Abstract: A modification to a robot end of arm tool to improve the retention of pail goods during transport by the tool includes affixing to the lower surface of a of rigid, planar, substrate, one or more pail lifting apparatus, each apparatus including a plurality of pail engaging fingers and a spacer block mounted to the substrate between the plurality of fingers. Each finger includes a flipper arm that is selectively, hydraulically controllable to move from a vertical to a horizontal position. When the flipper arm is in the horizontal position, it is able to physically engage the outer surface or ledge of an associated pail to provide support to the pail. The spacer block, located above the lid of the associated pail, when the pail is engaged by the plurality of fingers, restricts vertical movement of the pail during transport. The combination of fingers and a spacer block form one pail lifting apparatus. Multiple such apparatus may be affixed to the tool substrate.

Abstract: A robotic gripping apparatus includes one or more constraining plates each having a plurality of holes formed therethrough and a plurality of elongate members. The elongate members are independently movable relative to one another. Each elongate member extends through a respective hole or set of aligning holes in the constraining plate(s). A distal end portion of one or more of the elongate members is capable of exerting a force for drawing an object against the distal end portion to thereby hold or grip the object.

Abstract: The present disclosure provides for a surgical instrument which includes a housing and an endoscopic portion extending distally from the housing and defining a first longitudinal axis. The surgical instrument also includes an end effector disposed adjacent a distal portion of the endoscopic portion. The end effector includes an anvil assembly and a cartridge assembly. The anvil assembly is pivotally coupled to the cartridge assembly to be movable from a first actuation position to at least one other second actuation position. The surgical instrument further includes a firing rod having a shaft defining a second longitudinal axis, the shaft having a cam member which is in mechanical cooperation with the anvil assembly and is configured to move the anvil assembly from the first actuation position to the at least one other second actuation position upon rotation of the firing rod about the second longitudinal axis.

Abstract: A gripping mechanism for gripping an object includes a base, a first gripping module, a second gripping module, and a driving device. The first gripping module is disposed on the base and has at least one receiving slot. The second gripping module is movably disposed in the receiving slot. The driving device is disposed on the base and connected to the first gripping module and the second gripping module. The driving device is operable to drive the first gripping module to switch between an opened state and a closed state, or drive the second gripping module to move relative to the first gripping module to enable the gripping mechanism to grip or release the object.

Abstract: A chuck hand 1 includes a pressing mechanism 14 having a pusher 25 which presses a semiconductor process wafer 3 in the direction of a front guide 12 to thereby grip the semiconductor process wafer 3. The pressing mechanism 14 further has a pusher supporting body 22 and a buffering member 28. The pusher supporting body 22 is configured such that it can advance and retract. The pusher supporting body 22 is disposed in the pusher 25 such that it can slide back and forth. A gap 26a is defined forward relative to the pusher supporting body 22. The buffering member 28, which has a low bounce and is elastically deformable, is interposingly placed in the gap 26a. When the pusher supporting body 22 moves forward, it pushes the pusher 25 through the buffering member 28 whereby the pusher 25 is moved forward. The pusher 25 is abutted and pressed against the semiconductor process wafer 3.

Abstract: An improved robotic hand in which the palm section enables it to be capable of a wide range of movement with the ability to have good precision and control. The palm section consists of a plurality of parts which are able to move or flex relative to each other. Preferably, it is constructed as five bar spherical linkage having two degrees of freedom.

Abstract: An aspect of the invention provides a robot hand that performs an action for gripping an object between plural finger sections provided to be capable of changing a distance between the finger sections. Between the plural finger sections, a palm section movable along a direction in which a base side of the plural finger sections and a distal end side of the plural finger sections are connected is provided.

Abstract: A method is provided for distributing tension among tendons of a tendon-driven finger in a robotic system, wherein the finger characterized by n degrees of freedom and n+1 tendons. The method includes determining a maximum functional tension and a minimum functional tension of each tendon of the finger, and then using a controller to distribute tension among the tendons, such that each tendon is assigned a tension value less than the maximum functional tension and greater than or equal to the minimum functional tension. The method satisfies the minimum functional tension while minimizing the internal tension in the robotic system, and satisfies the maximum functional tension without introducing a coupled disturbance to the joint torques. A robotic system includes a robot having at least one tendon-driven finger characterized by n degrees of freedom and n+1 tendons, and a controller having an algorithm for controlling the tendons as set forth above.

