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Electroencephalographic spectral correlates of caress-like affective haptic stimuli

TitleElectroencephalographic spectral correlates of caress-like affective haptic stimuli
Publication TypeConference Paper
Year of Publication2015
Conference NameEngineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE
Pagination4733–4736
AuthorsValenza, G, Greco, A, Nardelli, M, Bianchi, M, Lanata, A, Rossi, S, Scilingo, EP
PublisherIEEE
Conference LocationMilano, ITA
KeywordsBioengineering
Notes

Published

DOI10.1109/EMBC.2015.7319451
Refereed DesignationRefereed

Teaching by Demonstration on Dual-arm Robot using HRI Variable Stiffness Transferring

TitleTeaching by Demonstration on Dual-arm Robot using HRI Variable Stiffness Transferring
Publication TypeConference Paper
Year of Publication2015
Conference NameIEEE International Conference on Robotics and Biomimetics - ROBIO2015
Pagination1202-1208
Publication Languageenglish
AuthorsYang, C, Liang, P, Li, Z, A. Ajoudani, Su, C, Bicchi, A
PublisherIEEE
Conference LocationZhuhai, China, December 6-9, 2015
KeywordsRobotics
URLhttp://ieeexplore.ieee.org/document/7418935/
DOI10.1109/ROBIO.2015.7418935
Refereed DesignationRefereed

A Selective Recruitment Strategy for Exploiting Muscle-Like Actuator Impedance Properties

TitleA Selective Recruitment Strategy for Exploiting Muscle-Like Actuator Impedance Properties
Publication TypeConference Paper
Year of Publication2015
Conference NameIEEE International Conference of Intelligent Robots and Systems - IROS2015
Pagination2231-2237
Publication Languageenglish
AuthorsShultz, J, Mathijssen, G, Vanderborght, B, Bicchi, A
PublisherIEEE
Conference LocationHamburg, Germany, 28 Sept - 2 Oct 2015
KeywordsRobotics
Abstract

Two leading qualities of skeletal muscle that produce good performance in uncertain environments are damage tolerance and the ability to modulate impedance. For this reason, robotics researchers are greatly interested in discovering the key characteristics of muscles that give them these properties and replicating them in actuators for robotic devices. This paper describes a method to harness the redundancy present in muscle-like actuation systems composed of multiple motor units and shows that they have these same two qualities. By carefully choosing which motor units are recruited, the impedance viewed from the environment can be modulated while maintaining the same overall activation level. The degree to which the impedance can be controlled varies with total activation level and actuator length.

Discretizing the actuation effort into multiple parts that work together, inspired by the way muscle fibers work in the human body, produces damage-tolerant behavior. This paper shows that this not only produces reasonably good resolutions without inordinate numbers of units, but gives the control system the ability to set the impedance along with the drive effort to the load.

DOI10.1109/IROS.2015.7353676
Refereed DesignationRefereed

Design and Realization of the CUFF - Clenching Upper-Limb Force Feedback Wearable Device for Distributed Mechano-Tactile Stimulation of Normal and Tangential Skin Forces

TitleDesign and Realization of the CUFF - Clenching Upper-Limb Force Feedback Wearable Device for Distributed Mechano-Tactile Stimulation of Normal and Tangential Skin Forces
Publication TypeConference Paper
Year of Publication2015
Conference NameIEEE International Conference of Intelligent Robots and Systems - IROS2015
Pagination1186 - 1193
AuthorsCasini, S, Morvidoni, M, Bianchi, M, Catalano, MG, Grioli, G, Bicchi, A
PublisherIEEE
Conference LocationHamburg, Germany, 28 Sept - 2 Oct 2015
KeywordsRobotics
Abstract

