WO2010100746A1 - 二脚歩行式移動装置 - Google Patents
二脚歩行式移動装置 Download PDFInfo
- Publication number
- WO2010100746A1 WO2010100746A1 PCT/JP2009/054192 JP2009054192W WO2010100746A1 WO 2010100746 A1 WO2010100746 A1 WO 2010100746A1 JP 2009054192 W JP2009054192 W JP 2009054192W WO 2010100746 A1 WO2010100746 A1 WO 2010100746A1
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- WIPO (PCT)
- Prior art keywords
- foot
- force sensor
- passenger
- joint
- link
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- 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
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
Definitions
- the present invention relates to a bipedal walking type moving apparatus in which a person gets on board and walks.
- the bipedal walking type moving apparatus 100 includes an upper body unit 101 having a seat portion for a person (hereinafter referred to as a passenger) to board, and a pair of left and right legs that support the upper body unit 101.
- Units 102R and 102L Each leg unit 102R, 102L is connected to a thigh link 106 connected to the upper body unit 101 via a hip joint portion 103 having three degrees of freedom and a knee joint portion 104 having one degree of freedom at the end thereof.
- the passenger sits on the seat portion of the upper body unit 101 and places his / her foot on the footrest portion 109 to board the biped walking mobile device 100. Moreover, as shown in FIG. 7, in a boarding state, a passenger
- this bipedal walking type moving apparatus 100 the position adjustment of the knee joint part performed according to the body shape of the occupant can be omitted. Further, according to the biped walking type moving apparatus 100, since the position of the center of gravity of the occupant is low, balance maintenance control is facilitated, and the impact given to the occupant when the vehicle falls over can be reduced. JP 2007-319940
- the gait generation function is what route the user takes from the current position to the destination, and how to move the left or right leg or foot to walk along that route. It is a function to plan what is good.
- the balance maintenance function is a function for preventing falls during stopping or bipedal walking.
- the balance maintenance function can be realized relatively easily, for example, based on information from a sensor or the like disposed on the back surface (ground contact surface) of the biped walking mobile device. it can.
- the conventional bipedal walking device 100 shown in FIG. 7 is a mechanism based on the assumption that both the gait generation function and the balance maintenance function are realized by automatic control by a computer. It has been difficult for the biped walking mobile device 100 to robustly walk in the environment (such as rough terrain).
- bipedal walking type movement device equipped with an instruction means by some passenger such as a joystick.
- the passenger can give an opportunity to take the next step within the range of the gait plan generated in advance, or can instruct a simple operation such as forward / backward / turning.
- the occupant walks on rough terrain while avoiding or stepping over obstacles by adjusting the detailed movements and powers of the legs, such as stride and stepping force. It was not possible to instruct complicated movements such as this, and it was impossible to robustly walk on two legs in an unknown environment.
- the present invention has been made in view of the above circumstances, and the problem is that a boarding type bipedal walking type mobile device capable of robustly bipedally walking in an unknown environment such as rough terrain. Is to provide.
- a bipedal walking type movement apparatus includes an upper body unit that supports a trunk of a passenger, and a leg unit that is provided at a lower portion of the upper body unit,
- the leg unit has a link mechanism connected to the upper body unit via a hip joint part having at least 3 degrees of freedom at one end, and a link mechanism connected to the other end of the link mechanism via an ankle part having at least 2 degrees of freedom.
- a foot mechanism that is connected and can be grounded to the floor, and the link mechanism so that the foot of the occupant can rotate only in the movable direction of the ankle joint.
- a fixing mechanism for fixing via an axial force sensor, and the control of the hip joint is optionally performed in accordance with an operation force and / or an operation torque by the occupant's foot detected by the multi-axis force sensor.
- Done voluntary leg control Control of standing time of the ankle section, without the rider direct involvement, characterized in that take place automatically as a balance maintaining control (auto balance control).
- the link mechanism has one end connected to the other end of the thigh link via a thigh link connected to the upper body unit via the hip joint and one end connected to the knee joint having at least one degree of freedom. And the other end of the lower leg link connected to the foot mechanism via the ankle joint, and the fixing mechanism is fixed to the lower leg link.
- the knee joint The control of the unit may be optionally performed according to the operation force and / or the operation torque detected by the multi-axis force sensor.
- the fixing mechanism has a swinging mechanism for allowing the occupant's foot part to be rotatable only in the movable direction of the ankle joint part, and the swaying mechanism includes the occupant's foot part.
- the multi-axis force sensor or between the multi-axis force sensor and the link mechanism is a swinging mechanism for allowing the occupant's foot part to be rotatable only in the movable direction of the ankle joint part, and the swaying mechanism includes the occupant's foot part.
