rebecca Wilson Macsovits | Therapeutic device |
US20150105608A1 (en) * | 2013-10-14 | 2015-04-16 | Rest Devices, Inc. | Infant Sleeping Aid and Infant-Bed Accessory |
US9125378B1 (en) * | 2014-02-27 | 2015-09-08 | Darren FROST | Portable petting device for petting or scratching of pets, such as dogs or cats |
US20160136039A1 (en) * | 2014-11-14 | 2016-05-19 | Kay Spence | Infant Soothing Device |
-
2015
- 2015-12-07 US US14/960,972 patent/US10099031B2/en not_active Expired - Fee Related
-
2017
- 2017-09-13 US US15/702,852 patent/US20180001051A1/en not_active Abandoned
- 2017-09-13 US US15/702,851 patent/US20170368300A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
US20180001051A1 (en) | 2018-01-04 |
US10099031B2 (en) | 2018-10-16 |
US20160158488A1 (en) | 2016-06-09 |
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