CN101637428A - Auxiliary rehabilitation exercise device for realizing finger rehabilitation exercise - Google Patents

Abstract

Translated fromChinese

本发明公开了一种用于实现手指康复训练的辅助康复训练装置，包括一支架及设置在支架上的手指支撑，在所述的支架的一端设置有第一轴，第一轴的一端与一电机连接，在所述的支架的另一端设置有第二轴，该第二轴的一端与一磁流变液阻尼器连接，所述的第二轴的另一端与第一轴的另一端通过一弹簧连接，所述的手指支撑固定在所述的第二轴上，在所述的第二轴上还设置有用于测量所述的第二轴角位移的角度传感器，以及用于测量第二轴扭矩的力传感器。与现有技术相比，本发明装置集手指康复主动训练和被动训练于一身，特别适合于单手指受伤后的康复训练。同时结构简单、紧凑，机械加工精度要求也不高。

The invention discloses an auxiliary rehabilitation training device for realizing finger rehabilitation training, which comprises a bracket and a finger support arranged on the bracket, a first shaft is arranged at one end of the bracket, and one end of the first shaft is connected with a The motor is connected, and the other end of the bracket is provided with a second shaft, one end of the second shaft is connected with a magneto-rheological fluid damper, and the other end of the second shaft is connected to the other end of the first shaft through A spring connection, the finger support is fixed on the second shaft, and an angle sensor for measuring the angular displacement of the second shaft is also arranged on the second shaft, and is used for measuring the second Force sensor for shaft torque. Compared with the prior art, the device of the present invention integrates active training and passive training for finger rehabilitation, and is especially suitable for rehabilitation training after a single finger is injured. Simultaneously, the structure is simple and compact, and the requirements for machining precision are not high.

Description

Translated fromChinese

用于实现手指康复训练的辅助康复训练装置Auxiliary rehabilitation training device for realizing finger rehabilitation training

技术领域technical field

本发明涉及一种实现手指康复训练的辅助康复训练装置。The invention relates to an auxiliary rehabilitation training device for realizing finger rehabilitation training.

背景技术Background technique

手的功能在生活中举足轻重，由于功能上的特殊性，所以受伤机会较多，导致手的功能障碍，影响正常的日常生活。随着显微外科技术发展，断指再植成活率很高，但再植术后手功能的恢复尚不理想，积极开展早期运动是有效防止肌腱粘连、瘢痕挛缩、关节僵直、促进手功能恢复，最大程度地恢复手运动功能的重要环节。The function of the hand plays an important role in life. Due to the particularity of the function, there are more chances of injury, which leads to dysfunction of the hand and affects normal daily life. With the development of microsurgical techniques, the survival rate of severed finger replantation is very high, but the recovery of hand function after replantation is not ideal. Active early exercise is effective in preventing tendon adhesion, scar contracture, joint stiffness, and promoting the recovery of hand function. , an important part of restoring hand motor function to the greatest extent.

目前，手指康复训练的传统方法是医师对患者进行一对一训练，这种训练方式存在一些问题：(1)训练效率低下，并且由于治疗师自身的原因，可能无法保证患者得到足够的训练强度，治疗效果多取决于治疗师的经验和水平；(2)不能精确控制和记录训练参数，不利于治疗方案的确定和改进；(3)康复评价指标不够客观，不利于患者康复规律的深入研究；(4)不能向患者提供实时直观的反馈信息，训练过程不具吸引力，患者被动接受治疗，积极性不高。At present, the traditional method of finger rehabilitation training is that doctors conduct one-on-one training to patients. There are some problems in this training method: (1) The training efficiency is low, and due to the therapist's own reasons, it may not be possible to ensure that the patient receives sufficient training intensity , the treatment effect mostly depends on the experience and level of the therapist; (2) the training parameters cannot be precisely controlled and recorded, which is not conducive to the determination and improvement of the treatment plan; (3) the rehabilitation evaluation indicators are not objective enough, which is not conducive to the in-depth study of the patient's rehabilitation law (4) Real-time intuitive feedback information cannot be provided to the patient, the training process is not attractive, the patient accepts the treatment passively, and the enthusiasm is not high.

