WO2003032832A1 - Dispositif et procede de determination d'une condition de la demarche - Google Patents
Dispositif et procede de determination d'une condition de la demarche Download PDFInfo
- Publication number
- WO2003032832A1 WO2003032832A1 PCT/JP2002/008528 JP0208528W WO03032832A1 WO 2003032832 A1 WO2003032832 A1 WO 2003032832A1 JP 0208528 W JP0208528 W JP 0208528W WO 03032832 A1 WO03032832 A1 WO 03032832A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- pedestrian
- walking state
- plot
- pattern
- determination
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000006073 displacement reaction Methods 0.000 claims abstract description 11
- 230000001133 acceleration Effects 0.000 claims description 13
- 238000005259 measurement Methods 0.000 claims description 10
- 230000001174 ascending effect Effects 0.000 claims description 6
- 230000005021 gait Effects 0.000 claims 1
- 210000002414 leg Anatomy 0.000 description 40
- 210000004394 hip joint Anatomy 0.000 description 13
- 210000001624 hip Anatomy 0.000 description 7
- 210000000629 knee joint Anatomy 0.000 description 7
- 210000000689 upper leg Anatomy 0.000 description 6
- 210000000544 articulatio talocruralis Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 210000003423 ankle Anatomy 0.000 description 4
- 210000003127 knee Anatomy 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 239000000470 constituent Substances 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000009530 blood pressure measurement Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
-
- 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
-
- 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
-
- 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
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
Definitions
- the present invention relates to an apparatus and a method for determining a walking state of a pedestrian having a plurality of legs.
- Japanese Patent Laid-Open Publication No. Hei 7-16607 proposes a method of determining a walking state based on the pressure on the pedestrian's sole measured by a pressure sensor.
- Japanese Patent Application Laid-Open No. 2000-32525 / 29 proposes a method of determining a walking state based on the angle of a pedestrian's leg.
- the determination method based on the pressure applied to the sole, a situation that tends to occur particularly when going up and down stairs, the part of the sole where the pressure sensor is provided is not landed, and the walking state May be erroneously determined. For example, there is a case where a person touches the floor with a toe even though a pressure sensor is provided on the heel. In addition, since the distribution of pressure to the sole differs depending on the shape of the bottom of the footwear, the walking state may be similarly erroneously determined. Furthermore, when footwear provided with a pressure sensor at the bottom is used, every time the footwear is attached or detached, the pressure sensor is connected to a processing device for determining walking status by a communication line or electric wire, or the connection is established.
- the walking state may not be accurately determined due to the length of the leg of the pedestrian.
- the degree of raising the thigh during walking differs depending on the length of the legs, so that a small pedestrian is judged to be walking on the stairs, Pedestrians may be erroneously determined to be walking on flat ground.
- erroneous determination of the walking state may result in an excessive or insufficient assisting force applied to the pedestrian. It will cause trouble.
- an object of the present invention is to provide a device and a method capable of easily and accurately determining a walking state irrespective of a difference in a landing position on a sole of a pedestrian or a length of a leg. Disclosure of the invention
- a walking state determination apparatus for solving the above-mentioned problems includes: a measuring unit that measures a parameter representing an amount of displacement of a lower end portion of the pedestrian's leg; and a pattern of a plot in a determination space corresponding to the parameter.
- First storage means for storing and holding the walking state of the pedestrian in association with each other; and generating means for generating a plot specified by the parameter measured by the measuring means in the determination space.
- determining the walking state of the pedestrian based on a comparison between the pattern of the plot stored and held in association with the walking state by the first storage means and the pattern of the plot generated by the generating means. Determining means for determining.
- a method for determining a walking state according to the present invention for solving the above-mentioned problems includes: a measurement step for measuring a parameter representing a displacement amount of a lower end portion of the pedestrian's leg; and a plotting step in a determination space corresponding to the parameter.
- An associating step for associating the pattern with the walking state of the pedestrian includes: a measurement step for measuring a parameter representing a displacement amount of a lower end portion of the pedestrian's leg; and a plotting step in a determination space corresponding to the parameter.
