EP2398425A4 - Powered artificial knee with agonist-antagonist actuation - Google Patents

Powered artificial knee with agonist-antagonist actuation

Info

Publication number
EP2398425A4
EP2398425A4 EP10736533.0A EP10736533A EP2398425A4 EP 2398425 A4 EP2398425 A4 EP 2398425A4 EP 10736533 A EP10736533 A EP 10736533A EP 2398425 A4 EP2398425 A4 EP 2398425A4
Authority
EP
European Patent Office
Prior art keywords
agonist
artificial knee
powered artificial
antagonist
actuation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP10736533.0A
Other languages
German (de)
French (fr)
Other versions
EP2398425A1 (en
Inventor
Hugh M Herr
Ernesto C Martinez-Villalpando
Jeff Anthony Weber
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Massachusetts Institute of Technology
Original Assignee
Massachusetts Institute of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Massachusetts Institute of Technology filed Critical Massachusetts Institute of Technology
Publication of EP2398425A1 publication Critical patent/EP2398425A1/en
Publication of EP2398425A4 publication Critical patent/EP2398425A4/en
Withdrawn legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/64—Knee joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5066—Muscles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5072—Prostheses not implantable in the body having spring elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7625—Measuring means for measuring angular position
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/764—Measuring means for measuring acceleration
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7645—Measuring means for measuring torque, e.g. hinge or turning moment, moment of force
EP10736533.0A 2009-01-30 2010-02-01 Powered artificial knee with agonist-antagonist actuation Withdrawn EP2398425A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US14854509P 2009-01-30 2009-01-30
PCT/US2010/022760 WO2010088616A1 (en) 2009-01-30 2010-02-01 Powered artificial knee with agonist-antagonist actuation

Publications (2)

Publication Number Publication Date
EP2398425A1 EP2398425A1 (en) 2011-12-28
EP2398425A4 true EP2398425A4 (en) 2013-09-18

Family

ID=42396064

Family Applications (2)

Application Number Title Priority Date Filing Date
EP10736533.0A Withdrawn EP2398425A4 (en) 2009-01-30 2010-02-01 Powered artificial knee with agonist-antagonist actuation
EP10736550.4A Withdrawn EP2391486A4 (en) 2009-01-30 2010-02-01 Model-based neuromechanical controller for a robotic leg

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP10736550.4A Withdrawn EP2391486A4 (en) 2009-01-30 2010-02-01 Model-based neuromechanical controller for a robotic leg

Country Status (7)

Country Link
EP (2) EP2398425A4 (en)
JP (2) JP2012516780A (en)
KR (2) KR20110120927A (en)
CN (2) CN102378669A (en)
AU (2) AU2010207942A1 (en)
CA (1) CA2787955A1 (en)
WO (2) WO2010088635A1 (en)