鉴于康复训练的重要作用和康复治疗师资源限制，研究者们对患者辅助康复训练装置进行广泛研究，但目前的辅助康复训练装置多数针对上肢或下肢康复训练设计的，用于手部康复训练设备一般为力反馈数据手套，如Rutgers Master II力觉手套、基于磁流变液的康复用数据手套和已经商业化的力反馈数据手套CyberGrasp。单独用于单手指康复训练设备报道较少，力反馈数据手套也可用于手指伤害后的康复训练，但存在以下一些问题：(1)骨折处需要进行固定保护，而力觉数据手套一般都有外骨骼机构或安装于手掌上的机构，占用了手指骨折处的固定空间，而且穿戴数据手套时容易引起骨折处的再次受伤；(2)需要主动训练和被动训练相结合才能取得较好的效果，而力觉数据手套基本上只能产生主动力或被动力，无法进行主、被动训练的结合；(3)只需对受伤手指单独进行康复训练，那么力觉数据手套的其它手指机构将造成浪费；(4)康复训练需要比较柔和的力，而力觉数据手套因机构刚度较大，很难产生这样的力。力反馈数据手套成本都比较高，普通人群根本无法承受。In view of the important role of rehabilitation training and the resource limitation of rehabilitation therapists, researchers have conducted extensive research on patient-assisted rehabilitation training devices, but most of the current auxiliary rehabilitation training devices are designed for upper or lower limb rehabilitation training, and are used for hand rehabilitation training equipment Generally, force feedback data gloves, such as Rutgers Master II force sensory gloves, magneto-rheological fluid-based rehabilitation data gloves, and the already commercialized force feedback data gloves CyberGrasp. There are few reports on single-finger rehabilitation training equipment alone. Force feedback data gloves can also be used for rehabilitation training after finger injuries, but there are some problems as follows: (1) The fracture needs to be fixed and protected, while force-feedback data gloves generally have The exoskeleton mechanism or the mechanism installed on the palm occupies the fixed space at the fracture of the finger, and it is easy to cause re-injury at the fracture when wearing data gloves; (2) a combination of active training and passive training is required to achieve better results , while the force-sensing data glove basically can only generate active force or passive force, and cannot carry out active and passive training; Waste; (4) Rehabilitation training requires relatively gentle force, but force-sensing data gloves are difficult to generate such force due to the high rigidity of the mechanism. The cost of force feedback data gloves is relatively high, and the general population cannot afford it.

康复训练分为主动训练和被动训练，被动训练设备大多用电机进行驱动，也有通过气动、液压或电磁装置进行驱动，这些设备具有能量使其稳定性相对较差，容易产生振动。主动康复训练利用被动执行器驱动，如制动器、阻尼器等，这些设备本身是能量耗散的，相对稳定性较好，但机械摩擦式被动执行器力/力矩的产生完全依赖于机械接触，所以当使用快速开关控制器驱动时容易造成系统的振动。更有甚者，摩擦材料具有比较高的动摩擦系数，容易导致粘滑现象发生，这种现象能够造成制动力矩的不连续。一般康复训练是主动训练与被动训练相结合。因此，如果开发出集主、被动训练于一身的手指康复训练装置将具有很好的康复效果。Rehabilitation training is divided into active training and passive training. Passive training equipment is mostly driven by motors, and some are also driven by pneumatic, hydraulic or electromagnetic devices. These equipment have energy, which makes them less stable and prone to vibration. Active rehabilitation training is driven by passive actuators, such as brakes, dampers, etc. These devices themselves dissipate energy and are relatively stable, but the force/torque of mechanical friction passive actuators is completely dependent on mechanical contact, so It is easy to cause vibration of the system when driven by fast switching controller. What's more, the friction material has a relatively high coefficient of dynamic friction, which easily leads to the occurrence of stick-slip phenomenon, which can cause the discontinuity of the braking torque. General rehabilitation training is a combination of active training and passive training. Therefore, if the finger rehabilitation training device that integrates active and passive training is developed, it will have a good rehabilitation effect.

发明内容Contents of the invention

本发明涉及一种避免受伤的集主、被动训练为一身的实现手指康复训练的辅助康复训练装置。The invention relates to an auxiliary rehabilitation training device for realizing finger rehabilitation training which integrates active and passive training to avoid injury.

