Sensors, motion support systems

Abstract

Its purpose is to support operation. [Solution] The sensor includes a base material that expands and contracts in response to the movement of the human body, a strain sensor disposed on the base material for detecting the movement of the human body, and a skin electrode disposed on the base material to which a minute current is applied to assist the movement of the human body.

Description

Technical Field

[0001] The present invention relates to a sensor and an operation support system.

Background Art

[0002] Conventionally, in the field of sports and the like, techniques for detecting the movements of a subject and evaluating the way the subject moves their body are known. Specifically, for example, techniques for detecting changes in the body parts of a subject who performs an action of hitting an object to be hit using a strain sensor and evaluating how the subject uses their muscles in various actions involving hitting are known. <0000\012>

Prior Art Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the field of sports and the like, it is preferable to intuitively convey to the subject the part where the movement should be corrected. However, in the conventional techniques described above, they only evaluate the movements of the subject, and do not consider conveying to the subject the part where the movement should be corrected, and thus cannot support the movements of the subject.

[0005] The disclosed technique aims to support movements.

Means for Solving the Problems

[0006] The disclosed technique is a sensor including a base material that expands and contracts according to the movement of the human body, a strain sensor disposed on the base material for detecting the movement of the human body, and a muscle electrode disposed on the base material to which a minute current for assisting the movement of the human body is applied.

Effects of the Invention

[0007] ] It can assist with operations. [Brief explanation of the drawing]

[0008] [Figure 1] This is a diagram illustrating the system configuration of the operation support system. [Figure 2] This is a diagram illustrating the sensor system. [Figure 3] This figure shows an example of the hardware configuration of an information processing terminal. [Figure 4] This diagram illustrates the functions of each device in the operation support system 1. [Figure 5] This is a sequence diagram explaining the operation of the operation support system. [Modes for carrying out the invention]

[0009] This embodiment will be described below with reference to the drawings. First, the operation support system and the sensor system of this embodiment will be described with reference to Figures 1 and 2. Figure 1 is a diagram illustrating the system configuration of the operation support system. Figure 2 is a diagram illustrating the sensor system. Figure 2(A) is a perspective top view of the sensor system, and Figure 2(B) is a cross-sectional view AA of the sensor.

[0010] The operation support system 1 of this embodiment includes a sensor system 10 and an information processing terminal 300. The sensor system 10 includes a sensor 100 and a control device 200. In Figure 1, the sensor 100 is shown as a top perspective view. The information processing terminal 300 and the control device 200 communicate wirelessly, for example, using Bluetooth®.

[0011] In the sensor system 10 of this embodiment, the sensor 100 is attached to the user's body and the control device 200 is attached, and the system is used with the sensor 100 and the control device 200 connected.

[0012] In the sensor system 10, the sensor 100 includes a motion detection sensor that detects the movement of the body part of the user to which the sensor 100 is attached, and a stimulus generation electrode that generates a stimulus to be delivered to the user. Details of the motion detection sensor and the stimulus generation electrode will be described later.

[0013] Sensor 100, using a motion detection sensor, outputs sensor data to the control device 200 corresponding to the movement of the body part of the user to which sensor 100 is attached. Sensor data is data indicating the movement of the body part of the user.

[0014] In the sensor system 10, the control device 200 acquires sensor data output from the sensor 100 and transmits it to the information processing terminal 300.

[0015] When the information processing terminal 300 receives sensor data, it compares the user's actions with those of the user if they were performed ideally, based on the sensor data. Then, based on the results of the comparison, the information processing terminal 300 sends an instruction to the control device 200 to generate a stimulus to inform the user of the parts of their body that need to be modified.

[0016] The control device 200 receives a generation instruction from the information processing terminal 300 and applies a minute current to the stimulation generation electrode of the sensor 100, stimulating the area to be modified and assisting the movement of the human body. In this embodiment, the minute current is a weak current that can be felt by the user with the sensor 100 attached to their body, but does not cause pain. As an example of a minute current to assist the movement of the human body, a minute current that stimulates motor nerves or muscles can be given.