- An associating step for associating the pattern with the walking state of the pedestrian;
- a generation step for generating a plot specified by the parameter measured in the measurement step; a pattern of a plot associated with the walking state in the association step; and a plotting step of the plot generated in the generation step. Determining a walking state of the pedestrian based on a comparison with the pattern.
- the displacement of the lower end of the leg measured in the present invention mainly depends on the walking place such as a flat ground or a step, and the difference in the landing position on the sole of the pedestrian and the length of the leg are not considered. Almost no dependence. For this reason, the pattern of the plot in the determination space specified by the parameter representing the amount of displacement is substantially the same in the same walking state regardless of the difference in the landing position on the sole of the pedestrian or the length of the leg. Becomes Also, there is no need for the complicated connection / disconnection of wiring associated with attachment / detachment of special footwear as in pressure measurement.
- the first storage means stores and holds the shape pattern of the plot in the determination space as the pattern of the plot, and the determination means stores the shape pattern stored and held by the first storage means; It is characterized in that the pedestrian's walking state is determined on the basis of a determination as to whether or not the pedestrian is similar to or similar to the generated plot pattern.
- a walking state can be determined based on a “shape pattern”, that is, a pattern drawn by the plot in the determination space.
- the first storage means stores and holds the pattern of the plot in the determination space as the pattern of the plot
- the determination means stores the presence pattern stored and held by the first storage means and the generation means. Based on the similarity or similarity judgment with the existing pattern of the generated plot, The walking state of the pedestrian is determined.
- a preence pattern that is, a pattern indicating in which region of the determination space the plot exists.
- the measuring means includes first measuring means for measuring a difference between a length of the pedestrian's leg and a height difference between a leg upper end portion and a leg lower end portion as a first parameter. Determines that the pedestrian is in the normal walking state when the plot in the determination space has an existence pattern in which the first parameter is located in a low range below the predetermined threshold, and the first parameter is equal to or higher than the predetermined threshold. It is characterized in that it is determined that the pedestrian is in an inclined walking state when there is a presence pattern of being in a high range.
- the measuring means includes second measuring means for measuring a front-rear position of a lower end portion of the pedestrian with respect to an upper end portion of the pedestrian as a second parameter, and the determining means determines that the pedestrian is in the inclined walking state. Is determined, the plot in the determination space is in an ascending walking state when the second parameter is in a predetermined positive range that is equal to or greater than the positive threshold, and is determined to be in the ascending walking state. It is characterized in that it is determined that the vehicle is in a descending walking state when the existence pattern is in a predetermined negative range.
- the walking state can be accurately determined.
- the “normal walking state” means a state where the user is walking on a flat ground, a gentle slope, or a stair with a low step.
- Incline walking means walking on steep slopes or stairs with high steps.
- the grade of the slope of the slope or the grade of the step is determined by setting the “predetermined threshold value”.
- the present invention comprises: a second storage means for storing and holding a joint distance between the legs of the pedestrian; and an angle sensor for measuring a joint angle of the legs, wherein the first and second measurement means are The first and second parameters are measured based on the joint-to-leg distance of the legs stored and held by the second storage means and the joint angle measured by the angle sensor.
- the first and second parameters can be measured based on the inter-joint distance and joint angle of the leg and simple geometric considerations as described later.
- the determining means determines the walking state of the pedestrian based on a series of plots generated by the generating means over the immediately preceding walking cycle of the pedestrian.
- An acceleration sensor for measuring a vertical acceleration of the upper part of the pedestrian's leg, and a walking cycle measuring means for measuring a walking cycle of the pedestrian based on the vertical acceleration measured by the acceleration sensor. It is characterized by.
- the walking state of a pedestrian can be determined based on a plot pattern drawn for each walking cycle in the determination space.
- FIG. 1 is an explanatory diagram of a configuration of a walking state determination device of the present embodiment.
- FIG. 2 is an explanatory diagram of a procedure of the walking state determination method according to the present embodiment.