本发明采用如下技术方案：The present invention adopts following technical scheme:

一种用于实现手指康复训练的辅助康复训练装置，包括一支架及设置在支架上的手指支撑，在所述的支架的一端设置有第一轴，第一轴的一端与一电机连接，在所述的支架的另一端设置有第二轴，该第二轴的一端与一磁流变液阻尼器连接，所述的第二轴的另一端与第一轴的另一端通过一弹簧连接，所述的手指支撑固定在所述的第二轴上，在所述的第二轴上还设置有用于测量所述的第二轴角位移的角度传感器，以及用于测量第二轴扭矩的力传感器，所述的磁流变液阻尼器包括：壳体以及设置在壳体内的力反馈轴、磁流变液、旋转盘、固定盘、绝磁环以及线圈，所述的旋转盘固定在力反馈轴上，所述的固定盘固定在壳体上并间隔的布置在旋转盘之间，所述的磁流变液填充在旋转盘与固定盘周围，在固定盘的外侧设置所述的绝磁环，在绝磁环上绕制所述的线圈，所述的力反馈轴与所述的第二轴的一端固定连接，所述的壳体与支架固定连接。An auxiliary rehabilitation training device for realizing finger rehabilitation training, comprising a bracket and a finger support arranged on the bracket, a first shaft is arranged at one end of the bracket, and one end of the first shaft is connected with a motor, The other end of the bracket is provided with a second shaft, one end of the second shaft is connected to a magnetorheological fluid damper, the other end of the second shaft is connected to the other end of the first shaft through a spring, The finger support is fixed on the second shaft, and an angle sensor for measuring the angular displacement of the second shaft and a force for measuring the torque of the second shaft are also arranged on the second shaft sensor, the magnetorheological fluid damper includes: a housing and a force feedback shaft arranged in the housing, a magnetorheological fluid, a rotating disk, a fixed disk, an insulating ring and a coil, and the rotating disk is fixed on the force On the feedback shaft, the fixed disk is fixed on the housing and arranged at intervals between the rotating disks, the magnetorheological fluid is filled around the rotating disk and the fixed disk, and the insulating disk is arranged outside the fixed disk. A magnetic ring, on which the coil is wound, the force feedback shaft is fixedly connected to one end of the second shaft, and the housing is fixedly connected to the bracket.

在所述的电机与第一轴之间还设置有一联轴器。A shaft coupling is also arranged between the motor and the first shaft.

在所述的第二轴上设置有一手柄，所述的手指支撑通过一连接扣与所述的手柄连接。A handle is arranged on the second shaft, and the finger support is connected with the handle through a connecting buckle.

所述的旋转盘为两片，所述的固定盘为一片。There are two rotating disks, and one fixed disk.

本发明辅助康复训练装置包括一个支架，两根轴，一个电机，一个连轴器，一个磁流变液阻尼器，一根弹簧，一个角度传感器，一个力传感器，一个手柄，一个手指支撑，一个手柄与手指支撑的连接扣件。第一轴通过轴承安装于支架上，通过连轴器与电机相连，通过弹簧与第二轴相连，第二轴通过轴承安装于支架上，第二轴与磁流变液阻尼器轴固定连接，磁流变液阻尼器外壳固定于支架上，第二轴上安装力传感器和角度传感器，手柄安装于第二轴上，可以带动第二轴的转动，手柄另一端通过连接扣件与手指支撑相连接。The auxiliary rehabilitation training device of the present invention includes a bracket, two shafts, a motor, a coupling, a magneto-rheological fluid damper, a spring, an angle sensor, a force sensor, a handle, a finger support, a Attachment fasteners for handle and finger support. The first shaft is installed on the bracket through the bearing, connected with the motor through the coupling, connected with the second shaft through the spring, the second shaft is installed on the bracket through the bearing, and the second shaft is fixedly connected with the magneto-rheological fluid damper shaft. The shell of the magnetorheological fluid damper is fixed on the bracket, and the force sensor and angle sensor are installed on the second shaft. The handle is installed on the second shaft, which can drive the rotation of the second shaft. The other end of the handle is connected with the finger support through a fastener. connect.

