Classifications

• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
  • A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
  • A63B24/0006—Computerised comparison for qualitative assessment of motion sequences or the course of a movement
• • G—PHYSICS
  • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
  • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
  • G09B19/00—Teaching not covered by other main groups of this subclass
  • G09B19/003—Repetitive work cycles; Sequence of movements
  • G09B19/0038—Sports
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
  • A63B22/0076—Rowing machines for conditioning the cardio-vascular system
  • A63B2022/0079—Rowing machines for conditioning the cardio-vascular system with a pulling cable
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
  • A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
  • A63B24/0006—Computerised comparison for qualitative assessment of motion sequences or the course of a movement
  • A63B2024/0012—Comparing movements or motion sequences with a registered reference
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
  • A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
  • A63B24/0006—Computerised comparison for qualitative assessment of motion sequences or the course of a movement
  • A63B2024/0012—Comparing movements or motion sequences with a registered reference
  • A63B2024/0015—Comparing movements or motion sequences with computerised simulations of movements or motion sequences, e.g. for generating an ideal template as reference to be achieved by the user
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B69/00—Training appliances or apparatus for special sports
  • A63B69/06—Training appliances or apparatus for special sports for rowing or sculling
  • A63B2069/062—Training appliances or apparatus for special sports for rowing or sculling by pulling on a cable
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
  • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
  • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
  • A63B2071/065—Visualisation of specific exercise parameters
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
  • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
  • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
  • A63B2071/0655—Tactile feedback
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
  • A63B21/28—Devices for two persons operating in opposition or in cooperation
  • A63B21/285—Devices for two persons operating in opposition or in cooperation in cooperation
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2208/00—Characteristics or parameters related to the user or player
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2220/00—Measuring of physical parameters relating to sporting activity
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2220/00—Measuring of physical parameters relating to sporting activity
  • A63B2220/17—Counting, e.g. counting periodical movements, revolutions or cycles, or including further data processing to determine distances or speed
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2220/00—Measuring of physical parameters relating to sporting activity
  • A63B2220/30—Speed
  • A63B2220/36—Speed measurement by electric or magnetic parameters
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2220/00—Measuring of physical parameters relating to sporting activity
  • A63B2220/50—Force related parameters
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2220/00—Measuring of physical parameters relating to sporting activity
  • A63B2220/50—Force related parameters
  • A63B2220/58—Measurement of force related parameters by electric or magnetic means
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2220/00—Measuring of physical parameters relating to sporting activity
  • A63B2220/80—Special sensors, transducers or devices therefor
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2220/00—Measuring of physical parameters relating to sporting activity
  • A63B2220/80—Special sensors, transducers or devices therefor
  • A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
  • A63B2225/20—Miscellaneous features of sport apparatus, devices or equipment with means for remote communication, e.g. internet or the like
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
  • A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2230/00—Measuring physiological parameters of the user
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2230/00—Measuring physiological parameters of the user
  • A63B2230/01—User's weight
  • A63B2230/015—User's weight used as a control parameter for the apparatus
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2230/00—Measuring physiological parameters of the user
  • A63B2230/62—Measuring physiological parameters of the user posture
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B2230/00—Measuring physiological parameters of the user
  • A63B2230/62—Measuring physiological parameters of the user posture
  • A63B2230/625—Measuring physiological parameters of the user posture used as a control parameter for the apparatus
• • A—HUMAN NECESSITIES
  • A63—SPORTS; GAMES; AMUSEMENTS
  • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
  • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
  • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
  • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
  • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user

