Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501092
J. Galvez, G. Kerdanyan, S. Maneekobkunwong, R. Weber, M. Scott, S. Harkema, D. Reinkensmeyer
This paper presents work towards quantifying the manual assistance provided by therapists during locomotor training for people with spinal cord injury. The final goal is to translate human trainers' skill into gait-training robot algorithms. Locomotor training is a rehabilitation technique in which three therapists assist the legs and hip of the patient to walk on a treadmill while part of the patient's body weight is supported by an overhead harness. We have developed a sensorized orthosis that measures shank kinematics and therapist forces during locomotor training. The orthosis is attached to one of the legs, so that one of the therapists assists through the orthotic interface. This interface is similar to how a locomotor-training robot is attached to the patient's shank. However, the force and intelligence behind the orthosis is not robotic, but human. Our intention is to quantify and analyze the human therapists' intelligence and expertise to help design better gait-training robot control algorithms. In this paper we present some preliminary results from the first locomotor training sessions with spinal cord injured patients using this sensor system. A key initial finding is that even skilled trainers assist with substantial differences in terms of both forces and motions. With the same patient, same stepping speed and same body weight support, the differences in peak forces applied to the knee between trainers were up to 100% in some sessions.
{"title":"Measuring human trainers' skill for the design of better robot control algorithms for gait training after spinal cord injury","authors":"J. Galvez, G. Kerdanyan, S. Maneekobkunwong, R. Weber, M. Scott, S. Harkema, D. Reinkensmeyer","doi":"10.1109/ICORR.2005.1501092","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501092","url":null,"abstract":"This paper presents work towards quantifying the manual assistance provided by therapists during locomotor training for people with spinal cord injury. The final goal is to translate human trainers' skill into gait-training robot algorithms. Locomotor training is a rehabilitation technique in which three therapists assist the legs and hip of the patient to walk on a treadmill while part of the patient's body weight is supported by an overhead harness. We have developed a sensorized orthosis that measures shank kinematics and therapist forces during locomotor training. The orthosis is attached to one of the legs, so that one of the therapists assists through the orthotic interface. This interface is similar to how a locomotor-training robot is attached to the patient's shank. However, the force and intelligence behind the orthosis is not robotic, but human. Our intention is to quantify and analyze the human therapists' intelligence and expertise to help design better gait-training robot control algorithms. In this paper we present some preliminary results from the first locomotor training sessions with spinal cord injured patients using this sensor system. A key initial finding is that even skilled trainers assist with substantial differences in terms of both forces and motions. With the same patient, same stepping speed and same body weight support, the differences in peak forces applied to the knee between trainers were up to 100% in some sessions.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121122710","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501061
C. Acosta-Marquez, D. Bradley
The potential for using an exoskeleton to support mobility has been considered for some time. The paper describes the procedures associated with the analysis, design and implementation of a model for a lightweight design of such an exoskeleton and shows how the integration of motion analysis with modelling supported the development of the concept. It then proceeds to consider the implementation of the identified control and operational strategies in model form and how the basic concepts developed are being deployed in support of an implementation of system to support the rehabilitation of the lower limbs.
{"title":"The analysis, design and implementation of a model of an exoskeleton to support mobility","authors":"C. Acosta-Marquez, D. Bradley","doi":"10.1109/ICORR.2005.1501061","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501061","url":null,"abstract":"The potential for using an exoskeleton to support mobility has been considered for some time. The paper describes the procedures associated with the analysis, design and implementation of a model for a lightweight design of such an exoskeleton and shows how the integration of motion analysis with modelling supported the development of the concept. It then proceeds to consider the implementation of the identified control and operational strategies in model form and how the basic concepts developed are being deployed in support of an implementation of system to support the rehabilitation of the lower limbs.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"40 12","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120817151","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501140
H. Shim, E. Lee, J. Shim, Sang-Moo Lee, Seung-Hong Hong
In this paper, we propose an architecture of walking assistant robot for the elderly which is usable at outdoor environment. It is equipped with a PXA255 embedded board, motors, a laser range finder, a CCD camera and a GPS receiver. A user operates it using haptic handle bar. It is useful to the elderly for more comfortable walking and path guidance.