与现有技术相比，本发明具有如下优点：Compared with prior art, the present invention has following advantage:

1、采用串联弹性元件和磁流变液阻尼器手指康复训练装置系统更具稳定性，电机通过控制弹性元件位置产生力，而弹性元件本身具有吸振作用，弹性元件的反弹振动可以通过阻尼器耗散，同时，弹簧在受力时，首先产生形变，而不会将作用力直接传递出去，具有缓冲作用，这对于受伤的手指尤为重要，不会因为突然的作用力作用在手指上而意外伤上加伤。1. The finger rehabilitation training device system is more stable by using series elastic elements and magnetorheological fluid dampers. The motor generates force by controlling the position of the elastic elements, and the elastic elements themselves have a vibration-absorbing effect. The rebound vibration of the elastic elements can be consumed by the damper. At the same time, when the spring is under force, it will first deform, and will not directly transmit the force, which has a buffering effect, which is especially important for injured fingers, and will not cause accidental injury due to sudden force acting on the finger. Add to the injury.

2、集手指康复主动训练和被动训练于一身，特别适合于单手指受伤后的康复训练。2. It integrates active training and passive training for finger rehabilitation, especially suitable for rehabilitation training after single finger injury.

3、结构简单，整个装置结构简单、紧凑，机械加工精度要求也不高。3. The structure is simple, the whole device is simple and compact in structure, and the requirements for machining precision are not high.

4、整个装置采用轻质材料做成，使其转动惯量小，磁流变液阻尼器和机械加工摩擦力等非有益综合阻尼力可以通过电机给弹性元件预置变形进行补偿，从而使得手柄在自由状态下阻尼力很小。4. The whole device is made of light materials, so that its moment of inertia is small, and the non-beneficial comprehensive damping force such as magneto-rheological fluid damper and machining friction can be compensated by the preset deformation of the elastic element by the motor, so that the handle The damping force is very small in the free state.

5、采用新兴的磁流变技术，磁流变液在磁场作用下产生磁流变效应，使表征磁流变液流变特性的表观粘发生变化，从而产生阻尼力反作用于人体，使人体感觉到力的作用。磁流变液阻尼器不是机械直接接触，而是利用流体传递力矩，因此更为稳定和连续。5. Using the emerging magnetorheological technology, the magnetorheological fluid produces a magnetorheological effect under the action of a magnetic field, which changes the apparent viscosity that characterizes the rheological properties of the magnetorheological fluid, thereby generating a damping force that reacts on the human body, making the human body Feel the force. The magneto-rheological fluid damper is not in direct mechanical contact, but uses fluid to transmit torque, so it is more stable and continuous.

6、控制简单，电流信号与磁流变液阻尼器输出力矩信号存在明确的函数关系，因此只需给阻尼器提供电流信号便可准确地控制其动作。电机通过控制弹性元件位置变化产生力，因此其控制也相对简单得多。6. The control is simple, and there is a clear functional relationship between the current signal and the output torque signal of the magneto-rheological fluid damper, so it is only necessary to provide the current signal to the damper to accurately control its action. The motor generates force by controlling the position change of the elastic element, so its control is relatively simple.

7、在对手指受伤患者进行康复训练的同时，能够通过位置传感器和力传感器分别检测出患者手指运动范围和能够施加的力，为治疗医师做进一步研究和改进治疗方案奠定基础。7. While performing rehabilitation training for patients with finger injuries, the position sensor and force sensor can respectively detect the range of motion of the patient's fingers and the force that can be applied, laying a foundation for further research and improvement of treatment plans for therapists.

附图说明Description of drawings

图1是本发明结构示意图。Fig. 1 is a schematic diagram of the structure of the present invention.

图2是本发明磁流变液阻尼器的结构示意图。Fig. 2 is a schematic structural view of the magnetorheological fluid damper of the present invention.

其中：1、电机，2、连轴器，3、磁流变液阻尼器，4、弹簧，5、力传感器，6、手柄，7、角度传感器，8、支架，9、连接扣，10、手指支撑，11、第一轴，12、第二轴，31、外圈，32、底座，33、旋转盘，34、端盖，35、力反馈轴，36、轴承，37、固定盘，38、线圈，39、密封圈，310、轴套，311、绝磁环，312、磁流变液。Among them: 1. Motor, 2. Coupling, 3. Magnetorheological fluid damper, 4. Spring, 5. Force sensor, 6. Handle, 7. Angle sensor, 8. Bracket, 9. Connecting buckle, 10. Finger support, 11, first shaft, 12, second shaft, 31, outer ring, 32, base, 33, rotating disc, 34, end cover, 35, force feedback shaft, 36, bearing, 37, fixed disc, 38 , coil, 39, sealing ring, 310, shaft sleeve, 311, absolute magnetic ring, 312, magnetorheological fluid.