Definitions

• the subject of the invention is a system for training a motion technique in sports, preferably rowing, or for rehabilitating persons in order to improve, and restore capabilities of motion and functionality.
• a technical problem solved by the invention is a design of such a system for training motion technique, like rowing technique or a technique for the purpose of rehabilitation, that will, during the course of a training, provide a user with a clear and understandable information about his motions of individual body parts that participate in the motion, preferably rowing, moreover the system would provide information on a needed motion correction, especially as to direction, in which a force of an individual body part is exerted and as to the load of individual joints with the purpose of proper performance of the motion technique, especially rowing, and prevention of injuries under the lowest possible consumption of energy.
• the system should be so user-friendly that it does not obstruct a user while performing motion, it should be light and simple to assemble onto both a training device and a boat itself.
• Rowing is a sport that requires a proper and optimal technique of a stroke in order to provide results, especially top results. At the same time, it presents a huge load on the joints, which often leads to injuries injuries of joints and low back pains and individual joints of extremities in case of an improperly performed stroke. It is therefore very important to supervise and monitor a motion, which is normally performed indirectly by a trainer, who gives the user instructions based on his experience and attentive observation. A similar monitoring can be done with a camera and sensors that record the motion for subsequent analysis. The user then tries to correct his errors in further exercises.
• This type of sport is done on the water and training in nature is possible only one half of the year in the majority of regions. With the purpose of both maintaining continuity of training the whole year through and progressing with the rowing technique in the period of the so-called dry training, numerous exercising devices have been developed that are intended for training rowing in off season.
• Patent US 6,682,351 discloses a system for monitoring the posture of a user during the use of a training apparatus, especially the posture of the torso and arms. Regularity of a performed stroke is assessed on the basis of a mutual relation between the torso and arms.
• the apparatus comprises a training device with sensors for acquiring kinematic parameters, like posture, velocity, acceleration, sensors arranged on the user - paddler in order to detect the posture of the user during paddling, an evaluating unit and a display unit.
• the sensors acquire a current position, i. e. posture and orientation of individual body parts of the paddler while performing a stroke, and the results are displayed via evaluating unit on the display.
• the paddler obtains information about the current posture of his body.
• the position of his torso and arms is used as the basis for assessing the regularity of his stroke, which is emitted via audio or light signal to the paddler as information whether his position is correct or not.
• the paddler must know what the proper position is and for how much his current position deviates and he must continuously assess his deviations from the proper position.
• Such exercise requires quite much experience and knowledge, and what's more, attention is re-directed from paddling to analysing the results and performing a comparison.
• a trainer attends such training. The trainer monitors the results on the display, provides his comments and information on how a paddler's stroke needs to be changed.
• WO 2005/037379 discloses a rowing apparatus comprising a special position reference device indicating the position of the body and hands over the course of each rowing stroke.
• the special position reference device is arranged on a device for training rowing and comprises sensors arranged on the handle part of the apparatus, on a user's ear or on a seat.
• the measured values of the position of a body part are processed in a processing device.
• feedback on the rower's deviation from the proper rowing technique is provided. This feedback can be stored and subsequently analysed, or it can be forwarded to the rower over a display and the rower can use it at his very next stroke.
• Both, the first and second embodiments disclose a device that provides feedback on the position of rower's hands and torso and on their mutual position during rowing.
• a proper and energy successful way of rowing does not only depend on the position of the hands, torso and their mutual relation.
• the performance of the entire pull-release stroke depends on the position of the entire body or on the position of all extremities and the body and their mutual relations, on direction of performance and on time co-ordination, so that high results are achieved with as little energy as possible and with less injuries that are not rarity in rowing.
• the described technical problem is solved by a system for training motion technique in sports, preferably rowing, or for rehabilitating persons in order to improve and maintain capabilities of motion and functionality.
• the system comprises a device for performing a motion, preferably rowing, such as a rowing simulator of any known type, or a boat, sensors of any known type arranged on a user or device for detecting and measuring forces and motion of any known type, a processing unit for processing the measured and pre-entered values, and feedback devices for the user.