Rendering forces to the user is one of the main goals of haptic technology. While most force-feedback interfaces are robotic manipulators, attached to a fixed frame and designed to exert forces on the users while being moved, more recent haptic research introduced two novel important ideas. On one side, cutaneous stimulation aims at rendering haptic stimuli at the level of the skin, with a distributed, rather than, concentrated approach. On the other side, wearable haptics focuses on highly portable and mobile devices, which can be carried and worn by the user as the haptic equivalent of an mp3 player. This paper presents a light and simple wearable device (CUFF) for the distributed mechano-tactile stimulation of the user’s arm skin with pressure and stretch cues, related to normal and tangential forces, respectively. The working principle and the mechanical and control implementation of the CUFF device are presented. Then, after a basic functional validation, a first application of the device is shown, where it is used to render the grasping force of a robotic hand (the Pisa/IIT SoftHand). Preliminary results show that the device is capable to deliver in a reliable manner grasping force information, thus eliciting a good softness discrimination in users and enhancing the overall grasping experience.

Notes

The authors want to thank Cosimo della Santina, Andrea Di Basco, Riccardo Persichini and Fabio Bonomo for their really valuable support in the development of the hardware prototype. This work is supported in part by the European Research Council under the Advanced Grant SoftHands “A Theory of Soft Synergies for a New Generation of Artificial Hands” (no. ERC-291166), and by the EU FP7 project (no. 601165) “WEARable HAPtics for Humans and Robots (WEARHAP)

URLhttp://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7353520&newsearch=true&queryText=Design%20and%20Realization%20of%20the%20CUFF%20-%20Clenching%20Upper-Limb%20Force%20Feedback%20Wearable%20Device%20for%20Distributed%20Mechano-Tactile%20Stimulatio
DOI10.1109/IROS.2015.7353520
Refereed DesignationRefereed

A Reduced-Complexity Description of Arm Endpoint Stiffness with Applications to Teleimpedance Control

TitleA Reduced-Complexity Description of Arm Endpoint Stiffness with Applications to Teleimpedance Control
Publication TypeConference Paper
Year of Publication2015
Conference NameIEEE International Conference of Intelligent Robots and Systems - IROS2015
Pagination1017 - 1023
Publication Languageenglish
AuthorsA. Ajoudani, Fang, C, Tsagarakis, NG, Bicchi, A
PublisherIEEE
Conference LocationHamburg, Germany, 28 Sept - 2 Oct 2015
KeywordsHaptics, Robotics
Abstract

Effective and stable execution of a remote task in an uncertain environment requires that the task force and position trajectories of the slave robot be appropriately commanded. To achieve this goal, in teleimpedance control, a reference command which consists of the stiffness and position profiles of the master is computed and realized by the compliant slave robot in real-time. This highlights the need for a suitable and computationally efficient tracking of the human limb stiffness profile in real-time. In this direction, based on the observations in human neuromotor control which give evidence on the predominant use of the arm configuration in directional adjustments of the endpoint stiffness profile, and the role of muscular co-activations which contribute to a coordinated stiffening of the task stiffness in all directions, we propose a novel and computationally efficient model of the arm endpoint stiffness behaviour. With the purpose of real-time tracking of the human arm kinematics, an arm triangle is introduced using three body markers at the shoulder, elbow and wrist joints. In addition, a co-contraction index is defined using muscular activities of a dominant antagonistic muscle pair. Calibration and identification of the model parameters are carried out experimentally, using perturbation-based arm endpoint stiffness measurements in different arm configurations and co-contraction levels of the chosen muscles. Results of this study suggest that the proposed model enables the master to naturally execute a remote task by modulating the direction of the major axes of the endpoint stiffness and its volume using arm configuration and the co-ativation of the involved muscles, respectively.

Notes

softhands, wearhap

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7353495
DOI10.1109/IROS.2015.7353495
Refereed DesignationRefereed

A Modular Compliant Actuator for Emerging High Performance and Fall-Resilient Humanoids

TitleA Modular Compliant Actuator for Emerging High Performance and Fall-Resilient Humanoids
Publication TypeConference Paper
Year of Publication2016
Conference Name15th IEEE RAS Humanoids Conference (HUMANOIDS2015)
AuthorsNegrello, F, Garabini, M, Catalano, MG, Malzahn, J, Caldwell, DG, Bicchi, A, Tsagarakis, NG
PublisherIEEE
KeywordsRobotics
Notes

This work is supported by the WALK-MAN FP7-ICT-2013-10 European Commission project.