具体实施方式Detailed ways

一种用于实现手指康复训练的辅助康复训练装置，包括一个凹形支架8，两根轴11和12，一个电机1，一个连轴器2，一个磁流变液阻尼器3，一根弹簧4，一个角度传感器7，一个力传感器5，一个手柄6，一个手指支撑10，一个手柄6与手指支撑10的连接扣件9。第一轴11通过轴承安装于支架8的右端上，通过连轴器2与电机1相连，通过弹簧4与第二轴12相连，第二轴12通过轴承安装于支架8的左端上，第二轴12与磁流变液阻尼器8的轴固定连接，磁流变液阻尼器8外壳固定于支架8上，第二轴12上安装力传感器5和角度传感器7，手柄6安装于第二轴12上，可以带动第二轴12的转动，手柄6另一端通过连接扣件9与手指支撑10相连接。An auxiliary rehabilitation training device for finger rehabilitation training, comprising a concave bracket 8, two shafts 11 and 12, a motor 1, a coupling 2, a magneto-rheological fluid damper 3, and a spring 4. An angle sensor 7, a force sensor 5, a handle 6, a finger support 10, and a connecting fastener 9 between the handle 6 and the finger support 10. First shaft 11 is installed on the right end of support 8 by bearing, links to each other with motor 1 by coupling 2, links to each other with second shaft 12 by spring 4, and second shaft 12 is installed on the left end of support 8 by bearing, the second The shaft 12 is fixedly connected with the shaft of the magneto-rheological fluid damper 8, the housing of the magneto-rheological fluid damper 8 is fixed on the bracket 8, the force sensor 5 and the angle sensor 7 are installed on the second shaft 12, and the handle 6 is installed on the second shaft 12, can drive the rotation of the second shaft 12, and the other end of the handle 6 is connected with the finger support 10 through the connecting fastener 9.

本发明的磁流变液阻尼器8由外圈31、两个底座32、两个旋转盘33、两个端盖34、力反馈轴35、两个轴承36、固定盘37、线圈38、两个密封圈39、两个轴套310、绝磁环311组成，在绝磁环311上绕有线圈38，绝磁环311和两个底座32围成的空间内充满磁流变液312，固定盘37安装于绝磁环311上，固定盘37的两侧分别设置一个旋转盘33，旋转盘33固定于力反馈轴35上，通过轴35带动可以旋转，旋转盘33的位置通过两端轴套310、轴承36固定，使旋转盘33与底座32之间间隙、旋转盘33与固定盘37之间的间隙为一固定值，端盖34通过螺纹固定于底座32外侧，在端盖34内侧开槽用于放置密封圈39。The magnetorheological fluid damper 8 of the present invention consists of anouter ring 31, twobases 32, tworotating disks 33, two end covers 34, aforce feedback shaft 35, twobearings 36, a fixeddisk 37, acoil 38, two A sealingring 39, twobushings 310, and a magnetic-absolute ring 311 are formed. Acoil 38 is wound on the magnetic-absolute ring 311. The space surrounded by the magnetic-absolute ring 311 and the twobases 32 is filled with amagnetorheological fluid 312. Thedisk 37 is mounted on the magnetically insulatedring 311, and arotating disk 33 is arranged on both sides of the fixeddisk 37. Therotating disk 33 is fixed on theforce feedback shaft 35 and can be rotated by theshaft 35. The position of therotating disk 33 is determined by the shaft at both ends. Thesleeve 310 and thebearing 36 are fixed so that the gap between therotating disk 33 and thebase 32 and the gap between therotating disk 33 and the fixeddisk 37 are a fixed value. Grooving is used to place sealingring 39.