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US8864846B2 (en) 2005-03-31 2014-10-21 Massachusetts Institute Of Technology Model-based neuromechanical controller for a robotic leg
US20060249315A1 (en) 2005-03-31 2006-11-09 Massachusetts Institute Of Technology Artificial human limbs and joints employing actuators, springs, and variable-damper elements
US20070123997A1 (en) 2005-03-31 2007-05-31 Massachusetts Institute Of Technology Exoskeletons for running and walking
US11278433B2 (en) 2005-03-31 2022-03-22 Massachusetts Institute Of Technology Powered ankle-foot prosthesis
US10307272B2 (en) 2005-03-31 2019-06-04 Massachusetts Institute Of Technology Method for using a model-based controller for a robotic leg
US8500823B2 (en) 2005-03-31 2013-08-06 Massachusetts Institute Of Technology Powered artificial knee with agonist-antagonist actuation
US20070043449A1 (en) 2005-03-31 2007-02-22 Massachusetts Institute Of Technology Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components
US20070162152A1 (en) 2005-03-31 2007-07-12 Massachusetts Institute Of Technology Artificial joints using agonist-antagonist actuators
US8512415B2 (en) 2005-03-31 2013-08-20 Massachusetts Institute Of Technology Powered ankle-foot prothesis
US9498401B2 (en) 2011-12-20 2016-11-22 Massachusetts Institute Of Technology Robotic system for simulating a wearable device and method of use
US9682005B2 (en) 2012-02-24 2017-06-20 Massachusetts Institute Of Technology Elastic element exoskeleton and method of using same
US9221177B2 (en) 2012-04-18 2015-12-29 Massachusetts Institute Of Technology Neuromuscular model-based sensing and control paradigm for a robotic leg
WO2013172968A1 (en) * 2012-05-15 2013-11-21 Vanderbilt University Stair ascent and descent control for powered lower limb devices
DE102012013141A1 (en) 2012-07-03 2014-05-08 Otto Bock Healthcare Gmbh Orthotic or prosthetic joint device and method for its control
US9603724B2 (en) 2013-08-27 2017-03-28 Carnegie Mellon University, A Pennsylvania Non-Profit Corporation Robust swing leg controller under large disturbances
US20160207194A1 (en) * 2013-09-03 2016-07-21 Anne J. BLOOD Stabilization system for robotic technology
US10561563B2 (en) 2013-12-16 2020-02-18 Massachusetts Institute Of Technology Optimal design of a lower limb exoskeleton or orthosis
CN103892943B (en) * 2014-03-19 2015-08-19 中国人民解放军理工大学 Active/passive is in conjunction with the flexible lower limb exoskeleton of force booster type
AU2015240878A1 (en) * 2014-03-31 2016-09-01 Parker-Hannifin Corporation Wearable robotic device
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KR102429612B1 (en) * 2015-07-27 2022-08-05 삼성전자주식회사 Method for walking assist, and devices operating the same
EP3356523A4 (en) * 2015-10-01 2019-03-20 Massachusetts Institute of Technology Biological state machines
KR102459677B1 (en) * 2015-11-05 2022-10-28 삼성전자주식회사 Method and apparatus for learning algorithm
ITUB20159411A1 (en) * 2015-12-28 2017-06-28 Stellar Project S R L COMPACT STABILIZED AIMING SYSTEM
JP6357672B2 (en) * 2016-09-23 2018-07-18 株式会社国際電気通信基礎技術研究所 Drive mechanism
US10406000B2 (en) * 2016-09-29 2019-09-10 The Chinese University Of Hong Kong Ankle-foot prosthesis device
CN106730604B (en) * 2016-12-30 2019-03-01 西安交通大学 A kind of human body exercise treadmill adaptive active control method based on CPG model
WO2018236208A1 (en) * 2017-06-22 2018-12-27 Universiti Malaya A prosthetic limb integrated with a sensory system
CN108143594A (en) * 2017-12-21 2018-06-12 大连厚德坤泰管理咨询有限公司 The co-melting control method for coordinating of lower limb exoskeleton robot complicated landform
CN108393892B (en) * 2018-03-05 2020-07-24 厦门大学 Robot feedforward torque compensation method
CN108789395B (en) * 2018-06-07 2021-03-30 上海交通大学 Series viscoelastic driver based on bionic tendon
CN109664297B (en) * 2018-12-14 2022-04-29 深圳市汇川技术股份有限公司 Vibration suppression method, system and device for robot and computer readable memory
CN109773792B (en) * 2019-02-14 2021-07-06 中科新松有限公司 Position control device and method for series elastic driver, storage medium and equipment
KR102175752B1 (en) 2019-06-19 2020-11-06 성균관대학교 산학협력단 Bi-directional actuator for joint
JP7066065B2 (en) * 2019-07-19 2022-05-12 三菱電機株式会社 Parameter identification device, parameter identification method and computer program
CN110405761B (en) * 2019-07-22 2020-09-01 北京理工大学 Bionic viscoelasticity control method for robot joint
US20220323242A1 (en) * 2019-08-29 2022-10-13 Honda Motor Co., Ltd. Joint device
JP6850054B1 (en) * 2019-09-17 2021-03-31 ＢｉｏｎｉｃＭ株式会社 Auxiliary device and artificial limbs
KR102295380B1 (en) * 2019-11-06 2021-08-30 근로복지공단 Hybrid type prosthesis apparatus
CN111166346A (en) * 2020-02-20 2020-05-19 福州大学 Knee joint flexion and extension angle real-time measuring device and method based on angular velocity sensor
CN111114668B (en) * 2020-03-27 2020-07-07 之江实验室 Digital hydraulic driving method of biped robot based on joint working condition multi-quadrant coupling
JP7237891B2 (en) 2020-07-15 2023-03-13 ソフトバンク株式会社 LEARNING EXECUTION DEVICE, PROGRAM, AND LEARNING EXECUTION METHOD
CN112207819B (en) * 2020-08-31 2022-05-10 深圳市优必选科技股份有限公司 Robot, joint control method thereof, and joint control device
CN112894766B (en) * 2020-12-25 2022-06-14 华南理工大学 Force position hybrid control method applied to walking ankle joint line driving exoskeleton
CN113635992B (en) * 2021-06-15 2023-02-10 上海大学 Bionic jumping leg driven by double-joint pneumatic artificial muscle
CN113673153A (en) * 2021-08-11 2021-11-19 追觅创新科技(苏州)有限公司 Method and device for determining electromagnetic torque of robot, storage medium and electronic device
IT202100024512A1 (en) * 2021-09-23 2023-03-23 Fondazione St Italiano Tecnologia ACTIVE PROSTHETIC JOINT
CN114750152B (en) * 2022-04-02 2023-09-05 南京航空航天大学 Volunteer compliance auxiliary control method for variable-rigidity exoskeleton
NL2032980B1 (en) * 2022-09-07 2024-03-21 Univ Groningen Variable stiffness prosthetic joint
CN116257942B (en) * 2023-05-16 2023-08-15 东方空间技术(山东)有限公司 Rocket simulation model determining method and device