• the device itself which is not part of the present invention, includes characteristic elements of a racing boat.
• the device is provided with at least one force sensor, preferably several force sensors, at least one sensor of kinematic parameters of movement of a user, such as a seat movement sensor, a handle movement sensor and inertial sensors.
• Force sensors as multi-dimensional force sensors are arranged on the device in a way to measure foot stretcher forces exerted onto a leg support and pull forces of arms that are exerted onto an oar handle.
• the handle is further provided with an inertial sensor that acquires all movement sizes of the handle in space during the course of a stroke, i. e. translation and rotation in space, velocity and acceleration.
• Inertial sensors are further arranged on the torso of the user. Real-time measured values of individual sensors during performing exercises or rowing on the device are sent to the processing unit, which is connected with the device or sensors on the device in its proper way.
• the processing unit optionally a laptop or a central processing unit, converts the acquired information on size and application points of forces in legs and arms exerted on the user in a certain time, information on trajectories of movement of the user or his body parts into biomechanical parameters of rowing technique, like the length of a stroke, duration of each phase of a stroke, rhythm, trajectory of handle movement, posture of the user and performed work.
• biomechanical parameters of rowing technique like the length of a stroke, duration of each phase of a stroke, rhythm, trajectory of handle movement, posture of the user and performed work.
• the so obtained values of biomechanical parameters of rowing technique and the values of measurements of anthropometric properties of the user are converted by way of an inverse dynamic model and a recursive Newton-Euler procedure into time-dependent forces and torques, which act in individual joints of the user during each stroke of rowing.
• the processing unit provides also wired or wireless connection and data exchange with another analogous system for the cooperative training of rowing.
• the currently calculated biomechanical parameters of rowing are compared with reference values of biomechanical parameters of the user in a given moment. These are considered proper values of biomechanical parameters of a stroke to achieve the best results of rowing of the current user.
• Reference values of biomechanical parameters of rowing are generated by the processing unit and the reference model, which adjusts proper biomechanical parameters of rowing of a group of highly skilled rowers with the user's anthropometric data.
• the adjusted reference biomechanical parameters of rowing of the user are target values for the rower to achieve proper parameters in a stroke with highest effect as well as with such force and torque in the joint that would not cause injuries.
• the target values of the user can be acquired from a simultaneous or recorded rowing of another rower, who may be a more skilled rower - trainer, or a mate, with whom rowing co-ordination is trained.
• the current and target values of biomechanical parameters of rowing are transmitted to the user as a visual and/or audio and/or vibrotactile information and/or as a information transmitted by electric stimulation.
• Visual information is effected in the form of a graphical display of the current and target parameters in a way of two figures of the rower or in another known graphical way.
• Audio and/or light information is done through a transmission of only an audio/light message on improper performance of a stroke or on a certain level of deviation of the performed stroke from the target level.
• Vibrotactile information is carried out with vibration modules fastened to the body or handle. By changing frequency, intensity and the length of vibrations the vibration modules transmit information on deviation or excess deviation from the reference motion.
• the information with electric stimulation is transmitted by electric pulses of intensity above the detected threshold through electrodes fastened to the rower's skin surface.
• Figure 1 a schematic view of the system of the invention
• a system 1 for training a motion technique in sports, preferably rowing, or in rehabilitation of persons in order to restore and maintain capabilities of motion and functionality comprises a device 2 for performing a motion, preferably rowing, like a rowing simulator of any known type, or even a boat, sensors 5, 6, 7, 8 and 9, 10 arranged on the device and a user and intended to detect and measure forces and motion as a dependence of time, a processing unit 3 for receiving and transmitting data and processing of previously entered values of rowing and measured values of rowing, and a unit 4 for transmitting data on the course of rowing to the user.
• a rowing simulator comprises a sliding seat 11 fastened to the frame of the device and a handle 12 similar to an oar handle, said handle 12 being fastened to a rotating disk that creates resistance similar to that of the water, and a support 13 similar to a foot stretcher.
• the device 2 is provided with at least one force sensor 5, 6, preferably several force sensors, at least one sensor 7, 8 of kinematic parameters of movement of a user, preferably several sensors of kinematic parameters of movement for time-dependent measurement of rowing sizes, at least one, preferably several, inertial sensors 9, 10 arranged on the device and the user - rower.