{"title":"Implementation of an intelligent walking assistant robot for the elderly in outdoor environment","authors":"H. Shim, E. Lee, J. Shim, Sang-Moo Lee, Seung-Hong Hong","doi":"10.1109/ICORR.2005.1501140","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501140","url":null,"abstract":"In this paper, we propose an architecture of walking assistant robot for the elderly which is usable at outdoor environment. It is equipped with a PXA255 embedded board, motors, a laser range finder, a CCD camera and a GPS receiver. A user operates it using haptic handle bar. It is useful to the elderly for more comfortable walking and path guidance.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134414744","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501064
K. Hollander, T. Sugar, D. Herring
An adjustable robotic tendon is a spring based linear actuator in which the properties of a spring are crucial to its successful use in a gait assistance device. Like its human analog, the adjustable robotic tendon uses its inherent elastic nature to both reduce peak power and energy requirements for its motor. In the ideal example, peak power required of the motor for ankle gait is reduced from 250 W to just 81 W. In addition, ideal energy requirements are reduced from nearly 36 Joules to just 25 Joules per step. Using this approach, an initial prototype is expected to provide 100% of the power and energy necessary for ankle gait in a compact 0.84 kg package. This weight is 8 times less than that predicted for an equivalent direct drive approach.
{"title":"Adjustable robotic tendon using a 'Jack Spring'/spl trade/","authors":"K. Hollander, T. Sugar, D. Herring","doi":"10.1109/ICORR.2005.1501064","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501064","url":null,"abstract":"An adjustable robotic tendon is a spring based linear actuator in which the properties of a spring are crucial to its successful use in a gait assistance device. Like its human analog, the adjustable robotic tendon uses its inherent elastic nature to both reduce peak power and energy requirements for its motor. In the ideal example, peak power required of the motor for ankle gait is reduced from 250 W to just 81 W. In addition, ideal energy requirements are reduced from nearly 36 Joules to just 25 Joules per step. Using this approach, an initial prototype is expected to provide 100% of the power and energy necessary for ankle gait in a compact 0.84 kg package. This weight is 8 times less than that predicted for an equivalent direct drive approach.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"228 1-2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114026345","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501066
F. Huang, R. Gillespie, A. Kuo
In this study healthy human subjects (n=10) manually controlled a rotary handle to track a sinusoidally moving target as displayed on a computer screen. During movement, either the apparent handle inertia or tracking frequency changed to a higher or lower value. We analyzed the initial performance recovery following task perturbation using a linear fit of the velocity tracking error trends. For both types of task perturbations, we found significant increases in the intercept of the line fit (paired t-tests, two-tailed: p<.05) compared to trials with no change. We also found that adaptation rates indicated by the slope of the line fit of the tracking velocity error were larger for frequency changes than for apparent changes of the inertia for parameter increases (p=0.029, paired t-tests, one-tailed) and parameter decreases (p=0.055, paired tests, one-tailed). Our results provide evidence that humans use low impedance control that is task-specific to object parameters such as inertia. In addition, the results provide evidence that the adaptation to motion parameter changes and object parameter changes are different control processes.
{"title":"Investigation of motor adaptation to movement versus object parameters","authors":"F. Huang, R. Gillespie, A. Kuo","doi":"10.1109/ICORR.2005.1501066","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501066","url":null,"abstract":"In this study healthy human subjects (n=10) manually controlled a rotary handle to track a sinusoidally moving target as displayed on a computer screen. During movement, either the apparent handle inertia or tracking frequency changed to a higher or lower value. We analyzed the initial performance recovery following task perturbation using a linear fit of the velocity tracking error trends. For both types of task perturbations, we found significant increases in the intercept of the line fit (paired t-tests, two-tailed: p<.05) compared to trials with no change. We also found that adaptation rates indicated by the slope of the line fit of the tracking velocity error were larger for frequency changes than for apparent changes of the inertia for parameter increases (p=0.029, paired t-tests, one-tailed) and parameter decreases (p=0.055, paired tests, one-tailed). Our results provide evidence that humans use low impedance control that is task-specific to object parameters such as inertia. In addition, the results provide evidence that the adaptation to motion parameter changes and object parameter changes are different control processes.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126959284","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501076
Inhyuk Moon, Sungjae Kang, G. Kim, M. Mun
Air mattress is now used widely to prevent the pressure ulcer by reducing the localized pressure peaks. In this paper an air-cell mattress and its pressure control method based on an approximate anthropometric model are presented. The air-cell mattress has eighteen cylindrical air cells made of porous material allowing air leakage to contribute in reducing the development of pressure ulcer by lowering the pressure peak, temperature and humidity. To determine an optimal air-cell pressure appropriate for each user, we divide the parts of the body into four sections such as head, trunk, hip, and leg. Then, the pressure of each section is independently calculated from the weight of each part based on the individual body height and weight and the approximate anthropometric model. Air supply system for the air-cell mattress is implemented by using four electronic solenoid valves and an air compressor, and it is driven by a real-time micro-controller. The experimental results for seven subjects shows that the proposed air-cell mattress is effective for the prevention of the pressure ulcer.
