CA2615084A1 - Programmable actuator controller for power positioning seat or leg support of a wheelchair - Google Patents

Programmable actuator controller for power positioning seat or leg support of a wheelchair Download PDF

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Publication number
CA2615084A1
CA2615084A1 CA002615084A CA2615084A CA2615084A1 CA 2615084 A1 CA2615084 A1 CA 2615084A1 CA 002615084 A CA002615084 A CA 002615084A CA 2615084 A CA2615084 A CA 2615084A CA 2615084 A1 CA2615084 A1 CA 2615084A1
Authority
CA
Canada
Prior art keywords
actuator
controller
digital controller
operative
digital
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.)
Abandoned
Application number
CA002615084A
Other languages
French (fr)
Inventor
John Mattes
Darryl Peters
Ricky J. Mccullar
Gary E. Chopcinski
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.)
Invacare Corp
Original Assignee
Individual
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=37763781&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=CA2615084(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Individual filed Critical Individual
Publication of CA2615084A1 publication Critical patent/CA2615084A1/en
Abandoned legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1089—Anti-tip devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/128—Rests specially adapted therefor, e.g. for the head or the feet for feet
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/05—Parts, details or accessories of beds
    • A61G7/057—Arrangements for preventing bed-sores or for supporting patients with burns, e.g. mattresses specially adapted therefor
    • A61G7/05784—Arrangements for preventing bed-sores or for supporting patients with burns, e.g. mattresses specially adapted therefor with ventilating means, e.g. mattress or cushion with ventilating holes or ventilators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/10—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using selector switches
    • G05B19/106—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using selector switches for selecting a programme, variable or parameter
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/14—Joysticks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
    • A61G2203/20—Displays or monitors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/1059—Arrangements for adjusting the seat adjusting the height of the seat
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1056—Arrangements for adjusting the seat
    • A61G5/1075—Arrangements for adjusting the seat tilting the whole seat backwards
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/80—Other vehicles not covered by groups B60Y2200/10 - B60Y2200/60
    • B60Y2200/84—Wheelchairs
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23128—Switch from one kind of display to other when parameter is changed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23129—Animated display, changes as function of parameters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23159—Display plurality of parameters simultaneously
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23193—Memory stores lifetime, different settings, configurations of controlled device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23332—Overide stored parameters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23388—Mixture of different means, joystick, keys, pedals, fader, potentiometer
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2637—Vehicle, car, auto, wheelchair
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

An actuator controller for operating a selected one of a plurality of known seat and leg support position actuators of a wheelchair comprises: a digital controller; and an actuator driver circuit coupled to the digital controller and capable of driving any one of the plurality of known seat and leg support position actuators, the digital controller programmable with data representative of a selected one of the plurality of known seat and leg support position actuators and operational parameters thereof, and operative to control the actuator driver circuit to drive the selected one of the plurality of known seat and leg support position actuators in accordance with the parameter data.

Claims (20)