Abstract: A gripper claw has replaceable gripper fingers and two gripper jaws each with a first jaw flange. The jaws are fastened to respective jaw flanges and are movable on linear guides, toward and away from one another. Each jaw has a holding mandrel, with holding cone. Each finger is reversibly insertable into one gripper jaw and has a finger base with depression complementary to a respective cone. The cone has a length that is at least one-third of its largest diameter, and its smallest diameter is at most 90% of the largest cone diameter. The jaws and the bases form a holding mechanism which holds the fingers in a stop position on a respective gripper jaw and they form a stabilizing mechanism that, with the holding cone, prevent tilting of the fingers.

Abstract: Disclosed is an automated medicine storage and medicine introduction/discharge management system, which includes a main body in which a plurality of receiving shelves is arranged, the main body having a door to enable user access, a medicine introduction/discharge unit installed in one side region of the main body to introduce or discharge a medicine product into or out of the main body, a robot transfer unit installed in the main body to transfer the medicine product, introduced via the medicine introduction/discharge unit, to each receiving space of the main body, or to discharge the medicine product received in the receiving space, and a control unit to control operations of the main body, the medicine introduction/discharge unit, and the robot transfer unit. The system is able to store a variety of medicine in a single main body and to achieve enhanced security for special medicine and efficient management of stock.

Abstract: The disclosure relates to a gripper finger including a surface area for clamping. This area this area is covered with a membrane including at least one section, which is substantially made of a shape memory polymer (SMP). The disclosure relates also to a gripper tool including such gripper finger and a method for adjusting such a gripper tool.

Abstract: A recess has a proximal-end-side surface and a distal-end-side surface. When an intersection between a straight line included in the proximal-end-side surface and a straight line included in the distal-end-side surface is a base point, a line passing through the base point is a base line, a line between two claw portions, passing through an end point of the recess and orthogonal to the base line is an orthogonal line, the angle ? made between the base line, and the straight line included in the distal-end-side surface is greater than 0 degrees and less than 90 degrees, the angle ? made between the orthogonal line, and the straight line included in the proximal-end-side surface is greater than 0 degrees and less than 90 degrees, and the length d from the base point to the orthogonal line is greater than 0.

Abstract: A multi-fingered robot hand has a minimum required number of joints in finger mechanisms and is capable of stably grasping a variety of articles. The multi-fingered robot hand includes: a first palm portion provided with three finger mechanisms each connected by a root joint; a second palm portion provided with one finger mechanism connected by a root joint; and a palm joint connecting the first palm portion and the second palm portion. The palm joint permits a variation in the connection angle of the second palm portion to the first palm portion. The palm joint, bending joints, bending joints of the root joints and the root joint have rotation axes parallel to each other, and the finger mechanisms bend while turning around the rotation axes.

Abstract: A substrate support apparatus which can support a substrate having a center hole, comprises a support portion which can support the substrate. The support portion includes a support groove with a cross-sectional shape in which a groove width gradually increases in a counter-gravitational direction, and a width of the support groove between two end portions is larger than a width of the support groove at the center thereof.

Abstract: A robot configured to check whether an object is properly grasped by a hand determines whether the position and posture of a handle (object), determined based on an image obtained by a camera (external information), and the position and posture of the handle in the case where the handle is assumed to be properly grasped, determined from the posture of a robot based on an output or the like of a rotary encoder (internal information), agree with each other. In response to the determination of whether the external information and the internal information agree with each other, it is determined whether the handle is properly grasped based on a force detected by a six-axis force sensor provided on each hand.

Abstract: A functional prosthesis for a hand comprises an opening and closing mechanism for articulated fingers. A worm gear coupled to a DC actuator-motor provides linear movement to a displacement mobile which is coupled to articulated fingers of the artificial hand. When the actuator rotates in one direction, the displacement mobile moves in one direction, causing the fingers to open or close, depending upon the direction of rotation. Rotation of the actuator in the opposite direction will cause the fingers to move in the opposite direction.