{"title":"Control of air-cell mattress for preventing pressure ulcer based on approximate anthropometric model","authors":"Inhyuk Moon, Sungjae Kang, G. Kim, M. Mun","doi":"10.1109/ICORR.2005.1501076","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501076","url":null,"abstract":"Air mattress is now used widely to prevent the pressure ulcer by reducing the localized pressure peaks. In this paper an air-cell mattress and its pressure control method based on an approximate anthropometric model are presented. The air-cell mattress has eighteen cylindrical air cells made of porous material allowing air leakage to contribute in reducing the development of pressure ulcer by lowering the pressure peak, temperature and humidity. To determine an optimal air-cell pressure appropriate for each user, we divide the parts of the body into four sections such as head, trunk, hip, and leg. Then, the pressure of each section is independently calculated from the weight of each part based on the individual body height and weight and the approximate anthropometric model. Air supply system for the air-cell mattress is implemented by using four electronic solenoid valves and an air compressor, and it is driven by a real-time micro-controller. The experimental results for seven subjects shows that the proposed air-cell mattress is effective for the prevention of the pressure ulcer.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124832383","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501106
David Mayhew, Benjamin Bachrach, W. Z. Rymer, Randall F. Beer
This paper describes the design and operation of the multi-axis cartesian-based arm rehabilitation machine (MACARM), a new cable (wire) robot for upper limb rehabilitation. The prototype configuration is comprised of an array of 8 motors mounted at the corners of a cubic support frame that provides, via cables, 6 degree of freedom (DOF) control of a centrally located end-effector. A 6 DOF load cell mounted on the end-effector provides force measurement. Given its relatively simple architecture, the MACARM may provide an attractive alternative to serial robots for use in neurorehabilitation.
{"title":"Development of the MACARM - a novel cable robot for upper limb neurorehabilitation","authors":"David Mayhew, Benjamin Bachrach, W. Z. Rymer, Randall F. Beer","doi":"10.1109/ICORR.2005.1501106","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501106","url":null,"abstract":"This paper describes the design and operation of the multi-axis cartesian-based arm rehabilitation machine (MACARM), a new cable (wire) robot for upper limb rehabilitation. The prototype configuration is comprised of an array of 8 motors mounted at the corners of a cubic support frame that provides, via cables, 6 degree of freedom (DOF) control of a centrally located end-effector. A 6 DOF load cell mounted on the end-effector provides force measurement. Given its relatively simple architecture, the MACARM may provide an attractive alternative to serial robots for use in neurorehabilitation.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129529032","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501149
Jin-Woo Jung, Jun-Hyeong Do, Young-min Kim, Kwang-Suhk Suh, Dae-Jin Kim, Z. Bien
A novel advanced robotic residence, Intelligent Sweet Home (ISH), is developed at KAIST, Korea for testing advanced concepts for independent living of the elderly and the physically handicapped. The work focuses on human-friendly technical solutions for motion/mobility assistance, health monitoring, and advanced human-machine interfaces that provide easy control of both assistive devices and home-installed appliances. To improve the inhabitant's comfort, an intelligent bed, intelligent wheelchair and mechatronic transfer robot were developed. And, various interfaces based on hand gestures and voice, and health monitoring system were studied. This paper emphasizes the realization scheme of Intelligent Sweet Home and user evaluation by a physically handicapped person.