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7363567
Refereed DesignationRefereed

Soft Actuation in Cyclic Motions: Stiffness Profile Optimization for Energy Efficiency

TitleSoft Actuation in Cyclic Motions: Stiffness Profile Optimization for Energy Efficiency
Publication TypeConference Paper
Year of Publication2015
Conference Name15th IEEE RAS Humanoids Conference (HUMANOIDS2015)
Pagination107 - 113
AuthorsVelasco, A, Garabini, M, Catalano, MG, Bicchi, A
PublisherIEEE
KeywordsRobotics
Abstract
In this paper, we investigate the role of variable stiffness in the reduction of the energy cost for mechanical systems that perform desired tasks. The objective is to assess the use of Variable Stiffness Actuation (VSA) by determining an optimal stiffness profile and the associated energy cost of performing a desired task. For the analysis we consider mechanical systems of n-Degrees of Freedom (DoF), using VSA. We find an analytical solution that expresses the optimal stiffness profile during the task as a function of joint trajectories. This stiffness profile can be either constant or variable in time, and it minimizes a cost function, when performing a desired task.
We calculate the cost related to the torque of the system and the additional cost of changing or keeping a stiffness actively constant. Additionally, we discuss some cases for which it is worth to change the stiffness during a task and cases for which a constant stiffness may be better solution. Furthermore, from simulations and experiments we show cases in which using a variable stiffness profile allows cost savings w.r.t. constant
stiffness. The use of variable stiffness depends on the task, i.e. on the joint trajectories and their frequency, as well as on the mechanical implementation of the actuator used.
Notes

saphari walkman

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7363522
DOI10.1109/HUMANOIDS.2015.7363522
Refereed DesignationRefereed

A Finite Element Model of Tactile Flow for Softness Perception

TitleA Finite Element Model of Tactile Flow for Softness Perception
Publication TypeConference Paper
Year of Publication2015
Conference Name37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015)
Pagination2430 - 2433
AuthorsBattaglia, E, Bianchi, M, D'Angelo, ML, D'Imperio, M, Cannella, F, Scilingo, EP, Bicchi, A
PublisherIEEE
Conference LocationMilano, Italy, August 25th-29th, 2015
KeywordsHaptics, Robotics
Notes

This work was partially supported by the European Research Council under the ERC Advanced Grant no. 291166 SoftHands (A Theory of Soft Synergies for a New Generation of Artificial Hands) and under the grant agreement no. 601165 Wearhap (Wearable Haptics for Humans and Robots), within the FP7/2007-2013 program: Cognitive Systems and Robotics.

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7318884
DOI10.1109/EMBC.2015.7318884
Refereed DesignationRefereed

Effect of Homogenous Object Stiffness on Tri-digit Grasp Properties

TitleEffect of Homogenous Object Stiffness on Tri-digit Grasp Properties
Publication TypeConference Paper
Year of Publication2015
Conference Name37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015)
Pagination6704 - 6707
AuthorsGodfrey, SB, Altobelli, A, Rossi, M, Bicchi, A
PublisherIEEE
Conference Location Milano, Italy, August 25th-29th, 2015
KeywordsHaptics, Robotics
Abstract
This paper presents experimental findings on how humans modulate their muscle activity while grasping objects of varying levels of compliance. We hypothesize that one of the key abilities that allows humans to successfully cope with uncertainties while grasping compliant objects is the ability to modulate muscle activity to control both grasp force and stiffness in a way that is coherent with the task. To that end, subjects were recruited to perform a grasp and lift task with a tripod-grasp device with contact surfaces of variable compliance. Subjects performed the task under four different compliance conditions while surface EMG from the main finger flexor and extensor muscles was recorded along with force and torque data at the contact points. Significant increases in the extensor muscle (the antagonist in the task) and co-contraction levels were found with increasing compliance at the contact points. These results suggest that the motor system may employ a strategy of increasing cocontraction, and thereby stiffness, to counteract the decreased stability in grasping compliant objects. Future experiments will examine the extent to which this phenomenon is also related to specific task features, such as precision versus power grasp and object weight.
 