Abstract: A chuck hand 1 includes a pressing mechanism 14 having a pusher 25 which presses a semiconductor process wafer 3 in the direction of a front guide 12 to thereby grip the semiconductor process wafer 3. The pressing mechanism 14 further has a pusher supporting body 22 and a buffering member 28. The pusher supporting body 22 is configured such that it can advance and retract. The pusher supporting body 22 is disposed in the pusher 25 such that it can slide back and forth. A gap 26a is defined forward relative to the pusher supporting body 22. The buffering member 28, which has a low bounce and is elastically deformable, is interposingly placed in the gap 26a. When the pusher supporting body 22 moves forward, it pushes the pusher 25 through the buffering member 28 whereby the pusher 25 is moved forward. The pusher 25 is abutted and pressed against the semiconductor process wafer 3.

Abstract: A robot holds an untreated coarse aluminum casting that is located at a predetermined carrying-in corner with the holding means and carries it to the first machining unit. At the first unit it holds a treated casting treated by the first unit with the holding device as well as transferring the untreated casting from the holding device to the first unit. Then it carries the treated casting that has been treated by the first unit to a second machining unit. At the second unit it holds a second treated casting that has been treated by the second unit with the holding device as well as transferring the treated casting treated by the first unit from the holding device to the second unit. Then it carries the second treated casting treated by the second unit to a predetermined carrying-out corner.

Abstract: A robot includes a base unit, at least two link mechanisms arranged on the base unit, drive units capable of bending and expanding the link mechanisms, and a control unit controlling the drive units. At least one drive unit has a drive force larger than those of the other drive units, and the other drive units are passively displaced by external forces larger than their own drive forces.

Abstract: A geometric end effector system for use on a robot. The system includes a platform and a frame secured to the platform. At least one base is arranged at a predetermined position on the frame. The system also has an anchor mount secured to the base and a component connected to an end of the anchor mount by a collar assembly. A key is arranged between the component and the anchor mount.

Abstract: A rotation and extension/retraction link mechanism which realizes a rotary joint having a virtual rotation axis is provided. A rotation and extension/retraction link mechanism 1 is configured so that a first link 5 having a first virtual center line 3 and a second link 9 having a second virtual center line 7 are coupled through a rotation and extension/retraction joint mechanism 11. The rotation and extension/retraction joint mechanism 11 is configured to couple the first link 5 and the second link 9 so that when the second virtual center line 7 rotates relative to the first virtual center line 3 from a state where the first virtual center line 3 entirely overlaps with the second virtual center line 7, while crossing the first virtual center line 3, an intersection between the first virtual center line 3 and the second virtual center line 7 is displaced on the first virtual center line 3 by a predetermined distance corresponding to an angle of the rotation.

Abstract: A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.

Abstract: An assembly and method for releasably connecting a gripper finger to a robotic arm needing only manual manipulation to operate. The assembly includes a finger body having a quick-change bar connected to a locking lever. The locking lever can be rotated by hand to engage and disengage the assembly to connect a finger to a gripper connected to a robot. The locking lever provides a sleeve and pin which interact to lock the assembly. The sleeve and pin can have recessed surfaces formed to interact with roll pins or screws to restrict behavior of the quick-change device during engagement.

Abstract: A method is provided for distributing tension among tendons of a tendon-driven finger in a robotic system, wherein the finger characterized by n degrees of freedom and n+1 tendons. The method includes determining a maximum functional tension and a minimum functional tension of each tendon of the finger, and then using a controller to distribute tension among the tendons, such that each tendon is assigned a tension value less than the maximum functional tension and greater than or equal to the minimum functional tension. The method satisfies the minimum functional tension while minimizing the internal tension in the robotic system, and satisfies the maximum functional tension without introducing a coupled disturbance to the joint torques. A robotic system includes a robot having at least one tendon-driven finger characterized by n degrees of freedom and n+1 tendons, and a controller having an algorithm for controlling the tendons as set forth above.

Abstract: A robotic hand with finger assemblies to better simulate human hand form factors and gestures. For each finger assembly, the robotic hand includes a finger drive assembly that is operable to selectively apply tension to four elongated and flexible tension elements (e.g., steel cable). Each of the finger assemblies includes a set of links or link members that are actuated or moved by the selective tensioning/movement of the tension elements by the drive assembly. The links are interconnected with pivotal joints such that they have three degrees-of-freedom, and the finger assembly includes a set of pulleys that are supported on the links and that are arranged to provide support and to guide the tension elements through the finger assembly. The tension elements preferably extend only partially about any one of the pulleys, whereby the finger assembly utilizes “n+1” actuation with non-helical wrapping of the tension elements.