[0017] Thus, in this embodiment, a single sensor 100 is used to detect the user's movements and to communicate the parts of the body that need to be corrected. Furthermore, in this embodiment, when the user's movements are detected, a stimulus can be immediately generated to communicate to the user the parts of the body that need to be corrected, thereby providing support to bring the user's movements closer to ideal movements.

[0018] Note that the specific part of the user in this embodiment may include, for example, the back of the user's hand. Further, the specific part of the user may include from the base of the user's finger to the vicinity of the second joint. In this embodiment, by attaching the sensor 100 to this part, the movement of the user's finger can be detected.

[0019] Also, the operation support system 1 of this embodiment may be used, for example, to support specific operations in the sports field. The specific operation may be, for example, a pitching motion in baseball, a hitting motion in tennis or table tennis, etc. In this case, the operation support system 1 detects the movement of the finger in the user's pitching motion or hitting motion, and compares the movement of the finger in the pitching motion or hitting motion with the movement of the finger when an ideal pitching motion or hitting motion is performed. Then, the operation support system 1 gives a stimulus to the finger for which the operation should be corrected so as to make the movement of the user's finger approach an ideal movement. In this embodiment, in this way, the way the user moves their finger can be supported.

[0020] Note that the specific operation of this embodiment is not limited to the sports field, and may be, for example, an operation performed in rehabilitation or the operation of playing a musical instrument.

[0021] The sensor system 10 will be further described below.

[0022] In the sensor system 10 of this embodiment, the sensor 100 includes a stretchable cloth substrate 101, strain sensors 111, 112, wirings 121, 122, skin electrodes 131, 132, wirings 141, 142, an adhesive 151, and a skin adhesive 152. In this embodiment, the strain sensors 111, 112 are an example of sensors for detecting operations, and the skin electrodes 131, 132 are an example of electrodes for generating stimuli.

[0023] The stretchable fabric base material 101 is roughly rectangular, with adhesive 151 placed on a portion of one side (front surface). Additionally, skin-friendly adhesive 152 is applied to the entire other side (back surface) of the stretchable fabric base material 101. While the adhesive applied to the other side (back surface) of the stretchable fabric base material 101 is not limited to skin-friendly adhesive, using skin-friendly adhesive 151 is preferable because it reduces skin irritation when the stretchable fabric base material 101 is applied to the human body.

[0024] In this embodiment, the substrate on which the strain sensors 111, 112 and skin electrodes 131, 132 are placed is a stretchable fabric substrate 101, but it is not limited to this. The substrate on which the strain sensors 111, 112 and skin electrodes 131, 132 are placed can be any material that stretches and contracts in response to the movement of the human body, and it does not have to be fabric.

[0025] Strain sensors 111 and 112 are attached to the adhesive 151 placed on the surface of the stretchable fabric base material 101. In other words, strain sensors 111 and 112 are attached to the stretchable fabric base material 101 via the adhesive 151.

[0026] In this case, the strain sensors 111 and 112 may be attached to the adhesive 151 in a way that allows them to be attached and detached. By attaching the strain sensors 111 and 112 in this way, after the sensor 100 is removed from the user's body, the strain sensors 111 and 112 can be removed from the stretchable fabric base material 101 and reused.

[0027] Furthermore, the sensor 100 after the strain sensors 111 and 112 have been removed from the stretchable fabric base material 101 may be discarded. In this embodiment, by making everything except the strain sensors 111 and 112 disposable and reusing the strain sensors 111 and 112, it is possible to reduce waste while maintaining good hygiene for the operation support system 1.

[0028] Skin electrodes 131 and 132 are attached to a skin-safe adhesive 152 applied to the back surface of the stretchable fabric base material 101. In other words, the skin electrodes 131 and 132 are attached to the stretchable fabric base material 101 via the skin-safe adhesive 152.