Notes
This work is supported in part by the European Research Council under the Advanced Grant SoftHands “A Theory of Soft Synergies for a New Generation of Artificial Hands” no. ERC-291166 and under the EU FP7 project WEARHAP “WEARable HAPtics for Humans and Robots” no. 601165.
URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7319931
DOI10.1109/EMBC.2015.7319931
Refereed DesignationRefereed

Dexterity augmentation on a synergistic hand: the Pisa/IIT SoftHand+

TitleDexterity augmentation on a synergistic hand: the Pisa/IIT SoftHand+
Publication TypeConference Paper
Year of Publication2015
Conference Name15th IEEE RAS Humanoids Conference (HUMANOIDS2015)
Pagination497 - 503
AuthorsC. Della Santina,, Grioli, G, Catalano, MG, Brando, A, Bicchi, A
PublisherIEEE
Conference LocationSeoul, Korea, November 3 - 5, 2015
KeywordsHaptics, Robotics
Abstract
Soft robotics and under-actuation were recently demonstrated as good approaches for the implementation of humanoid robotic hands. Nevertheless, it is often difficult to increase the number of degrees of actuation of heavily under-actuated hands without compromising their intrinsic simplicity. In this paper we analyze the Pisa/IIT SoftHand and its underlying logic of adaptive synergies, and propose a method to double its number of degree of actuation, with a very reduced impact on its mechanical complexity. This new design paradigm is based on constructive exploitation of friction phenomena.
Based on this method, a novel prototype of under-actuated robot hand with two degrees of actuation is proposed, named Pisa/IIT SoftHand+. A preliminary validation of the prototype follows, based on grasping and manipulation examples of some objects.
Notes

Softhands, SOMA

Best Interactive Paper Award

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7363595
DOI10.1109/HUMANOIDS.2015.7363595
Custom 1
This work is supported by the European Commission Grant no. H2020-ICT-645599 “SOMA”: SOft MAnipulation and the ERC Advanced Grant
no. 291166 “SoftHands”
Refereed DesignationRefereed

Open Biomedical Engineering Education in Africa

TitleOpen Biomedical Engineering Education in Africa
Publication TypeConference Paper
Year of Publication2015
Conference NameThe 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS)
AuthorsAhluwalia, A, Atwine, D, De Maria, C, Ibingira, C, Kipkorir, E, Kiros, F, Madete, J, Mazzei, D, Molyneux, E, Moonga, K, Moshi, M, Nzomo, M, Oduol, V, Okuonzi, J
PublisherIEEE
Conference Location Milan, Italy, 25-29 August 2015
KeywordsBioengineering

Damasio's Somatic Marker for Social Robotics: Preliminary Implementation and Test

TitleDamasio's Somatic Marker for Social Robotics: Preliminary Implementation and Test
Publication TypeConference Paper
Year of Publication2015
Conference NameLiving Machines - The 4th International Conference on Biomimetic and Biohybrid Systems
Pagination316-328
AuthorsCominelli, L, Mazzei, D, Pieroni, M, Zaraki, A, Garofalo, R, De Rossi, D
PublisherSpringer
Conference LocationBarcelona, Spain, 28 - 31 July 2015
KeywordsBioengineering
URLhttp://link.springer.com/chapter/10.1007/978-3-319-22979-9_31#page-1

Potential merits for space robotics from novel concepts of actuation for soft robotics

TitlePotential merits for space robotics from novel concepts of actuation for soft robotics
Publication TypeConference Paper
Year of Publication2015
Conference NameAdvanced Space Technologies for Robotics and Automation (ASTRA)
AuthorsMathijssen, G, Terryn, S, Funemont, R, Garabini, M, Catalano, MG, Grioli, G, Lefeber, D, Bicchi, A, Vanderborght, B
Conference LocationNoordwijk, The Netherlands May 11-13, 2015
KeywordsRobotics
Refereed DesignationRefereed