• Measurements and data on the movement of the handle 12 in the device 2 or boat are provided by a movement sensor 7 arranged on a rotating disk, movements of the seat 11 and the rower himself are measured by a motion sensor 8.
• the handle 12 is provided with the inertial sensor 9 for measuring the movement of the handle in space with sizes, such as translation and orientation with angular velocity and acceleration in space,.
• the movement of the rower in space is detected by the inertial sensor 10 arranged on the body of the rower.
• the device is therefore provided with force sensors as well.
• the forces of legs are measured with force sensors 5 arranged on a foot support 13. Said sensors provide data on measured forces and their application points, with which the rower acts on the support. Pull- force of the handle simulating an oar is measured during all stroke phases by the force sensors 6 arranged on the handle 12.
• Measurements from the sensors are transmitted to a processing unit 3 in a wireless or another known way depending on the basic configuration of the system.
• the processing unit 3 is optionally a laptop or a central processing unit that comprises known units needed for its functioning, such as input/output units, memory, power supply assembly and the like.
• the unit gathers, stores and processes data and allows continuous access to and insight into the current values of data.
• the values measured with sensors 5 - 10, arranged on the training device are entered as input information into the processing unit 3 in predetermined time intervals. These values are measured values of forces and their application points, motions and form a set 14 of sizes of measurements of forces and motions.
• the measured anthropometric values of the rower are also input information and represent a set 15 of sizes of anthropometric values of the current rower. Said sets of sizes are converted in a module 16 of biomechanical parameters into biomechanical parameters of a rower's rowing in a given moment, such as the length of a stroke, duration of individual phases of a pull, frequency, trajectory of handle movement, torso posture, performed work as a time function.
• biomechanical parameters are then converted in a module 17 of an inverse dynamic model by way of an inverse dynamic model and Newton-Euler recursive procedure into current forces F v (t) and current torques N v (t), which are exerted in a given moment in rower's individual joints.
• the processing unit 3 further comprises a reference model module 18, which includes the skills of well-trained rowers on rowing technique.
• the model is based on the method of non-linear modelling, in which a model structure is adapted in a way that the model outputs a desired response to input signals.
• the method of learning of the model uses both input information and output time-dependent biomechanical parameters of rowing measured during the rowing of skilled rowers and represent proper values of a stroke in a given moment.
• the measured anthropometric properties of a rower - user are also input information for the reference model, which uses these values and optimum values of skilled rowers to calculate a rower specific parameters of a stroke, such as force and velocity of a pull and target loads F 0 (t) and N 0 (t) of joints for a given moment of a stroke.
• Both the current and target values of biomechanical parameters of a stroke and load of rower's joints are transmitted to the rower via output units of the processing unit 3 in a visual, audio or light, vibrotactile or electrical stimulation way.
• the current and target values of biomechanical parameters of a stroke are displayed on the display 12 in the form of graphical presentations, preferably in the form of two rower's figures that represent the current and target rower's posture.
• the presentation can also be provided in any other known graphical form.
• Loads in joints, such as forces F(t) and torques N(t) are shown in any known graphical form, for instance in the form of vectors that act in the joints of an individual figure, or as dynamic graphs or numerical graphs.
• Dynamic graphs which may be drawn in two or three dimensions can also show the values of previous strokes or values of other rowers for comparison purposes.
• the rower may get a further warning in the form of an audio or light signal.
• the described system provides the rower with real-time feedback on the quality of performance of each stroke and especially feedback on what his stroke should be in order to get closest to the proper stroke relative to his anthropometric properties. This will result in a stroke, for which the rower would follow the rowing technique of a skilled rowers, use minimum energy for a maximum effect, i. e. top velocity of boat gliding on the water level, wherein there will be minimum possibility of injuries.
• a further advantage of the described system lies also in that it may be installed onto a boat due to its low weight and in case when wireless sensors are used. In this case, the measurements are carried out during actual rowing on the water.

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Cited By (9)

Citations (10)

• 2011
  • 2011-07-04 SI SI201100243A patent/SI23792A/sl not_active IP Right Cessation
• 2012
  • 2012-04-30 WO PCT/SI2012/000027 patent/WO2013006145A1/en active Application Filing

Patent Citations (10)

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