Lower extremity exoskeleton passive-active rehabilitation training device

Abstract

The application discloses a lower limb exoskeleton active-passive rehabilitation training device in the technical field of rehabilitation training devices, which comprises a lower limb training device, a plurality of fixed tracks are fixedly arranged at the support of the lower limb training device, a positioning assembly is movably connected to the middle part of the fixed track, the positioning assembly is used for being connected with the fixed track, a fixed block is fixedly connected to the end of the positioning assembly, a wrapping cylinder is fixedly connected to the end of the fixed block, an antiskid assembly is arranged on the upper part of the wrapping cylinder, the antiskid assembly is used for preventing the legs of a user from sliding in the wrapping cylinder, a limiting assembly is arranged in the middle part of the fixed block, the limiting assembly is used for fixing the positioning assembly, the position of the positioning assembly is limited through the limiting assembly, the loosening of the positioning assembly caused by vibration during movement of the user is avoided, the positioning assembly is prevented from being separated from the embedded fixed track, and the amputated limb is more stable in the wrapping cylinder.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation training device technology, specifically to a lower limb exoskeleton active and passive rehabilitation training device. Background Technology

[0002] A lower limb exoskeleton rehabilitation training device is an assistive device used to help patients with lower limb dysfunction or rehabilitation needs to train and rehabilitate. This device provides support and assistive force to help patients regain walking ability and perform rehabilitation training. A lower limb exoskeleton rehabilitation training device typically includes a metal frame and sensors to sense the patient's movements and force needs. Based on the patient's needs, the device can provide force and support according to their movements, helping the patient regain muscle strength and balance. Lower limb exoskeleton rehabilitation training devices can be applied to various rehabilitation situations, including lower limb dysfunction caused by stroke, spinal cord injury, trauma, etc. It not only provides physical support but also provides psychological encouragement and motivation, helping patients regain confidence and increase rehabilitation effectiveness.

[0003] Existing lower limb exoskeleton rehabilitation training devices require the user's foot to be pressed against the foot support part of the frame when fixing the user's leg, and then the leg is fixed with straps. This allows the foot to have a point of force to drive the lower limb exoskeleton rehabilitation training device. However, some users have amputated one leg, so they cannot use their foot to press against the foot support part of the frame. This causes the user's leg to lose a point of force, making it unsuitable for the needs of amputees.

[0004] Based on this, the present invention designs a lower limb exoskeleton active and passive rehabilitation training device to solve the problem that some users have amputated one leg, which means they cannot use their feet to support the foot of the frame, thus causing the user's leg to lose its power point and making it unable to meet the usage needs of amputee users. Summary of the Invention

[0005] The purpose of this invention is to provide a lower limb exoskeleton active and passive rehabilitation training device to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a lower limb exoskeleton active and passive rehabilitation training device, comprising a lower limb trainer, wherein a plurality of fixed tracks are fixedly arranged at the support of the lower limb trainer, a positioning component is movably connected to the middle of the fixed track, the positioning component is used to connect with the fixed track, a fixing block is fixedly connected to the end of the positioning component, a wrapping tube is fixedly connected to the end of the fixing block, an anti-slip component is provided on the upper part of the wrapping tube, the anti-slip component is used to prevent the user's leg from sliding inside the wrapping tube, and a limiting component is provided in the middle of the fixing block, the limiting component is used to fix the positioning component;

[0007] The fixed track also includes: a fixed base, a slot, and a multi-tooth meshing groove. The end face of the fixed base is fixedly connected to the bracket of the lower limb trainer. A slot is provided in the middle of the fixed base. Multiple multi-tooth meshing grooves are fixedly provided in the inner cavity of the fixed base. The multi-tooth meshing grooves are meshed and connected to the positioning component.

[0008] The positioning component includes: a toothed plate, a pull plate, a sliding frame, and a linkage rod. The end face of the positioning component is fixedly connected to the end of the fixing block. Multiple toothed plates are slidably connected to the cavity in the middle of the positioning component. The middle part of the toothed plate is rotatably connected to the end of the linkage rod. The middle part of the linkage rod is rotatably connected to one end of the sliding frame. The frame of the sliding frame is slidably connected through the middle of the positioning component. The other end of the sliding frame is fixedly connected to the pull plate.