- the multi-axis force sensor or between the multi-axis force sensor and the link mechanism is a swinging mechanism for allowing the occupant's foot part to be rotatable only in the movable direction of the ankle joint part, and the swaying mechanism includes the occupant's foot part.
- the multi-axis force sensor or between the multi-axis force sensor and the link mechanism is a swinging mechanism for allowing the occupant's foot part to be rotatable only in the movable direction of the ankle
- the gait generation that is difficult to realize with a computer and the accompanying leg control are configured to be performed by the occupant by voluntary leg control, so the difficulty in realizing the gait generation function is avoided.
- the balance maintenance control is configured to be automatically performed by the autobalance control without the direct involvement of the passenger, the burden of the balance maintenance operation on the passenger is greatly reduced, Only focus on the leg operation.
- FIGS. 4A and 4B are two-dimensional schematic diagrams for explaining the operation of the fixing mechanism shown in FIG. 3, in which FIG. 3A shows a state where the ankle joint portion is neither pitch-rotated nor roll-rotated, and FIG. FIG. It is a perspective view of the foot mechanism main part with which the bipedal walking type movement device concerning the present invention was equipped.
- FIGS. 4A and 4B are two-dimensional schematic diagrams for explaining the operation of the fixing mechanism shown in FIG. 3, in which FIG. 3A shows a state where the ankle joint portion is neither pitch-rotated nor roll-rotated, and FIG. FIG. It is a perspective view of the foot mechanism main part with which the bipedal walking type movement device concerning the present invention was equipped.
- FIG. 6A and 6B are two-dimensional schematic diagrams for explaining the operation of the foot mechanism shown in FIG. 5, in which FIG. 5A is a state in which the foot is grounded on a flat floor surface, and FIG. It is a figure which shows an example of the conventional biped walking type moving apparatus, Comprising: (A) is a front view, (B) is a side view.
- the X-axis direction, the Y-axis direction, and the Z-axis direction are respectively the front-rear direction (forward is the positive direction) and the left-right direction (the left side is the positive direction when viewed from the passenger) of the biped walking mobile device.
- the vertical direction (upward is the positive direction) is assumed.
- FIG. 1 is a schematic diagram showing an example of a bipedal walking movement apparatus according to the present invention.
- the bipedal walking type mobile device 1 includes an upper body unit 2 that supports and fixes a passenger's trunk (preferably near the waist), and a pair of left and right legs provided at the lower part thereof. Units 3R and 3L.
- Each leg unit 3R, 3L has a link mechanism 4 having one end 4a connected to the upper body unit 2 via a hip joint portion 5 having at least three degrees of freedom, and an ankle joint portion 7 having at least two degrees of freedom. And a foot mechanism 8 connected to the other end 4b of the link mechanism 4.
- the hip joint portion 5 includes a swing shaft 5x around the X axis, a swing shaft 5y around the Y axis, and a swing shaft 5z around the Z axis.
- the foot joint portion 7 includes a swing shaft 7r around the roll axis (X axis) and a swing shaft 7p around the pitch axis (Y axis).
- the link mechanism 4 includes a thigh link 41 having one end 41a connected to the upper body unit via the hip joint portion 5, and one end 42a to the other end 41b of the thigh link 41 via the knee joint portion 6 having at least one degree of freedom.
- the lower end 42 b is connected to the leg mechanism 8 via the ankle joint 7 and connected to the leg mechanism 8.
- the knee joint portion 6 includes a swing shaft 6y around the Y axis.
- the foot mechanism 8 has a floor reaction force sensor 81.
- the floor reaction force sensor 81 includes a plurality of uniaxial floor reaction force sensors (pressure sensors), and can detect a floor reaction force distribution.
- Each of the leg units 3R and 3L further includes a fixing mechanism 9 for fixing the occupant's foot so that the foot joint 7 can rotate only in the movable direction, that is, only in pitch rotation and roll rotation.
- the fixing mechanism 9 includes a multi-axis (at least four-axis) force sensor 93 that detects an optional operation force and / or operation torque from the foot of the occupant, and a support member 91 that couples the force sensor 93 to the link mechanism 4.
- the foot portion of the occupant is fixed so as to be rotatable only with respect to the pitch rotation and roll rotation of the ankle joint portion 7.
- a specific configuration of the fixing mechanism 9 will be described in detail later.
- Each swing axis of the hip joint portion 5, the swing shaft of the knee joint portion 6, and each swing shaft of the ankle joint portion 7 are mainly a drive motor that rotates around each axis, and a joint angle that detects a joint rotation angle. Consists of sensors.