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US5650704A (en) * 1995-06-29 1997-07-22 Massachusetts Institute Of Technology Elastic actuator for precise force control
US20060249315A1 (en) * 2005-03-31 2006-11-09 Massachusetts Institute Of Technology Artificial human limbs and joints employing actuators, springs, and variable-damper elements
US20070050044A1 (en) * 2005-08-26 2007-03-01 The Ohio Willow Wood Company Prosthetic leg having electronically controlled prosthetic knee with regenerative braking feature
US20070162152A1 (en) * 2005-03-31 2007-07-12 Massachusetts Institute Of Technology Artificial joints using agonist-antagonist actuators
US20080169729A1 (en) * 2005-08-23 2008-07-17 Katsuhiko Asai Polymer actuator

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US5650704A (en) * 1995-06-29 1997-07-22 Massachusetts Institute Of Technology Elastic actuator for precise force control
US20060249315A1 (en) * 2005-03-31 2006-11-09 Massachusetts Institute Of Technology Artificial human limbs and joints employing actuators, springs, and variable-damper elements
US20070162152A1 (en) * 2005-03-31 2007-07-12 Massachusetts Institute Of Technology Artificial joints using agonist-antagonist actuators
US20080169729A1 (en) * 2005-08-23 2008-07-17 Katsuhiko Asai Polymer actuator
US20070050044A1 (en) * 2005-08-26 2007-03-01 The Ohio Willow Wood Company Prosthetic leg having electronically controlled prosthetic knee with regenerative braking feature

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Title
See also references of WO2010088616A1 *

Also Published As

Publication number Publication date
EP2391486A1 (en) 2011-12-07
JP2012516717A (en) 2012-07-26
CA2787955A1 (en) 2010-08-05
CN102378669A (en) 2012-03-14
CN102481194A (en) 2012-05-30
EP2398425A1 (en) 2011-12-28
EP2391486A4 (en) 2013-09-04
WO2010088616A1 (en) 2010-08-05
KR20110122150A (en) 2011-11-09
WO2010088635A1 (en) 2010-08-05
JP2012516780A (en) 2012-07-26
KR20110120927A (en) 2011-11-04
AU2010207942A1 (en) 2011-09-15
AU2010208020A1 (en) 2011-09-15

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