- FIG. 3 is an explanatory diagram of a measurement method for the first and second parameters in the present embodiment.
- FIG. 4 is an explanatory diagram of the correspondence between the judgment space and the walking state in the present embodiment.
- FIG. 5 is an explanatory diagram of a walking state determination result in the present embodiment.
- the walking state determination device 1 shown in FIG. 1 constitutes a part of a walking assistance device 2 used by being attached to a pedestrian.
- the walking assist device 2 is mounted on the pedestrian's abdomen, thighs, and shins. 1b, which applies the torque around the hip joint via 1b, and 2nd, which applies the torque around the knee joint via the supporters 21b and 21c at the pedestrian's knee. 2)
- Control unit 2 2 2 and control unit 2 4 which is stored in a backpack 2 3 carried on the back of the pedestrian and controls the operation of the control unit 2 2 1 and 2 2 2 2
- the battery pack 25 also includes a battery 25 that is housed in a pack pack 23 and supplies electric power to the actuators 221, 222.
- the walking assist device 2 is located on the pedestrian's waist and measures the hip joint angle 0, and the second angle sensor 26 is located on the pedestrian's knee and measures the knee joint angle 02. 2 and a G sensor (acceleration sensor) 2 63 3 that measures vertical acceleration at the waist of the pedestrian.
- G sensor acceleration sensor
- the hip joint angle 01 is the angle formed by the thigh having a length with respect to the vertical plane including the hip joint H. The forward and backward are when the thigh is in front of the plane. It is defined as an angle where the point at is negative. Also, the knee joint angle 0 2 is an angle formed shin portion of the length 1 2 with respect to the plane including the thigh, a negative when the shin is in front of the plane, the rear near Rutoki positive Is defined as an angle.
- the walking state determination device 1 includes a storage unit 11, a measurement unit 12, a generation unit 13, and a determination unit 14, each of which forms a part of the control unit 24.
- the storage means 11 is composed of ROM, RAM, etc., and stores the pattern of the presence of the plot in the decision space (see Fig. 4) and the walking state in association with each other.
- the measuring means 12 includes a first measuring means 122, a second measuring means 122, and a walking cycle measuring means 123.
- the first measuring means 121 includes a first angle sensor 261, a second angle sensor 2622, and a second storage means 112 as constituent elements.
- the pedestrian's hip joint angle 0 and knee joint angle 0 2 measured by the first and second angle sensors 26 1 and 26 2, and the joint distance li stored and held in the second storage means 112 Based on, 1 2 , the difference between the leg length 1 1 + 1 2 from the hip joint to the ankle joint of the pedestrian and the height difference of the hip joint and the ankle joint (1st parameter: see Fig. 3) Measure xi.
- the second measuring means 122 also includes a first angle sensor 261, a second angle sensor 262, and a second storage means 112 as constituent elements.
- the first, second angle sensor 2 6 1, 2 6 2 pedestrian hip joint angle 01 measured by the knee joint angle 0 2 and the second storage means 1 1 for 2 to that have been stored and held joint distance li based on the 1 2, longitudinal position of the pedestrian hip (leg upper portion) in pairs ankle (leg bottom section) (second parameter Isseki: see FIG. 3) for measuring the X 2.
- the walking cycle measuring means 123 includes the G sensor 263 as a component, and measures the pedestrian's walking cycle based on the change in the vertical acceleration generated at the waist of the pedestrian measured by the G sensor 263 I do.
- Generating means 1 3 denotes a CPU, a signal input circuit, RAM, consists a ROM or the like, the first parameter Isseki xi, described later in the "decision space" of the corresponding two-dimensional second parameter Isseki x 2 "Plot (Plot data) ”.
- the determination means 14 is similarly constituted by a CPU, a signal input / output circuit, a first storage means 11 1, etc., and as will be described later, the existence pattern of the plot generated by the generation means 13, the first storage means 11 1 The pedestrian's walking state is determined based on the plot existence pattern stored and held in step 1.