- Each drive motor is driven and controlled by the control unit 10 provided in the upper body unit 2.
- the joint angle sensor outputs a signal related to the detected joint rotation angle to the control unit 10.
- the control unit 10 includes an optional leg control unit 11 and an autobalance control unit 12.
- the voluntary leg control unit 11 responds to the optional operation force and / or operation torque from the foot of the occupant detected by the multi-axis force sensor 93, and the swing shafts and knees of the hip joint unit 5.
- the swing axis of the joint portion 6 is driven and controlled. For example, when the rider raises his right foot and the force detected by the multi-axis force sensor 93 of the right leg unit 3R decreases, the voluntary leg control unit 11 moves the hip joint part 5 and the knee joint part 6. Raises the right leg unit 3R.
- the voluntary leg control unit 11 moves the hip joint part 5 and the knee joint part 6 in the opposite direction,
- the right leg unit 3R is lowered.
- the occupant does not use the multi-axis force sensor 93 as a simple on / off switch, but sequentially adjusts the magnitude and direction of the operating force and / or the operating torque so that the situation of unknown rough terrain, etc. Accordingly, for example, it is possible to perform a delicate operation such as lowering the right leg unit 3R forward or slightly to the right.
- the autobalance control unit 12 drives and controls each swing shaft of the ankle joint unit 7 according to the floor reaction force distribution detected by the floor reaction force sensor 81.
- the floor reaction force sensor 81 of the left leg unit 3L detects that the floor reaction force on the toe side is greater than that on the heel side.
- the autobalance control unit 12 drives and controls the swing shaft 7p around the pitch axis of the ankle portion 7, and tilts the link mechanism 4 backward. As a result, the composite center of gravity moves rearward and falls are prevented.
- each swing axis of the hip joint 5 and the swing axis of the knee joint 6 are based only on the operation force and / or operation torque detected by the multiaxial force sensor 93 and the joint angle detected by the joint angle sensor 13. Drive controlled. Therefore, the hip joint portion 5 and the knee joint portion 6 are not driven against the passenger's intention.
- Each swing axis of the foot joint portion 7 is driven and controlled based only on the floor reaction force distribution detected by the floor reaction force sensor 81 and the joint angle detected by the joint angle sensor 13. Therefore, even if the passenger applies a force to the multi-axis force sensor 93, the ankle joint portion 7 is not driven accordingly.
- leg control (optional leg control unit) that is performed by sequentially changing the operation force and / or operation torque applied to the multi-axis force sensor 93 by the passenger. 11) and the balance maintenance control automatically performed according to the floor reaction force distribution (drive control of the foot joint 7 by the autobalance control unit 12) are independent of each other. So that they do not interfere with each other. Therefore, according to the bipedal walking type moving apparatus 1 according to the present invention, the passenger can arbitrarily perform the leg control without worrying about the balance maintenance control (auto balance control) that is automatically performed. So you can walk biped even in an unknown environment such as rough terrain. Further, according to the present invention, the auto balance control is automatically performed without being directly related to the operation of the occupant, and the voluntary leg control by the occupant does not interfere with the auto balance control. The gait can be generated sequentially by devoting only to the part control.
- the fixing mechanism 9 is provided in the link mechanism 4 of each leg unit 3R, 3L, and the occupant's foot part can be rotated only with respect to the pitch rotation and roll rotation of the foot joint part 7. Selectively fix.
- the fixing mechanism 9 includes a support member 91, a swing mechanism 92, and a multi-axis force sensor 93.
- the support member 91 is a rigid member for connecting the link mechanism 4 to the swing mechanism 92 and the multi-axis force sensor 93.
- the shape of the support member 91 is not limited to a flat plate shape as shown in FIG. 3, and can be any shape that allows the swing mechanism 92 and the multi-axis force sensor 93 to be disposed at the end portion.
- the multi-axis force sensor 93 is a force sensor of at least four axes, converts the operation force and / or operation torque by the occupant's foot into an appropriate electrical signal, and sends it to the optional leg control unit 11 of the control unit 10. Output.
- a member for preventing the position shift of the passenger's foot is provided on the multi-axis force sensor 93.
- a member for preventing the position shift of the passenger's foot is provided on the multi-axis force sensor 93.
- a member for example, a slipper shape, a shoe shape, or a belt shape that binds and fixes the foot portion is applicable.
- the member for preventing the position shift of the foot portion is provided with a protection mechanism for quickly removing the foot portion of the passenger in an emergency.