[0009] The sliding frame further includes: a rack and a connecting plate. The end of the sliding frame is fixedly connected to one side of the connecting plate, and a plurality of racks are fixedly connected to the other side of the connecting plate. The ends of the racks are fixedly connected to the ends of the pull plate.

[0010] The linkage also includes: hinge rod one and hinge rod two. The rod body of the linkage rod is rotatably connected to one end of hinge rod one, and the other end of hinge rod one is rotatably connected to the middle of the fitting tooth plate. The rod body of the linkage rod is rotatably connected to one end of hinge rod two, and the other end of hinge rod two is rotatably connected to the middle of another fitting tooth plate.

[0011] The anti-slip component includes: a toothed column, a cylindrical rod, a drive rod, an inner liner, a guide member, and a guide post. The toothed column is meshed with the positioning component. The middle part of the toothed column is fixedly connected to the middle part of the cylindrical rod. The end of the cylindrical rod is rotatably connected to one end of the drive rod. The other end of the drive rod is rotatably connected to the end of the inner liner. The inner liner is slidably connected to the column body of the guide post. The end of the guide post is fixedly connected to one end of the guide member. The other end of the guide member is fixedly connected to the outer wall of the wrapping cylinder.

[0012] The cylindrical rod further includes: a guide handle and a rolling shaft. One end of the cylindrical rod is fixedly connected to one end of the guide handle, and the other end of the guide handle is fixedly connected to the end of the rolling shaft. The rolling shaft is rotatably connected to the side wall of the fixed block.

[0013] The inner liner also includes: a connecting handle and a rotating shaft. The outer wall of the inner liner is fixedly connected to one end of the connecting handle. The hole of the connecting handle is slidably connected to the column of the guide post. The other end of the connecting handle is fixedly connected to one end of the rotating shaft. The other end of the rotating shaft is rotatably connected to the end of the drive rod.

[0014] The limiting component includes: an elastic element, a limiting head, a pushing element, a spherical element, and a fixing post. The end of the pushing element is fixedly connected to the end of the positioning component, the middle part of the pushing element is fixedly connected to one end of the fixing post, the other end of the fixing post is fixedly connected to the middle part of the spherical element, the elastic element is slidably connected to the side wall of the fixing block, and the end of the elastic element is fixedly connected to the middle part of the limiting head.

[0015] The elastic element further includes: a sliding pin and a spring. The middle part of the elastic element is fixedly connected to one end of the sliding pin, and the other end of the sliding pin is fixedly connected to the middle part of the limiting head. A spring is sleeved and connected to the outer wall of the sliding pin.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. The present invention uses the action of the positioning component to fix the wrapping tube in a position that is adapted to the user's amputated limb. The connection between the positioning component and the fixed track can adapt to different heights of the amputated limb, and the adjustability is relatively stable.

[0018] 2. The present invention uses a positioning component to drive the movement of an anti-slip component, which fills the gap between the package and the user's limb, preventing the user from slipping at the point of exertion due to the gap during movement, thus affecting the user's use.

[0019] 3. The present invention restricts the position of the positioning component by limiting the component, which prevents the positioning component from becoming loose due to vibration generated during the user's movement, thereby preventing the positioning component from falling out of the fixed track and making the severed limb more stable inside the wrapping tube. Attached Figure Description

[0020] Figure 1 A schematic diagram of the overall structure of the lower limb training device and the present invention;

[0021] Figure 2 for Figure 1 A magnified structural diagram of part A;

[0022] Figure 3 This is a top-view three-dimensional structural diagram of the present invention;

[0023] Figure 4 for Figure 3 A schematic diagram of the enlarged structure of part B;

[0024] Figure 5 This is a schematic diagram of the front three-dimensional structure of the present invention;

[0025] Figure 6 for Figure 5 A magnified structural diagram of section C;

[0026] Figure 7 for Figure 5 A schematic diagram of the enlarged structure of part D;

[0027] Figure 8 This is a bottom-view three-dimensional structural diagram of the present invention;

[0028] Figure 9 for Figure 8 A magnified structural diagram of part E;

[0029] Figure 10 This is a three-dimensional structural diagram of the right side of the present invention;

[0030] Figure 11 for Figure 10 A schematic diagram of the enlarged structure of part K;

[0031] Figure 12 for Figure 10 A magnified structural diagram of the H section.