本发明手指康复训练辅助康复训练装置工作原理如下：训练装置结构如图1、2所示。患者手指通过手指支撑固定，被动训练时磁流变液阻尼器不动作，电机控制弹性元件变形，根据需要施加在手指上的力和角度传感器位置信息控制弹性元件的变形量，力传感器测量手指受力，根据实测力和预期目标力误差进一步控制电机转动，调整弹性元件变形量，最终达到实测力与目标力相等，根据不同的康复其可以更换弹性元件(不同弹性系数的弹性元件)。主动训练时电机不动作，力传感器测量手指受力，根据实测力和预期目标力误差进一步控制阻尼器阻尼力，最终达到实测力与目标力相等，当预期目标力小于磁流变液阻尼器和机械结构摩擦力时，可以利用电机控制弹性元件进行补偿。利用角度传感器可以测量和控制手指的活动范围，被动训练时，手指活动范围达到极限时电机立即停止动作，主动训练时，手指活动范围到达极限时，阻尼器阻尼力调整到最大，限止手指进一步活动。本发明手指康复训练装置还能与虚拟环境(康复游戏)相配合实现手指康复训练，远程治疗医师可以通过网络指导和监督患者在家中进行康复训练，因此一个治疗医师同时指导多个患者康复训练。The working principle of the auxiliary rehabilitation training device for finger rehabilitation training of the present invention is as follows: the structure of the training device is shown in Figures 1 and 2 . The patient's finger is supported and fixed by the finger. During passive training, the magneto-rheological fluid damper does not move. The motor controls the deformation of the elastic element. The deformation of the elastic element is controlled according to the force applied to the finger and the position information of the angle sensor. The force sensor measures the force exerted on the finger. Force, further control the rotation of the motor according to the error between the measured force and the expected target force, adjust the deformation of the elastic element, and finally achieve the equal force between the measured force and the target force, and the elastic element (elastic element with different elastic coefficient) can be replaced according to different rehabilitation. The motor does not move during active training, the force sensor measures the force on the finger, and further controls the damping force of the damper according to the error between the measured force and the expected target force, and finally achieves that the measured force is equal to the target force. When the expected target force is less than the magneto-rheological fluid damper and In case of mechanical structure friction, the motor can be used to control the elastic element to compensate. The angle sensor can be used to measure and control the range of motion of the finger. During passive training, the motor stops immediately when the range of motion of the finger reaches the limit. During active training, when the range of motion of the finger reaches the limit, the damper damping force is adjusted to the maximum to limit further finger movement. . The finger rehabilitation training device of the present invention can also cooperate with the virtual environment (rehabilitation game) to realize finger rehabilitation training, and the remote therapist can guide and supervise patients to perform rehabilitation training at home through the network, so one therapist can guide multiple patients' rehabilitation training at the same time.

Claims (4)

1, a kind of auxiliary rehabilitation exercise device that is used to realize finger rehabilitation exercise, the finger that comprises a support (8) and be arranged on the support (8) supports (10), it is characterized in that: the end at described support (8) is provided with first (11), one end of first (11) is connected with a motor (1), the other end at described support (8) is provided with second (12), one end of these second (12) is connected with a magnetic rheological liquid damper (3), the other end of described second (12) is connected by a spring (4) with the other end of first (11), described finger supports (10) and is fixed on described second (12), on described second (12), also be provided with the angular transducer (7) that is used to measure the described second shaft angle displacement, and the force transducer (5) that is used to measure second moment of torsion, described magnetic rheological liquid damper (3) comprising: housing and be arranged on the intravital force feedback axle of shell (35), magnetic flow liquid (312), rotation disc (33), fixed disk (37), exhausted magnet ring (311) and coil (38), described rotation disc (33) is fixed on the force feedback axle (35), described fixed disk (37) is fixed on the housing and being arranged between the rotation disc (33) at interval, described magnetic flow liquid (312) is filled in rotation disc (33) and fixed disk (37) on every side, at the described exhausted magnet ring (311) of the arranged outside of fixed disk (37), go up the described coil of coiling (38) at exhausted magnet ring (311), described force feedback axle (35) is fixedlyed connected with an end of described second (12), and described housing is fixedlyed connected with support (8).

2, the auxiliary rehabilitation exercise device that is used to realize finger rehabilitation exercise according to claim 1 is characterized in that: also be provided with a shaft coupling (2) between described motor (1) and first (11).

3, the auxiliary rehabilitation exercise device that is used to realize finger rehabilitation exercise according to claim 1, it is characterized in that: described second (12) are provided with one handle (6), and described finger supports (10) and is connected with described handle (6) by a junction button (9).

4, the auxiliary rehabilitation exercise device that is used to realize finger rehabilitation exercise according to claim 1 is characterized in that: described rotation disc (33) is two, and described fixed disk (37) is a slice.

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