- the swing mechanism 92 is a mechanism for allowing the multi-axis force sensor 93 to rotate freely in the roll and pitch, and is composed of three rigid rods provided with universal joints having two degrees of freedom at both ends. Since this mechanism is disposed between the rider's foot and the link mechanism 4, even if the rider rolls / pitch-rotates the foot, there is no effect on the link mechanism 4 side. In addition, due to the autobalance control, no excessive force is applied to the occupant's foot even if the ankle joint 7 rolls / pitch rotates. On the other hand, the swinging mechanism 92 fixes the occupant's foot and the link mechanism 4 with respect to the XYZ translational directions and yaw rotation directions. Therefore, when the link mechanism 4 moves in the XYZ direction or the yaw direction by the leg control, the movement is mechanically transmitted to the passenger's foot as it is.
- the swing mechanism 92 constitutes a known remote center mechanism
- the swing center C9 of the roll / pitch rotation is placed at an appropriate position (such as an ankle joint) in the sole or foot of the passenger. be able to. As a result, the risk of the passenger hitting the ankle joint can be reduced.
- FIG. 4 specifically shows the operation of the swing mechanism 92.
- the link mechanism 4 moves by X1 in the X direction
- the multi-axis force sensor 93 on the swing mechanism 92 and the occupant's foot are also mechanically connected. Move by X1 in the X direction.
- the link mechanism 4 moves in the Y direction, the Z direction, and the yaw direction
- the multi-axis force sensor 93 and the feet of the occupant are also interlocked.
- the foot mechanism 8 includes a base member 82 connected to the lower portion of the foot joint portion 7, three grounding pieces 83 each having a flat grounding surface, and each grounding piece 83 and the base member 82. And a rocking mechanism 84 that is pivotably coupled to each other.
- the base member 82 has a main body portion 86 connected to the foot joint portion 7, three connecting portions 87 extending from the main body portion 86 in three directions, and a front end portion 88 provided at the front end thereof.
- the connection part 87 is extended in the mutually different direction toward the downward direction.
- a uniaxial floor reaction force sensor 85 (corresponding to the floor reaction force sensor 81 in FIG. 1) is sandwiched between the respective tip portions 88.
- the uniaxial floor reaction force sensor 85 detects a component in the height direction of the distal end portion 88 from the floor reaction force applied to the ground contact piece 83.
- the uniaxial floor reaction force sensor 85 converts the force component into an appropriate electric signal and outputs the electric signal to the autobalance control unit 12 of the control unit 10.
- Each swing mechanism 84 is composed of three rigid rods 89. As shown in FIG. 5, ball joints having three degrees of freedom are provided at both ends of each rigid rod 89. Each rigid rod 89 is connected to the grounding piece 83 and the tip end portion 88 through this ball joint. This ball joint can be replaced with a universal joint having two degrees of freedom.
- FIG. 6 specifically shows the operation of the swing mechanism 84.
- the grounding piece 83 tilts when it climbs over the step on the floor surface.
- the swing mechanism 84 constitutes a known remote center mechanism
- the grounding piece 83 is rotatable around a swing center (remote center) C8 determined by the positional relationship of the rigid rods.
- the swing center C8 can be regarded as a grounding point fixed to the base member 82. Therefore, the foot mechanism 8 is substantially equivalent to a foot mechanism (see PCT / JP2008 / 055737) having a fixed three-point support structure. Accordingly, it is possible to generate torque without wobbling with respect to the rough ground while exhibiting high grounding performance even on rough ground.
- the foot mechanism 8 since the foot mechanism 8 is further provided, it is not possible to cope with only the auto balance control for driving and controlling the ankle joint portion 7. Even on leveling, you can walk biped without losing balance.
- the swing mechanism 92 is disposed on the support member 91, and the multi-axis force sensor 93 is further disposed thereon, but the swing mechanism is disposed on the multi-axis force sensor 93. 92 can also be arranged.
- the foot mechanism is not limited to the foot mechanism 8 shown in FIG. 5, and any other foot mechanism that can absorb a step on the floor surface can be applied.
- the swing mechanism 92 is not limited to the mechanism using the three rigid rods described above, and may be any mechanism that can rotate the rider's foot in the roll / pitch direction and fix it in the XYZ and yaw directions. It can be any mechanism. Even in such a case, it is preferable that a remote center mechanism having a swing center C9 at an appropriate position (such as an ankle joint) in the sole or foot portion of the passenger is configured.
- the swing mechanism 92 allows the passenger's foot to rotate freely in the roll / pitch direction, but may not necessarily be a complete free joint.
- a function of returning to the reference position and an impact mitigation function can be added to the rotation of the motor.