[0032] The attached diagram lists the components represented by each number as follows:

[0033] 1. Lower limb trainer; 2. Fixed track; 21. Fixed base; 211. Slot; 212. Multi-tooth meshing groove; 3. Wrapping tube; 31. Fixing block; 4. Anti-slip component; 40. Toothed column; 42. Cylindrical rod; 421. Guide handle; 422. Rolling shaft; 43. Drive rod; 44. Inner liner; 441. Connecting handle; 442. Rotating shaft; 45. Guide component; 451. Guide post; 5. Positioning component; 51. Fitting toothed plate; 52. Pull plate; 53. Sliding frame; 531. Rack; 532. Connecting plate; 54. Linkage rod; 541. Hinge rod one; 542. Hinge rod two; 6. Limiting component; 61. Elastic component; 611. Sliding pin; 612. Spring; 63. Limiting head; 641. Spherical component; 642. Fixing post; 64. Pushing component. Detailed Implementation

[0034] Please see Figures 1-12 This invention provides a technical solution: a lower limb exoskeleton active and passive rehabilitation training device, including a lower limb trainer 1. Multiple fixed tracks 2 are fixedly installed at the support of the lower limb trainer 1. A positioning component 5 is movably connected to the middle of each fixed track 2. The positioning component 5 is used to connect with the fixed track 2. A fixing block 31 is fixedly connected to the end of the positioning component 5. A wrapping cylinder 3 is fixedly connected to the end of the fixing block 31. An anti-slip component 4 is provided on the upper part of the wrapping cylinder 3 to prevent the user's leg from sliding inside the wrapping cylinder 3. A limiting component 6 is provided in the middle of the fixing block 31 to fix the positioning component 5.

[0035] When an amputee uses the lower limb trainer 1 for exercise, the amputated limb is inserted into the inlet of the sleeve 3. At this time, the installer presses the sleeve 3 with his hand to move it toward the fixed track 2 at the corresponding position, so that the positioning component 5 is locked in the fixed track 2 at the corresponding height of the amputated limb. The installer then manually moves the positioning component 5 to engage and lock it with the fixed track 2, thereby fixing the sleeve 3. The movement of the positioning component 5 will drive the anti-slip component 4 to move. The anti-slip component 4 will then move from the inlet of the sleeve 3 toward the inside of the sleeve 3, thereby filling the gap between the user's leg and the inner wall of the sleeve 3, preventing the amputated limb and the sleeve 3 from shaking during use. When the positioning component 5 is in place, the limiting component 6 will hold the positioning component 5 in place, preventing the positioning component 5 from resetting due to shaking caused by the user using the lower limb trainer 1.

[0036] As a further embodiment of the present invention, the fixed track 2 further includes: a fixed base 21, a slot 211, and a multi-tooth meshing groove 212. The end face of the fixed base 21 is fixedly connected to the bracket of the lower limb trainer 1. The slot 211 is provided in the middle of the fixed base 21. A plurality of multi-tooth meshing grooves 212 are fixedly provided in the inner cavity of the fixed base 21. The multi-tooth meshing grooves 212 are meshed and connected to the positioning component 5.

[0037] The positioning component 5 includes: a toothed plate 51, a pull plate 52, a sliding frame 53, and a linkage rod 54. The end face of the positioning component 5 is fixedly connected to the end of the fixing block 31. Multiple toothed plates 51 are slidably connected to the cavity in the middle of the positioning component 5. The middle part of the toothed plate 51 is rotatably connected to the end of the linkage rod 54. The middle part of the linkage rod 54 is rotatably connected to one end of the sliding frame 53. The frame of the sliding frame 53 is slidably connected to the middle of the positioning component 5. The other end of the sliding frame 53 is fixedly connected to the pull plate 52.

[0038] The sliding frame 53 further includes: a rack 531 and a connecting plate 532. The end of the sliding frame 53 is fixedly connected to one side of the connecting plate 532, and a plurality of racks 531 are fixedly connected to the other side of the connecting plate 532. The end of the rack 531 is fixedly connected to the end of the pull plate 52.