Grasp Planning with Soft Hands using Bounding Box Object Decomposition

TitleGrasp Planning with Soft Hands using Bounding Box Object Decomposition
Publication TypeConference Paper
Year of Publication2015
Conference NameIEEE International Conference of Intelligent Robots and Systems (IROS2015)
Pagination518 - 523
AuthorsBonilla, M, Resasco, D, Gabiccini, M, Bicchi, A
PublisherIEEE
Conference LocationHamburg, Germany, September 28 - October 02, 2015
KeywordsHaptics, Robotics
Notes

softhands pacman walkman

URLhttp://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7353421&queryText=Grasp%20Planning%20with%20Soft%20Hands%20using%20Bounding%20Box%20Object%20Decomposition&newsearch=true
DOI10.1109/IROS.2015.7353421
Refereed DesignationRefereed

Characterization of Nonlinear Finger Pad Mechanics for Tactile Rendering

TitleCharacterization of Nonlinear Finger Pad Mechanics for Tactile Rendering
Publication TypeConference Paper
Year of Publication2015
Conference NameIEEE World Haptics Conference
Pagination63-68
Publication Languageenglish
AuthorsMiguel, E, D'Angelo, ML, Cannella, F, Bianchi, M, Memeo, M, Bicchi, A, Caldwell, DG, Otaduy, MA
Conference LocationChicago, USA, 22-25 June 2015
Accession Number15347155
KeywordsHaptics, Robotics
Abstract

The computation of skin forces and deformations for tactile rendering requires an accurate model of the extremely nonlinear behavior of the skin. In this work, we investigate the characterization of fingermechanics with the goal of designing accurate nonlinear models for tactile rendering. First, we describe a measurement setup that enables the acquisition of contact force and contact area in the context of controlled finger indentation experiments. Second, we describe an optimization procedure that estimates the parameters of strain-limiting deformation models that match best the acquired data. We show that the acquisition setup allows the measurement of force and area information with high repeatability, and the estimation method reaches nonlinear models that match the measured data with high accuracy.

Notes

softhands, werahap

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7177692
DOI10.1109/WHC.2015.7177692
Refereed DesignationRefereed

A Novel Tactile Display for Softness and Texture Rendering in Tele-Operation Tasks

TitleA Novel Tactile Display for Softness and Texture Rendering in Tele-Operation Tasks
Publication TypeConference Paper
Year of Publication2015
Conference Name IEEE World Haptics Conference
Pagination49-56
Publication Languageenglish
AuthorsBianchi, M, Poggiani, M, Serio, A, Bicchi, A
PublisherIEEE
Conference LocationChicago, USA, 22-25 June 2015
Accession Number15347088
KeywordsHaptics, Robotics
Abstract

Softness and texture high-frequency information represent fundamental haptic properties for every day life activities and environment tactual exploration. While several displays have been produced to convey either softness or high-frequency information, there is no or little evidence of systems that are able to reproduce both these properties in an integrated fashion. This aspect is especially crucial in medical tele-operated procedures, where roughness and stiffness of human tissues are both important to correctly identify given pathologies through palpation (e.g. in tele-dermatology). This work presents a fabric yielding display (FYD-pad), a fabric-based tactile display for softness and texture rendering. The system exploits the control of two motors to modify both the stretching state of the elastic fabric forsoftness rendering and to convey texture information on the basis of accelerometer-based data. At the same time, the measurement of the contact area can be used to control remote or virtual robots. In this paper, we discuss the architecture of FYD-pad and the techniques used for softness and texturereproduction as well as for synthesizing probe-surface interactions from real data. Tele-operationexamples and preliminary experiments with humans are reported, which show the effectiveness of the device in delivering both softness and texture information.