[0029] Furthermore, in sensor 100, the strain sensor 111 and the skin electrode 131 are arranged in the longitudinal direction of the stretchable fabric base material 101. In this case, the skin electrode 131 is placed on the side facing the user's skin (the back side of the stretchable fabric base material 101), and the strain sensor 111 is placed on the opposite side (the front side) of the stretchable fabric base material 101.

[0030] In other words, in this embodiment, a strain sensor 111 (motion detection sensor) for detecting the user's movements and a skin electrode 131 (stimulation generating electrode) for providing stimulation to the user are arranged as a single unit, with the strain sensor 111 and the skin electrode 131 separated by a stretchable fabric base material 101.

[0031] Furthermore, the strain sensor 112 and skin electrode 132 are arranged in the same manner as the strain sensor 111 and skin electrode 131.

[0032] Furthermore, the stretchable fabric base material 101 has slits 102 formed to separate a region 105 in which a strain sensor 111 is placed on the surface and a skin electrode 131 is placed on the back surface, from a region 105 in which a strain sensor 112 is placed on the surface and a skin electrode 132 is placed on the back surface. In other words, the slits 102 are formed so that the stretchable fabric base material 101 is separated for each set including the motion detection sensor and the stimulation generation electrode.

[0033] In this embodiment, by forming the slit 102 in this way, when attaching the sensor 100 from the back of the user's hand to near the second joint of the fingers, it can be attached to the user's fingers in regions 105 and 106 separated by the slit 102. Furthermore, in this embodiment, by providing the slit 102, the sensor 100 can be attached to the back of the hand regardless of the size of the user's hand, thereby reducing errors in motion detection accuracy caused by individual hand size.

[0034] In the examples shown in Figures 1 and 2, the stretchable fabric base material 101 is approximately rectangular, but the shape of the stretchable fabric base material 101 is not limited to this. The stretchable fabric base material 101 may be, for example, elliptical or the like.

[0035] The strain sensor 111 is detachably attached to the stretchable fabric base material 101 by an adhesive 151 and is connected to the control device 200 by wiring 121. The strain sensor 112 is similar. The strain sensors 111 and 112 output voltage signals to the control device 200 that correspond to the expansion and contraction of the stretchable fabric base material 101 in response to the user's finger movements.

[0036] The skin electrodes 131 and 132 are self-adhesive skin electrodes. Skin electrode 131 is connected to the control device 200 by wiring 141, and skin electrode 132 is connected to the control device 200 by wiring 142. The wirings 141 and 142 may be formed, for example, between a skin adhesive 152 and a stretchable fabric base material 101.

[0037] A minute current is applied to the skin electrodes 131 and 132 by the control device 200. This causes the skin electrodes 131 and 132 to generate stimulation applied to specific areas of the user.

[0038] The control device 200 is a computer having a processor and a memory device, which acquires sensor data output from strain sensors 111 and 112 and transmits it to the information processing terminal 300. The control device 200 also applies a small current to the skin electrodes 131 and 132 in response to instructions from the information processing terminal 300.

[0039] Furthermore, the control device 200 has terminals 221, 222, 241, and 242. Terminal 221 is connected to wiring 141, thereby connecting the control device 200 to the skin electrode 131. Terminal 222 is connected to wiring 142, thereby connecting the control device 200 to the skin electrode 132.

[0040] Terminal 241 is connected to wiring 121. This connects the control device 200 to the strain sensor 111. Terminal 242 is connected to wiring 122. This connects the control device 200 to the strain sensor 112.

[0041] The control device 200 in this embodiment may be, for example, a wristwatch-type wearable terminal, and may be configured such that when the user attaches the sensor 100 to the back of their hand and wears the control device 200 on their wrist, the terminals 221, 222, 241, 242 and the wirings 141, 142, 121, 122 are connected, respectively.

[0042] In this embodiment, by making the sensor 100 a sticky-type device and the control device 200 a wearable terminal, it is possible to detect the movement of the user's finger while the user's fingertips are free.