1. Actuator controller for operating a selected one of a plurality of known seat and leg support position actuators of a wheelchair, said actuator controller comprising:
a digital controller; and an actuator driver circuit coupled to said digital controller and capable of driving any one of said plurality of known seat and leg support position actuators, said digital controller programmable with data representative of a selected one of said plurality of known seat and leg support position actuators and operational parameters thereof, and operative to control said actuator driver circuit to drive said selected one of said plurality of known seat and leg support position actuators in accordance with said parameter data.
2. The actuator controller of claim 1 wherein the digital controller is operative to receive the data representative of the selected one of said plurality of known seat and leg support position actuators and the operational parameters thereof communicated thereto.
3. The actuator controller of claim 1 including a memory for storing operational parameters of each of said plurality of known seat and leg support position actuators, said stored operational parameters of said memory accessible by said digital controller.
4. The actuator controller of claim 3 including a selector for communicating the data of the selected one of the plurality of known seat and leg support position actuators to the digital controller which is operative to respond to the selection data by controlling the actuator driver circuit to drive the selected position actuator in accordance with the operational parameters thereof accessed from the memory.
5. The actuator controller of claim 4 wherein the selector is programmable with a code representative of the selected one of the plurality of known seat and leg support position actuators; and wherein the digital controller is operative to read said code from the selector and, based on said code, to access the operational parameters of the selected position actuator from the memory for use in controlling the actuator driver circuit.
6. The actuator controller of claim 5 wherein the selector comprises a set of switches coupled to digital inputs of the digital controller for providing a digital code thereto; and wherein the digital controller is operative to read the code provided by the set of switches.
7. The actuator controller of claim 1 including: a position sensor circuit coupled to the digital controller and capable of receiving signals from any one of a plurality of know actuator position sensors and generating a signal representative of the received sensor signal which is readable by the digital controller; and a selector operative to communicate data of a selected one of said plurality of actuator position sensors to said digital controller which is operative to respond to said selection data to render actuator position data from said signal read from the position sensor circuit.
8. Actuator controller for closed-loop controlling one of a seat and leg support position actuator of a wheelchair, said actuator controller comprising:
a digital controller coupleable to a communication bus of said wheelchair and operative to receive a desired actuator position signal from said communication bus;
an actuator driver circuit coupled to said digital controller and responsive to control signals from said digital controller to drive said position actuator; and a position sensor circuit for receiving an actuator position signal from a position sensor of said position actuator, said digital controller operative to read said actuator position signal from the position sensor circuit, said digital controller operative to perform a closed-loop control of said position actuator using said actuator driver circuit based on said desired and read actuator position signals.
9. The actuator controller of claim 8 wherein the wheelchair communication bus comprises a CAN bus.
10. The actuator controller of claim 8 wherein the digital controller is operative in a selected one of a normal mode and a calibration mode in controlling the position actuator.
11. The actuator controller of claim 8 including a current sense circuit monitored by the digital controller for determining an operational status of the position actuator.
12. The actuator controller of claim 8 including a driver protection circuit monitored by the digital controller for protecting the actuator driver circuit against mishaps.
13. The actuator controller of claim 8 including:
a second actuator driver circuit coupled to said digital controller and responsive to control signals from said digital controller to drive a second position actuator; and a second position sensor circuit for receiving an actuator position signal from a second position sensor of said second position actuator, said digital controller operative to read said actuator position signal from the second position sensor circuit, said digital controller operative to receive a desired second actuator position signal for the second position actuator from said communication bus, and operative to perform a closed-loop control of both of the position actuator using said actuator driver circuit based on said desired and read actuator position signals and said second position actuator using said second actuator driver circuit based on said desired and read second actuator position signals.
14. The actuator controller of claim 8 wherein the digital controller is operative to transmit the read actuator position signal over the communication bus.
15. The actuator controller of claim 8 wherein the digital controller is operative to respond to commands received from the communication bus.
16. Wheelchair control system comprising:
a system controller;
a communication bus;
a plurality of actuator controllers, said system controller and said plurality of actuator controllers coupled to said communication bus for transmitting and receiving signals thereover, each actuator controller of said plurality for closed-loop controlling a corresponding one of a plurality of position actuators of the wheelchair, each said actuator controller comprising:
a digital controller coupleable to said communication bus and operative to receive a desired actuator position signal transmitted by said system controller over said communication bus;
an actuator driver circuit coupled to said digital controller and responsive to control signals from said digital controller to drive said corresponding position actuator; and a position sensor circuit for receiving an actuator position signal from a position sensor of said corresponding position actuator, said digital controller operative to read said actuator position signal from the position sensor circuit, said digital controller operative to perform a closed-loop control of said corresponding position actuator using said actuator driver circuit based on said desired and read actuator position signals of said position actuators.
17. The control system of claim 16 wherein the digital controller of each actuator controller is operative to transmit the corresponding read actuator position signal over the communication bus to the system controller.
18. The control system of claim 16 wherein the digital controller of each actuator controller is operative to respond to commands received from the system controller over the communication bus.
19. The control system of claim 18 wherein the digital controller of each actuator controller is operative to transmit the corresponding read actuator position signal over the communication bus to the system controller in response to a command received from the system controller.
20. The control system of claim 16 wherein at least one actuator controller of said plurality is disposed at the position actuator corresponding thereto.
CA002615084A 2005-08-31 2006-08-31 Programmable actuator controller for power positioning seat or leg support of a wheelchair Abandoned CA2615084A1 (en)