- the first and second measuring means 12 1 and 12 2 measure the first and second parameters X 1 and x 2 (FIG. 2 s 1). The measurement is based on the distance li, 1 2 between the pedestrian's hip and knee and knee and ankle joint, which are stored and held by the second storage means 1 1 2, and the first and second angle sensors 2 6 1, 2 6 2 Is performed according to the following equations (1) and (2) using the hip and knee joint angles 2 measured by
- Equations (1) and (2) are based on simple geometric considerations in the leg model shown in Figure 3.
- the first parameter X l joint Eta, kappa, Alpha represents the variation of the height difference between the ankle A with respect to the hip joint H in comparison with the upright Ru near the vertical line (dotted line in FIG. 3).
- the second parameter x 2 represents the variation of the longitudinal direction of the ankle A with respect to the hip joint H in comparison with the upright (3 midpoint line).
- the generation means 13 performs the first and second parameter measurement (X; L, X 2) measured by the first and second measurement means 12 1 and 12 2 in the two-dimensional “judgment space”. Generate a “plot” specified by (Fig. 2 s2).
- the walking cycle measuring means 123 determines whether or not the immediately preceding walking cycle has ended based on the change in the vertical acceleration generated at the waist measured by the G sensor 263 (FIG. 2 s 3). Specifically, the vertical acceleration increases twice more than when leaving the floor due to the landing of one leg and the subsequent landing of the other leg. Each time it is greater, it is determined that the previous walking cycle has ended. Until this judgment is made (N ⁇ in Fig. 2 s3), measurement of the first and second parameters xi and X2 (Fig. 2 s1), and plot generation (Fig. 2 s2) are repeated. It is. 1 walking period over plot (X ⁇ , x 2) is the locus of FIG. 5 (a) ⁇ FIG. 5
- the determination means 14 determines the walking state. At the time of this determination, an existence pattern stored in the first storage means 111 in association with the walking state, that is, a pattern indicating in which area of the determination space the plot exists is used.
- the determination space is divided into a “low range” where the first parameter X 1 is less than a predetermined threshold value c (> 0) and a “high range” where the first parameter value X is equal to or more than the predetermined threshold value c. Also, the decision space is such that the second parameter X 2 has a positive threshold c +
- the pattern in which the plot exists only in the low range ⁇ c ⁇ is the “normal walking state”, and the pattern in which the high range overlaps with the predetermined negative range ⁇ xi ⁇ c, x 2 ⁇ c- ⁇ .
- the pattern existing in the “falling walking state” and the pattern in the overlapping region of the high region and the predetermined normal region ⁇ xi ⁇ c, x 2 ⁇ c + ⁇ is respectively associated with the “ascending walking condition”.
- Fig. 2 s 4 Upon walking condition determining first, whether the flop lots in the high range of the determination space ⁇ X l ⁇ c ⁇ (x 1 x 2) is determined (Fig. 2 s 4). As shown in Fig. 5 (a), when all the plots (X i, x 2 ) are judged not to be in the high range ⁇ X i ⁇ c ⁇ but to be in the low range ⁇ xi x c ⁇ (No in Figure 2 s4), the pedestrian is determined to be in the “normal walking state” ( Figure 2 s6a) 0
- the plot in the high frequency range ⁇ 3d ⁇ c ⁇ At least a part of them is within the specified negative threshold ⁇ x 2 ⁇ , or the specified normal range
- the walking state is determined for each walking cycle (Fig. 2 sl to s6). Then, the control unit 24 determines the torque to be applied to the leg based on the determination of the walking state, and the torque is applied via the first and second factories 2 1 and 2 2. .
- the first parameter xi is the ankle joint (leg upper part) with respect to the hip joint (upper end of the leg) H based on the upright state (dotted line) in which the joints H, K :, and A are on a vertical line in FIG. Lower part of the body) Indicates the amount of change in the height difference of A.
- the second parameter x 2 represents the amount of displacement of the ankle joint (lower leg portion) A with respect to the hip joint (upper leg portion) H in the front-rear direction with respect to the upright state.