Abstract: A robot hand able to change the manner of holding an object while force applied from a plurality of finger mechanisms to the object is adjusted without using an auxiliary finger mechanism. When force F3 is applied to object w from a certain finger mechanism 13 among the plurality of finger mechanisms 11 to 13 is changed, the operation of each finger mechanism is controlled such that a “contact” of each of the finger mechanisms 11 to 13 in the object w and an “application force vector” from each of the finger mechanisms 11 to 13 to the object w satisfy a “stable gripping condition”. The “stable gripping condition” is a condition in which (1) the sum of each of forces and moments applied from the plurality of finger mechanisms 11 to 13 to the object w becomes zero, and (2) a slip index fr becomes minimum.

Abstract: A mechanical finger comprises at least three phalanges, with a base phalanx pivotally connected at a proximal end to a base. At least one intermediate phalanx is pivotally connected at a proximal end to a distal end of the base phalanx. An end phalanx is pivotally connected at a proximal end to a distal end of a distal-most one of the at least one intermediate phalanx. The phalanges pivot about parallel pivot axes. A transmission linkage is between the base and the end phalanx. The transmission linkage has links and joints unconnected to any of the phalanges other than the end phalanx, the transmission linkage being configured so as not to constrain the degrees of freedom of the mechanical finger.

Abstract: A multi-fingered robot hand having a minimum required number of joints in finger mechanisms and capable of stably grasping a variety of articles. The multi-fingered robot hand includes: a first palm portion (8) provided with three finger mechanisms (2, 3, 4) each connected by a root joint (12); a second palm portion (9) provided with one finger mechanism (1) connected by a root joint (13); and a palm joint (10) connecting the first palm portion (8) and the second palm portion (9). The palm joint (10) permits a variation in the connection angle of the second palm portion (9) to the first palm portion (8). The palm joint (10), bending joints (5), bending joints (6) of the root joints (12) and the root joint (13) have rotation axes parallel to each other, and the finger mechanisms (1, 2, 3, 4) bend while turning around the rotation axes.

Abstract: A library apparatus includes cells. A positioning mechanism serves to position a carriage relative to the cells within an operating region adjacent to a standby region. A transporting mechanism drives the carriage toward the standby region. A swaying mechanism allows grasping fingers on the carriage to go around an object lying on the movement path of the grasping fingers when the transporting mechanism carries the carriage to the standby region. The grasping fingers acts to hold an object within the cell. If the positioning mechanism malfunctions, the transporting mechanism transfers the carriage to the standby region. Even if an object exits on the movement path of the grasping finger, the carriage is allowed to keep moving because the swaying mechanism allows the grasping finger or fingers to sway around the object on the movement path. The carriage thus reliably reaches the standby region.

Abstract: An adapter device (26) for use in automated handling equipment (10) includes an adapter support (30) that is adapted for automated movement. One or more support members (32) are rigidly securable to the adapter support (30) in a plurality of different positions relative to the adapter support (30) to provide a variety of adapter device (26) configurations for objects of different sizes and shapes.

Abstract: This invention relates to a gripper for a manipulator robot comprising two members articulated at a first end, each member comprising a jaw support (8?) at a second end, and a jaw (10?) that will come into contact with an object, the jaw (10?) being approximately plane, a force sensor (26?) arranged between at least one jaw support (8?) and a jaw (10?) so as to apply a force during displacement of the jaw (10?), and a deformable parallelogram connection (14?) connecting the jaw (10?) to the jaw support (8?), the sensor (26?) being oriented such that a sensitive axis of the sensor is orthogonal to the plane of the jaw (10?).