Applications Claiming Priority (16)

Application Number Priority Date Filing Date Title
US60/727,250 2001-10-15
US71298705P 2005-08-31 2005-08-31
US60/712,987 2005-08-31
US72699305P 2005-10-15 2005-10-15
US72725005P 2005-10-15 2005-10-15
US72698305P 2005-10-15 2005-10-15
US72724905P 2005-10-15 2005-10-15
US72700505P 2005-10-15 2005-10-15
US72666605P 2005-10-15 2005-10-15
US72698105P 2005-10-15 2005-10-15
US60/726,983 2005-10-15
US60/727,005 2005-10-15
US60/726,666 2005-10-15
US60/727,249 2005-10-15
US60/726,981 2005-10-15
PCT/US2006/033972 WO2007027852A2 (en) 2005-08-31 2006-08-31 Programmable actuator controller for power positioning seat or leg support of a wheelchair

Publications (1)

Publication Number Publication Date
CA2615084A1 true CA2615084A1 (en) 2007-03-08

Family

ID=37763781

Family Applications (7)

Application Number Title Priority Date Filing Date
CA002615083A Abandoned CA2615083A1 (en) 2005-08-31 2006-08-31 Method and apparatus for automated positioning of user support surfaces in power driven wheelchair
CA002615084A Abandoned CA2615084A1 (en) 2005-08-31 2006-08-31 Programmable actuator controller for power positioning seat or leg support of a wheelchair
CA2616325A Active CA2616325C (en) 2005-08-31 2006-08-31 Method and apparatus for setting or modifying programmable parameter in power driven wheelchair
CA2615087A Active CA2615087C (en) 2001-10-15 2006-08-31 Method and apparatus for setting or modifying programmable parameters in power driven wheelchair
CA2931730A Active CA2931730C (en) 2005-08-31 2006-08-31 Method and apparatus for setting or modifying programmable parameters in power driven wheelchair
CA2615091A Active CA2615091C (en) 2005-08-31 2006-08-31 Power driven wheelchair
CA2614744A Active CA2614744C (en) 2005-08-31 2006-08-31 Method and apparatus for programming parameters of a power driven wheelchair for a plurality of drive settings

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CA002615083A Abandoned CA2615083A1 (en) 2005-08-31 2006-08-31 Method and apparatus for automated positioning of user support surfaces in power driven wheelchair

Family Applications After (5)

Application Number Title Priority Date Filing Date
CA2616325A Active CA2616325C (en) 2005-08-31 2006-08-31 Method and apparatus for setting or modifying programmable parameter in power driven wheelchair
CA2615087A Active CA2615087C (en) 2001-10-15 2006-08-31 Method and apparatus for setting or modifying programmable parameters in power driven wheelchair
CA2931730A Active CA2931730C (en) 2005-08-31 2006-08-31 Method and apparatus for setting or modifying programmable parameters in power driven wheelchair
CA2615091A Active CA2615091C (en) 2005-08-31 2006-08-31 Power driven wheelchair
CA2614744A Active CA2614744C (en) 2005-08-31 2006-08-31 Method and apparatus for programming parameters of a power driven wheelchair for a plurality of drive settings

Country Status (9)

Country Link
US (19) US7403844B2 (en)
EP (3) EP1928386B2 (en)
AU (7) AU2006284748A1 (en)
CA (7) CA2615083A1 (en)
DK (1) DK1928387T3 (en)
ES (1) ES2855685T3 (en)
NZ (6) NZ565930A (en)
PT (1) PT1928387T (en)
WO (6) WO2007027845A2 (en)

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