[0039] The linkage rod 54 further includes: a first hinge rod 541 and a second hinge rod 542. The rod body of the linkage rod 54 is rotatably connected to one end of the first hinge rod 541, and the other end of the first hinge rod 541 is rotatably connected to the middle of the fitting tooth plate 51. The rod body of the linkage rod 54 is rotatably connected to one end of the second hinge rod 542, and the other end of the second hinge rod 542 is rotatably connected to the middle of another fitting tooth plate 51.

[0040] When the installer inserts the sliding bracket 53 into the slot 211, the slot 211 on the fixed base 21 is designed to accommodate the positioning component 5 when it is inserted into the multi-tooth meshing slot 212 at the same horizontal position. The sliding bracket 53 can extend to the slot 211. The installer pulls the pull plate 52, which causes the sliding bracket 53 to slide. At this time, the sliding bracket 53 will slide towards the position of the pull plate 52. The pull plate 52, through the linkage rod 54, causes the hinge rod 1 541 and hinge rod 2 542 to unfold. At this time, the hinge rod 1 541 and hinge rod 2 542 will abut against the two The toothed plate 51 slides, causing it to slide towards the multi-tooth meshing groove 212 under the restriction of the positioning component 5, until the teeth on the toothed plate 51 mesh with the teeth of the multi-tooth meshing groove 212. At this point, the pull plate 52 can no longer be pulled. The action of the positioning component 5 will fix the positioning component 5 in the fixed track 2. The positioning component 5 is also fixedly connected to the fixing block 31, which is fixedly connected to the wrapping tube 3. Therefore, the wrapping tube 3 will also be fixed accordingly, so that the severed limb is pressed against the bottom of the wrapping tube 3, and the user's severed limb can also have a point of force.

[0041] The positioning component 5 is used to fix the wrapping tube 3 in a position that is compatible with the user's amputated limb. The connection between the positioning component 5 and the fixed track 2 can adapt to different heights of the amputated limb and the adjustability is relatively stable.

[0042] As a further embodiment of the present invention, the anti-slip component 4 includes: a toothed column 40, a cylindrical rod 42, a drive rod 43, an inner liner 44, a guide member 45, and a guide post 451. The toothed column 40 is meshed with the positioning component 5. The middle part of the toothed column 40 is fixedly connected to the middle part of the cylindrical rod 42. The end of the cylindrical rod 42 is rotatably connected to one end of the drive rod 43. The other end of the drive rod 43 is rotatably connected to the end of the inner liner 44. The inner liner 44 is slidably connected to the column of the guide post 451. The end of the guide post 451 is fixedly connected to one end of the guide member 45. The other end of the guide member 45 is fixedly connected to the outer wall of the wrapping cylinder 3.

[0043] The cylindrical rod 42 further includes: a guide handle 421 and a rolling shaft 422. One end of the cylindrical rod 42 is fixedly connected to one end of the guide handle 421, and the other end of the guide handle 421 is fixedly connected to the end of the rolling shaft 422. The rolling shaft 422 is rotatably connected to the side wall of the fixed block 31.

[0044] The inner liner 44 further includes: a connecting handle 441 and a rotating shaft 442. The outer wall of the inner liner 44 is fixedly connected to one end of the connecting handle 441. The hole of the connecting handle 441 is slidably connected to the column of the guide post 451. The other end of the connecting handle 441 is fixedly connected to one end of the rotating shaft 442. The other end of the rotating shaft 442 is rotatably connected to the end of the drive rod 43.

[0045] When the pull plate 52 is pulled, because the pull plate 52 is fixedly connected to the rack 531, and the rack 531 is engaged with the toothed column 40, the toothed column 40 will also rotate when the rack 531 moves. The toothed column 40 is fixedly connected to the rolling shaft 422, so the rolling shaft 422 will also rotate synchronously. The rolling shaft 422 is fixedly connected to the guide handle 421, so the rolling shaft 422 will drive the guide handle 421 to rotate. The guide handle 421 will rotate from the upward state to the downward state. Because the guide handle 421 is fixedly connected to the cylindrical rod 42, and the cylindrical rod 42 rotates and drives the driving rod 43, the guide handle 421 will drive the cylindrical rod 42 to drive the driving rod 43 to move downward. At this time, the rotating shaft 442 connected to the driving rod 43 will also move downward, so that the connecting handle 441 slides downward under the restriction of the guide column 451. At this time, the inner lining 44 will slide towards the inside of the wrapping cylinder 3, so that the user's severed limb is filled with the internal cavity of the wrapping cylinder 3.