Abstract: A robot hand apparatus (1) includes a base (2); a motor (M); a first-link (10) supported by the base (2) while allowing the rotation around a first axis (S1), which is in parallel to an actuation axis (G) of the motor (M) and is positioned apart from the actuation axis (G), the first-link (10) has a first guide path (11b) movably supporting a control axis (42); a second link (20) which connects with the actuation axis (G) and supports the control axis (42), and moves the control axis (42) within the first guide path (11b) in accordance with the rotation of the actuation axis (G); and a finger link (F1) supported by the first link (10) while allowing the rotation around a second axis; and the finger link (F1) directly or indirectly links with the control axis (42) and is rotated by the actuation of the control axis (42).

Abstract: A method for estimating joint load at a joint of a segment. The method comprises the steps of receiving kinematic data, determining a modified acceleration using at least the kinematic data, estimating a joint load using at least the modified acceleration; and determining simulated kinematic data for the segment using at least the joint load. The present disclosure thus addresses the problems with conventional inverse dynamics analysis by providing a forward dynamics solution for estimation of joint loads that is stable, guaranteed to converge, computationally efficient, and does not require acceleration computations. According to one embodiment, a joint load is estimated using an approach of closed form dynamics.

Abstract: An end effector includes a base part and a first member. The first member includes first, second, and third serially articulated struts. The first strut articulates with the base part for relative angular displacement about a first pitch axis and about a first roll axis. The first roll axis is substantially orthogonal to the first pitch axis. The second strut articulates with the first strut for relative angular displacement about, firstly, a first yaw axis substantially orthogonal to the first pitch axis and the first roll axis, and, secondly, about a second pitch axis substantially parallel to the first pitch axis and substantially orthogonal to the first yaw axis. The third strut articulates with the second strut for relative angular displacement about a second yaw axis substantially parallel to the first yaw axis.

Abstract: A parallel gripper for handling multiwell plates in an automated analysis system, moves individual multiwell plates between a plate storage array unit (i.e., plate hotel) and an imaging station. More particularly, the gripper has two parallel plate-gripping arms that move in equal, but opposite linear directions and are controlled using a stepper motor. Each of the arms has a shelf that provides support for the corresponding side edge of a multiwell plate.

Abstract: A method for estimating joint load at a joint of a segment. The method comprises the steps of receiving kinematic data, determining a modified acceleration using at least the kinematic data, estimating a joint load using at least the modified acceleration; and determining simulated kinematic data for the segment using at least the joint load. The method addresses the problems with conventional inverse dynamics analysis by providing a forward dynamics solution for estimation of joint loads that is stable, guaranteed to converge, computationally efficient, and does not require acceleration computations. According to one embodiment, a joint load is estimated recursively.

Abstract: A robot hand converts the longitudinal extending and retracting motion of an actuating rod of a linear actuator into opening and closing motion of left and right first links via a link mechanism. The link mechanism includes left and right middle links composed of coil springs. When the left and right first links come in contact with an object to be gripped, the middle links elastically deform and expand, and the force gripping the object gradually increases due to the elastic deformation of the middle links. It is possible to prevent a large gripping force from acting suddenly on the object and to prevent the object from being deformed, damaged, or otherwise suffering harmful effects.

Abstract: A multi-finger grasping mechanism (300), comprising three two-joint finger units (1-1 to 1-3). Each two-joint finger unit further comprises a finger root part (2), a finger root side joint part (5), a finger intermediate part (3), a finger tip side joint part (6), and a finger tip part (4). The finger intermediate part (3) can be swung about the joint axis (5a) of the finger root side joint part (5), and the finger tip part (4) can be swung about the joint axis (6a) of the finger tip side joint part (6). The finger tip part (4) can be swung about the center axis thereof. When a bolt (W) is held by the finger tip part (4) and the finger part (4) is rotated, the tightening operation of the bolt (W) can be performed.

Abstract: The present invention concerns an apparatus for gripping, holding and releasing objects (30) that can be penetrated. The apparatus includes at least two needles (1, 2) with a central axis in the longitudinal direction of the needle placed at a distance from each other. At least one drive unit is connected to the needles (1, 2) for driving these between an extended and a retracted position. At least one of the central axes of the needles forms a part of a circle when this needle is in an extended position. Furthermore it is described a method to grip, hold and release objects (30) that can be penetrated.

Abstract: A micro actuator including a translationally driving section having a moving portion which is incorporated in a case and moves translationally, and a displacement enlarging member having one end portion connected to the moving portion of the translationally driving section and another end portion connected to the case, wherein as the one end portion is pulled on the basis of the translational movement, the amount of displacement of its distal end is enlarged.