{"title":"Advanced robotic residence for the elderly/the handicapped: realization and user evaluation","authors":"Jin-Woo Jung, Jun-Hyeong Do, Young-min Kim, Kwang-Suhk Suh, Dae-Jin Kim, Z. Bien","doi":"10.1109/ICORR.2005.1501149","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501149","url":null,"abstract":"A novel advanced robotic residence, Intelligent Sweet Home (ISH), is developed at KAIST, Korea for testing advanced concepts for independent living of the elderly and the physically handicapped. The work focuses on human-friendly technical solutions for motion/mobility assistance, health monitoring, and advanced human-machine interfaces that provide easy control of both assistive devices and home-installed appliances. To improve the inhabitant's comfort, an intelligent bed, intelligent wheelchair and mechatronic transfer robot were developed. And, various interfaces based on hand gestures and voice, and health monitoring system were studied. This paper emphasizes the realization scheme of Intelligent Sweet Home and user evaluation by a physically handicapped person.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129896429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501038
J. Wagner, D. Cannon, H. V. D. Van der Loos
Robot-user interfaces have become more intuitive as a direct consequence of the advances in computer interface design. Yet direct brain interfaces, made possible by recent advances in nano-technology and implanted cerebral electrode arrays, have the potential to eliminate these physical interfaces. However, direct brain interfaces may at the same time pose ethical questions related to the enhancement of human function through interpretation of thought processes alone. We have identified three issues that are core in the development of roboethics: how best to direct and pace the deployment and use of the technology; how to distinguish between, and perhaps as necessary redefine, what constitutes enhancement vs. functional compensation; and how to understand responsibility in a system where traditional man-machine boundaries are blurred. This paper discusses some of these issues against the backdrop of today's multi-cultural society.
{"title":"Cross-cultural considerations in establishing roboethics for neuro-robot applications","authors":"J. Wagner, D. Cannon, H. V. D. Van der Loos","doi":"10.1109/ICORR.2005.1501038","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501038","url":null,"abstract":"Robot-user interfaces have become more intuitive as a direct consequence of the advances in computer interface design. Yet direct brain interfaces, made possible by recent advances in nano-technology and implanted cerebral electrode arrays, have the potential to eliminate these physical interfaces. However, direct brain interfaces may at the same time pose ethical questions related to the enhancement of human function through interpretation of thought processes alone. We have identified three issues that are core in the development of roboethics: how best to direct and pace the deployment and use of the technology; how to distinguish between, and perhaps as necessary redefine, what constitutes enhancement vs. functional compensation; and how to understand responsibility in a system where traditional man-machine boundaries are blurred. This paper discusses some of these issues against the backdrop of today's multi-cultural society.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124361285","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501062
J. Sulzer, M. Peshkin, J. Patton
A cable-driven, rotary series elastic actuator named MARIONET (moment arm adjustment for remote induction of net effective torque) is introduced as a novel means to deliver torque to a joint. Its advantages include remote actuation, independent control of compliance and equilibrium, and in future versions, the ability to span multiple joints. This cable-driven, compliant mechanism should prove very useful in a variety of human-robot interactions. Here we present a single joint device evaluated in terms of its position and torque step responses, its ability to follow a minimum jerk trajectory, and its ability to create torque fields. Results show that this device behaves as planned with several important limitations. We conclude with potential applications of this type of mechanism.
{"title":"MARIONET: An exotendon-driven rotary series elastic actuator for exerting joint torque","authors":"J. Sulzer, M. Peshkin, J. Patton","doi":"10.1109/ICORR.2005.1501062","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501062","url":null,"abstract":"A cable-driven, rotary series elastic actuator named MARIONET (moment arm adjustment for remote induction of net effective torque) is introduced as a novel means to deliver torque to a joint. Its advantages include remote actuation, independent control of compliance and equilibrium, and in future versions, the ability to span multiple joints. This cable-driven, compliant mechanism should prove very useful in a variety of human-robot interactions. Here we present a single joint device evaluated in terms of its position and torque step responses, its ability to follow a minimum jerk trajectory, and its ability to create torque fields. Results show that this device behaves as planned with several important limitations. We conclude with potential applications of this type of mechanism.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"149 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115586045","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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