[0046] The positioning component 5 drives the anti-slip component 4 to fill the gap between the wrapping tube 3 and the user's limbs, preventing the user from slipping at the point of force application due to the gap during movement, thus affecting the user's use.

[0047] As a further embodiment of the present invention, the limiting component 6 includes: an elastic member 61, a limiting head 63, a pushing member 64, a spherical member 641, and a fixing post 642. The end of the pushing member 64 is fixedly connected to the end of the positioning component 5, the middle part of the pushing member 64 is fixedly connected to one end of the fixing post 642, the other end of the fixing post 642 is fixedly connected to the middle part of the spherical member 641, the elastic member 61 is slidably connected to the side wall of the fixing block 31, and the end of the elastic member 61 is fixedly connected to the middle part of the limiting head 63.

[0048] The elastic element 61 further includes: a sliding pin 611 and a spring 612. The middle part of the elastic element 61 is fixedly connected to one end of the sliding pin 611, and the other end of the sliding pin 611 is fixedly connected to the middle part of the limiting head 63. The outer wall of the sliding pin 611 is sleeved with the spring 612.

[0049] During the pulling of the pull plate 52, because the inner wall of the rack 531 is fixedly connected to the end of the actuating member 64, and the middle of the actuating member 64 is fixedly connected to the fixing post 642, and the fixing post 642 is fixedly connected to the spherical member 641, the spherical member 641 will move synchronously with the rack 531. During the movement, the spherical member 641 will contact one side of the limiting head 63. The side of the limiting head 63 facing the spherical member 641 is inclined. Therefore, when the spherical member 641 continues to move, the spherical member 641 will abut against the limiting head 63, causing the limiting head 63 to press against the sliding pin 611, thereby limiting the movement. The head 63 slides toward the position of the elastic member 61. At this time, the ball member 641 can pass through the resistance of the limiting head 63. When the ball member 641 completely passes the position of the limiting head 63, the limiting head 63 loses the compression of the ball member 641, thereby causing the spring 612 to release its elastic force and reset the limiting head 63. At this time, the right angle surface on the back of the limiting head 63 will abut against the ball member 641, and the pull plate 52 is also pulled into place. The limiting head 63 can restrict the reset of the ball member 641, avoiding the situation where the pull plate 52 becomes loose, which would lead to the positioning component 5 and the fixed track 2 not fitting tightly.

[0050] By limiting the position of the positioning component 5 by the limiting component 6, the positioning component 5 is prevented from becoming loose due to vibration generated during the user's movement, thereby preventing the positioning component 5 from disengaging from the fixed track 2 and making the severed limb more stable inside the wrapping tube 3.

Claims

1. A lower extremity exoskeleton passive-active rehabilitation training device, comprising a lower extremity training device (1), characterized in that: The lower limb trainer (1) is provided with a plurality of fixed tracks (2) at the fixing position of the support, the middle part of the fixed track (2) is movably connected with a positioning assembly (5), the positioning assembly (5) is used for connecting with the fixed track (2), the end of the positioning assembly (5) is fixedly connected with a fixed block (31), the end of the fixed block (31) is fixedly connected with a wrapping cylinder (3), the upper part of the wrapping cylinder (3) is provided with an anti-skid assembly (4), the anti-skid assembly (4) is used for preventing the user's leg from sliding in the wrapping cylinder (3), the middle part of the fixed block (31) is provided with a limiting assembly (6), and the limiting assembly (6) is used for fixing the positioning assembly (5). The fixed track (2) further comprises a fixed base (21), a clamping groove (211) and a plurality of tooth engagement groove pieces (212), the end surface of the fixed base (21) is fixedly connected to the support of the lower limb trainer (1), the middle part of the fixed base (21) is provided with the clamping groove (211), and the inner cavity of the fixed base (21) is fixedly provided with a plurality of tooth engagement groove pieces (212); the tooth engagement groove pieces (212) are engagedly connected to the positioning assembly (5). The positioning assembly (5) comprises a plurality of embedded tooth plates (51), a pull plate (52), a sliding frame (53) and a linkage rod (54), the end surface of the positioning assembly (5) is fixedly connected to the end of the fixed block (31), the cavity in the middle part of the positioning assembly (5) is slidably connected with a plurality of embedded tooth plates (51), the middle part of the embedded tooth plate (51) is rotatably connected to the end of the linkage rod (54), the middle part of the linkage rod (54) is rotatably connected to one end of the sliding frame (53), the frame body of the sliding frame (53) penetrates through the sliding connection in the middle part of the positioning assembly (5), and the other end of the sliding frame (53) is fixedly connected to the pull plate (52). The linkage rod (54) further comprises a hinged rod one (541) and a hinged rod two (542), the rod body of the linkage rod (54) penetrates through and is rotatably connected to one end of the hinged rod one (541), the other end of the hinged rod one (541) is rotatably connected to the middle part of the embedded tooth plate (51), the rod body of the linkage rod (54) penetrates through and is rotatably connected to one end of the hinged rod two (542), and the other end of the hinged rod two (542) is rotatably connected to the middle part of the other embedded tooth plate (51).