Abstract: The invention relates to a robot gripper having a fixing flange for detachably attaching it to a robot manipulator arm, and at least one actuator element which is supported in a frame, that actuates at least two gripper jaws indirectly or directly kinematically via at least one articulated unit. At least the fixing flange, the frame and the actuator element are manufactured integrally using a generative manufacturing method, and the actuator element is in the form of a bellows, enclosed an internal volume, which can be filled with a medium via at least one opening, and is capable of expanding, when filled with a medium, along a linear axis predetermined by the bellows design of the actuator element and of contracting, when the volume is emptied, in the opposite direction.

Abstract: A method of predicting kinematic data for a segment. The method comprises the steps of determining a modified acceleration using at least original kinematic data, estimating a joint load for a joint of the segment by using at least the modified acceleration, and predicting kinematic data for the segment based on one or more modified parameters. Therefore, various embodiments advantageously allow for prediction of novel motion.

Abstract: An industrial robot may include a robot hand structured to mount a transfer object, a multi-joint arm section having at least two arms including a robot hand supporting arm structured to support the robot hand to be rotatable; and a main section structured to support the multi-joint arm section to be rotatable. The robot hand may include a grasping part structured to contact and grasp the transfer object and a biasing member structured to bias the grasping part in a direction for grasping the transfer object. The robot hand supporting arm may include an eccentric member fixed to the robot hand supporting arm at a position being eccentric from a turning center of the robot hand in relation to the supporting arm.

Abstract: Surgical instruments are disclosed in which an elongated shaft is used in conjunction with a separate, remotely actuable tool head for performing a procedure on a target tissue. The shaft has a tool engagement member carried at its distal end that is remotely actuable through the shaft to engage and release the tool head.

Abstract: The present invention provides grasping mechanisms, gripper apparatus/systems, and related methods. Grasping mechanisms that include stops, support surfaces, and height adjusting surfaces to determine three translational axis positions of a grasped object are provided. In addition, grasping mechanisms that are resiliently coupled to other gripper apparatus components are also provided.

Abstract: A joint drive mechanism includes a plurality of link members linked via a joint portion. A drive portion is associated with the joint portion for driving the joint portion such that the link members attached thereto can be moved relative to one another in a controlled fashion. The drive portion includes a plurality of drive elements that each are capable of expanding or contracting in response to an applied electric signal so as to provide different drive outputs to the joint portion. In one embodiment, a joint portion connects link members simulating portions of a human finger. The drive portion includes a pair of drive elements connected to the joint portion by a transmission member. Each of the drive elements is expanded or contracted equally and oppositely relative to the other drive element in response to controlled applied electrical signals.

Abstract: Apparatus and methods are provided for estimating joint forces and moments in human beings. A forward dynamics module determines simulated kinematic data. An error correction controller forces tracking error between the simulated kinematic data and measured (or desired) kinematic data to approach zero. The error correction controller generates a modified acceleration for input into an inverse dynamics module. The estimated joint forces and moments track the measured (or desired) kinematics without the errors associated with computing higher order derivatives of noisy kinematic data.

Abstract: A connector insertion and removal tool for an electrical system including a circuit board and at least one electrical connector therefor includes a first portion configured for coupling to a first surface of the circuit board, and a second portion configured for coupling to the first portion. At least one of the first portion and the second portion comprises an actuator adapted for movement toward and away from the circuit board to contact at least a portion of the connector.

Abstract: A robotic hand comprises a base having fingers and a palm. The fingers define a working volume. The hand is able to grasp objects between the fingers and the palm by varying a distance from the palm to the working volume. Varying this distance can be achieved by either moving the palm towards the working volume or by moving the working volume towards the palm. Robotic hands that move the palm comprise an actuator that extends the palm from the base towards the working volume. Robotic hands that move the working volume relative to the palm have the fingers mounted to a common finger support unit that is configured to translate relative to the base.

Abstract: This invention is directed to a system for actuating manipulator jaws. This system employs a double sided rack, each side of which engages a pinion at a first end of a rotatably mounted lever. The second end of each lever comprises a jaw region. The present invention may be used with subsea manipulators mounted on remotely operated vehicles (“ROV's”).