Notes

This work is supported in part by the European Research Council under the Advanced Grant SoftHands “A Theory of Soft Synergies for a New Generation of Artificial Hands” no. ERC-291166, and by the EU FP7 project (no. 601165), “WEARable HAPtics for Humans and Robots (WEARHAP)”

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7177690
DOI10.1109/WHC.2015.7177690
Refereed DesignationRefereed

Variable Stiffness Control for Oscillation Damping

TitleVariable Stiffness Control for Oscillation Damping
Publication TypeConference Paper
Year of Publication2015
Conference NameIEEE International Conference of Intelligent Robots and Systems (IROS2015)
Pagination6543 - 6550
AuthorsGasparri, GM, Garabini, M, Pallottino, L, Malagia, L, Catalano, MG, Grioli, G, Bicchi, A
PublisherIEEE
Conference LocationHamburg, Germany, September 28 - October 02, 2015
KeywordsRobotics
Notes
This work is supported by the EC under the grant agreements no.611832 Walk-Man and ICT-287513 “SAPHARI”
URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7354312
DOI10.1109/IROS.2015.7354312
Refereed DesignationRefereed

Coordination of unmanned marine vehicles for asymmetric threats protection

TitleCoordination of unmanned marine vehicles for asymmetric threats protection
Publication TypeConference Paper
Year of Publication2015
Conference NameMTS/IEEE Oceans 2015
AuthorsNardi, S, C. Della Santina,, Meucci, D, Pallottino, L
PublisherIEEE
Conference LocationMay 18-21, Genoa, Italy
ISBN Number978-1-4799-8736-8
KeywordsRobotics
Abstract

A coordination protocol for systems of unmanned marine vehicles is proposed for protection against asymmetric threats. The problem is first modelled in a game theoretic framework, as a potential game. Then an extension of existing learning algorithms is proposed to address the problem of tracking the possibly moving threat. The approach is evaluated in scenarios of different geometric complexity such as open sea, bay, and harbours. Performance of the approach is evaluated in terms of a security index that will allow us to obtain a tool for team sizing. The tool provides the minimum number of marine vehicles to be used in the system, given a desired security level to be guaranteed and the maximum threat velocity.

URLhttp://ieeexplore.ieee.org/document/7271413/
DOI10.1109/OCEANS-Genova.2015.7271413
Refereed DesignationRefereed

Electromyographic Mapping of Finger Stiffness in Tripod Grasp: a Proof of Concept

TitleElectromyographic Mapping of Finger Stiffness in Tripod Grasp: a Proof of Concept
Publication TypeConference Paper
Year of Publication2015
Conference NameInternational Conference on Rehabilitation Robotics (ICORR), 2015
Pagination181-186
Publication Languageenglish
AuthorsRossi, M, Altobelli, A, Godfrey, SB, A. Ajoudani, Bicchi, A
PublisherIEEE
Conference LocationSingapore, 11 – 14 August 2015
KeywordsHaptics, Robotics
Abstract

Effective execution of a manipulation task using prosthetic or robotic hands requires that the motion and the impedance profiles of the fingers be appropriately commanded. This, however, brings some design and control challenges regarding the individual planning and realization of the finger motion and stiffnesstrajectories. It appears that the central nervous system solves for this complexity in an effective and coordinated manner which has been well-recognized under the concept of hand synergies. While the exploitation of this concept in kinematic coordinates has lead to the development of several successful robotic designs and control strategies, its extension to dynamic coordinates, such as coordinated stiffening of the fingers, remains to be investigated. Indeed, in this study we provide preliminary evidence on the existence of such coordinated stiffening patterns in human fingers and establish initial steps towards a real-time and effective modelling of the finger stiffness in a tripod grasp. To achieve this goal, the endpoint stiffness of the thumb, index and middle fingers of five healthy subjects are experimentally identified and correlated with the electromyography (EMG) signals recorded from a dominant antagonistic pair of the forearm muscles. Our findings suggest that: i) the magnitude of thestiffness ellipses at the fingertips grows in a coordinated way, subsequent to the co-contraction of the forearm muscles; ii) the length of the ellipses' axes appears to have a nearly linear relationship with the co-contraction level of the antagonistic muscle pair.

Notes

softhands, wearhap

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7281196
DOI10.1109/ICORR.2015.7281196
Refereed DesignationRefereed

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