2. The passive and active rehabilitation training device for lower extremity exoskeleton according to claim 1, characterized in that: The sliding frame (53) further comprises a rack (531) and a connecting plate (532), one side of the sliding frame (53) is fixedly connected to the connecting plate (532), the other side of the connecting plate (532) is fixedly connected with a plurality of racks (531), and the end of the rack (531) is fixedly connected to the end of the pull plate (52).

3. The passive and active rehabilitation training device for lower extremity exoskeleton according to claim 1, characterized in that: The anti-skid assembly (4) comprises a tooth column (40), a cylindrical rod (42), a driving rod (43), an inner lining (44), a guide (45) and a guide column (451), the tooth column (40) is connected to the positioning assembly (5) in engagement, the middle part of the tooth column (40) is fixedly connected to the middle part of the cylindrical rod (42), the end of the cylindrical rod (42) is rotatably connected to one end of the driving rod (43), the other end of the driving rod (43) is rotatably connected to the end of the inner lining (44), the inner lining (44) is slidably connected to the column body of the guide column (451), the end of the guide column (451) is fixedly connected to one end of the guide (45), and the other end of the guide (45) is fixedly connected to the outer wall of the wrapping cylinder (3).

4. The passive and active rehabilitation training device for lower extremity exoskeleton according to claim 3, characterized in that: The cylindrical rod (42) further comprises a guide handle (421) and a rolling shaft (422), the end of the cylindrical rod (42) is fixedly connected to one end of the guide handle (421), the other end of the guide handle (421) is fixedly connected to the end of the rolling shaft (422), and the rolling shaft (422) penetrates the side wall of the fixed block (31) in rotation connection.

5. The passive and active rehabilitation training device for lower extremity exoskeleton according to claim 3, characterized in that: The inner lining (44) further comprises a connecting handle (441) and a rotating shaft (442), the outer wall of the inner lining (44) is fixedly connected to one end of the connecting handle (441), the hole of the connecting handle (441) is slidably connected to the column body of the guide column (451), the other end of the connecting handle (441) is fixedly connected to one end of the rotating shaft (442), and the other end of the rotating shaft (442) is rotatably connected to the end of the driving rod (43).

6. The passive and active rehabilitation training device for lower extremity exoskeleton according to claim 1, characterized in that: The limiting assembly (6) comprises an elastic element (61), a limiting head (63), a jacking element (64), a spherical element (641) and a fixed column (642), the end of the jacking element (64) is fixedly connected to the end of the positioning assembly (5), the middle part of the jacking element (64) is fixedly connected to one end of the fixed column (642), the other end of the fixed column (642) is fixedly connected to the middle part of the spherical element (641), the elastic element (61) is slidably connected to the side wall of the fixed block (31), and the end of the elastic element (61) is fixedly connected to the middle part of the limiting head (63).

7. The passive and active rehabilitation training device for lower extremity exoskeleton according to claim 6, characterized in that: The elastic element (61) further comprises a sliding pin (611) and a spring (612), the middle part of the elastic element (61) is fixedly connected to one end of the sliding pin (611), the other end of the sliding pin (611) is fixedly connected to the middle part of the limiting head (63), and the outer wall of the sliding pin (611) is sleeved with the spring (612).

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