Abstract
Description
また、本発明によれば、バランス維持制御が搭乗者の直接の関与なしにオートバランス制御によって自動的に行われるよう構成されているので、搭乗者におけるバランス維持操作の負担は大幅に軽減され、脚部の操作にのみ専念することができる。
2 上体ユニット
3R 右脚部ユニット
3L 左脚部ユニット
4 リンク機構
41 大腿リンク
42 下腿リンク
5 股関節部
6 膝関節部
7 足関節部
8 足部機構
81 床反力センサ
82 ベース部材
83 接地片
84 揺動機構(リモートセンタ機構)
85 一軸床反力センサ
86 本体部
87 連結部
88 先端部
89 剛性ロッド
9 固定機構
91 支持部材
92 揺動機構(リモートセンタ機構)
93 多軸力センサ
10 制御部
11 随意脚部制御部
12 オートバランス制御部
13 関節角度センサ
図1は、本発明に係る二脚歩行式移動装置の一例を示す概略図である。この図に示すように、二脚歩行式移動装置1は、搭乗者の体幹(好ましくは、腰付近)を支持・固定する上体ユニット2と、その下部に備えられた左右一対の脚部ユニット3R、3Lとを備える。
続いて、図3および図4を参照して、固定機構9の具体的な構成について説明する。前記の通り、固定機構9は、各脚部ユニット3R、3Lのリンク機構4に備えられ、足関節部7のピッチ回転およびロール回転に対してのみ回転自在となるように搭乗者の足部を選択的に固定する。
次に、図5および図6を参照して、足部機構8の具体的な構成について説明する。この足部機構8としては、本願発明者が発明した従来の足部機構をそのまま適用することができる(PCT/JP2008/057247号参照)。
例えば、図3に示す固定機構9では、支持部材91の上に揺動機構92を配置し、さらにその上に多軸力センサ93を配置したが、多軸力センサ93の上に揺動機構92を配置することもできる。また、足部機構は図5に示す足部機構8に限定されず、床面の段差を吸収し得るような他の任意の足部機構を適用することができる。
Claims (3)
- 搭乗者の体幹を支持する上体ユニットと、
前記上体ユニットの下部に備えられた脚部ユニットと、を備え、
前記脚部ユニットは、
一端が少なくとも3自由度を有する股関節部を介して前記上体ユニットに接続されたリンク機構と、
少なくとも2自由度を有する足関節部を介して前記リンク機構の他端に接続され、床面に接地し得るようになっている足部機構と、
前記搭乗者の足部を、前記リンク機構に多軸力センサを介して固定する固定機構と、を備え、
前記股関節部の制御は、前記多軸力センサによって検知される前記搭乗者の足部による操作力および/または操作トルクに応じて随意的に行われ、前記足関節部の立脚時の制御は、前記搭乗者の直接の関与なしに、バランス維持制御として自動的に行われることを特徴とする二脚歩行式移動装置。 - 前記リンク機構は、
一端が前記股関節部を介して前記上体ユニットに接続された大腿リンクと、
一端が少なくとも1自由度を有する膝関節部を介して前記大腿リンクの他端に接続されるとともに、他端が前記足関節部を介して前記足部機構に接続された下腿リンクと、を有し、
前記固定機構が前記下腿リンクに固定され、前記股関節部の制御に加えて前記膝関節部の制御も前記多軸力センサによって検知される前記操作力および/または前記操作トルクに応じて随意的に行われることを特徴とする請求項1に記載の二脚歩行式移動装置。 - 前記固定機構は、前記搭乗者の足部を前記足関節部の可動方向に対してのみ回転自在にするための揺動機構を有し、
前記揺動機構は、前記搭乗者の足部と前記多軸力センサとの間または前記多軸力センサと前記リンク機構との間のいずれか一方に備えられていることを特徴とする請求項1に記載の二脚歩行式移動装置。
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JP2011502548A JP5427231B2 (ja) | 2009-03-05 | 2009-03-05 | 二脚歩行式移動装置 |
PCT/JP2009/054192 WO2010100746A1 (ja) | 2009-03-05 | 2009-03-05 | 二脚歩行式移動装置 |
US13/138,518 US8544853B2 (en) | 2009-03-05 | 2009-03-05 | Two-legged walking transportation device |
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PCT/JP2009/054192 WO2010100746A1 (ja) | 2009-03-05 | 2009-03-05 | 二脚歩行式移動装置 |
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US20120068422A1 (en) | 2012-03-22 |
US8544853B2 (en) | 2013-10-01 |
JP5427231B2 (ja) | 2014-02-26 |
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