- the presence or absence of a plot in the overlapping region of the high region ⁇ X 1 ⁇ c ⁇ and the predetermined negative threshold ⁇ x 2 ⁇ c- ⁇ or the predetermined positive region ⁇ x 2 ⁇ c + ⁇ is due to ascending or descending stairs.
- the lower end of the leg is greatly displaced, it depends on whether the lower end of the leg is in front or behind, It hardly depends on the length of the body.
- the pedestrian is a human, but in other embodiments, the pedestrian may be a variety of animals that can walk on two or four legs, a humanoid mouth port, and an animal type lopot. Good.
- x 2 is the walking state based on the plot that put in a two-dimensional determination space is determined
- one parameter for example, X i ZX 2
- the walking state may be determined based on a plot in a one-dimensional determination space.
- Three or more parameters for example, X i, x 2 of all the legs
- the walking state may be determined based on a plot in a three-dimensional or more determination space.
- the walking state is determined according to the existence pattern of the area in the determination space in which the plot is located.
- the plot drawn in the determination space over a predetermined period such as one walking period.
- the walking state may be determined according to the shape pattern of the object.
- the judgment space is divided into a larger number of regions, and more walking states corresponding to the respective regions are determined as shown in FIG. 23 and FIG. May be determined. For example, if the degree of gentleness of a slope or the height difference of stairs is determined in more stages, the walking state can be determined more precisely. Then, the control unit 24 of the walking assist device 2 can appropriately determine how much torque should be applied to the pedestrian based on more precise walking state determination.
- the walking state is determined every time one walking cycle elapses (see s3 in FIG. 2).
- the walking state may be determined constantly. For example, immediately after the plot (XI, 2 ) is determined to be in the region ⁇ X1 ⁇ C, X2 ⁇ c + ⁇ in the determination space, the pedestrian is determined to be in the "ascending walking state", The pedestrian may be determined to be in the “downward walking state” immediately after being determined to be in the region ⁇ X] L ⁇ C, X 2 ⁇ C- ⁇ .
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Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP02760730.8A EP1442703B1 (en) | 2001-10-18 | 2002-08-23 | Walking condition determining device |
US10/491,853 US7220231B2 (en) | 2001-10-18 | 2002-08-23 | Walking condition determining device and method |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2001320430A JP3833921B2 (ja) | 2001-10-18 | 2001-10-18 | 歩行状態判定装置及び方法 |
JP2001-320430 | 2001-10-18 |
Publications (1)
Publication Number | Publication Date |
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WO2003032832A1 true WO2003032832A1 (fr) | 2003-04-24 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2002/008528 WO2003032832A1 (fr) | 2001-10-18 | 2002-08-23 | Dispositif et procede de determination d'une condition de la demarche |
Country Status (4)
Country | Link |
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US (1) | US7220231B2 (ja) |
EP (1) | EP1442703B1 (ja) |
JP (1) | JP3833921B2 (ja) |
WO (1) | WO2003032832A1 (ja) |
Cited By (1)
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US20090131839A1 (en) * | 2005-09-02 | 2009-05-21 | Honda Motor Co., Ltd. | Motion assist device |
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JP3930399B2 (ja) | 2002-08-21 | 2007-06-13 | 本田技研工業株式会社 | 歩行補助装置 |
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JP4178186B2 (ja) | 2003-08-21 | 2008-11-12 | 国立大学法人 筑波大学 | 装着式動作補助装置、装着式動作補助装置の制御方法および制御用プログラム |
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Also Published As
Publication number | Publication date |
---|---|
EP1442703A4 (en) | 2008-05-28 |
JP2003116893A (ja) | 2003-04-22 |
US20040249316A1 (en) | 2004-12-09 |
EP1442703A1 (en) | 2004-08-04 |
JP3833921B2 (ja) | 2006-10-18 |
US7220231B2 (en) | 2007-05-22 |
EP1442703B1 (en) | 2015-10-28 |
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