[0043] The information processing terminal 300 in this embodiment may be a general-purpose computer. Specifically, for example, the information processing terminal 300 may be a portable terminal device such as a smartphone. The information processing terminal 300 in this embodiment has a signal processing unit 310.

[0044] When the signal processing unit 310 receives sensor data from the control device 200, it converts the sensor data into data representing the user's fingertip movements. The signal processing unit 310 then compares the data converted from the sensor data with data representing ideal fingertip movements, which is stored in advance in the information processing terminal 300. In the following explanation, the data representing ideal fingertip movements will be referred to as ideal motion data, and the data converted from the sensor data will be referred to as detected motion data.

[0045] The signal processing unit 310 identifies the user's body part where an action different from the ideal action data is being performed, based on the comparison result between the detected action data and the ideal action data, and instructs the skin electrode 131 located at the position corresponding to the identified body part to generate stimulation. Details of the signal processing unit 310 in this embodiment will be described later.

[0046] Thus, in the motion support system 1 of this embodiment, the user can detect a specific motion, and if the detected motion differs from the ideal motion, it can immediately stimulate the body part that is performing the motion that differs from the ideal motion.

[0047] Therefore, according to this embodiment, the user can be made aware of the parts of their body that need improvement. In other words, according to this embodiment, the user's movements can be supported in order to bring them closer to ideal movements.

[0048] In the examples shown in Figures 1 and 2, the sensor 100 is provided with two sets of strain sensors and skin electrodes, but it is not limited to this. The sensor 100 may have one set of strain sensors and skin electrodes, or three or more sets.

[0049] Furthermore, in this embodiment, the control device 200 and the information processing terminal 300 are terminal devices. Thus, the operation support system 1 of this embodiment includes the control device 200 and the information processing terminal 300 as terminal devices that acquire sensor data output from strain sensors 111 and 112.

[0050] Next, with reference to Figure 3, the information processing terminal 300 of this embodiment will be described. Figure 3 is a diagram showing an example of the hardware configuration of the information processing terminal.

[0051] The information processing terminal 300 in this embodiment includes a processor 31, memory 32, auxiliary storage device 33, I / F (Interface) device 34, communication device 35, and drive device 36. The hardware components of the information processing terminal 300 are interconnected via a bus 37.

[0052] The processor 31 has various computing devices such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). The processor 31 reads various programs (for example, signal processing programs, etc.) into the memory 32 and executes them.

[0053] Memory 32 has main memory devices such as ROM (Read Only Memory) and RAM (Random Access Memory). The processor 31 and memory 32 form a so-called computer, and the computer realizes, for example, a signal processing unit 310 by executing various programs read into memory 32 by the processor 31.

[0054] The auxiliary storage device 33 stores various programs and various data used when those programs are executed by the processor 31.

[0055] The I / F device 34 is a connection device that connects the information processing terminal 300 to an external device, such as an operating device 38 and a display device 39. The I / F device 34 receives operations for the information processing terminal 300 via the operating device 38. The I / F device 34 may also output the results of processing performed by the information processing terminal 300 and display them to the user of the information processing terminal 300 via the display device 39.

[0056] The communication device 35 is a communication device for communicating with other devices (in this embodiment, the control device 200).

[0057] The drive device 36 is a device for setting the recording medium 30. The recording medium 30 here includes media that record information optically, electrically, or magnetically, such as CD-ROMs, flexible disks, and magneto-optical disks. The recording medium 30 may also include semiconductor memory that records information electrically, such as ROMs and flash memory.

[0058] The various programs to be installed on the auxiliary storage device 33 are installed, for example, when the distributed recording medium 30 is set in the drive device 36 and the various programs recorded on the recording medium 30 are read by the drive device 36. Alternatively, the various programs to be installed on the auxiliary storage device 33 may be installed by downloading them from the network via the communication device 35.

[0059] Next, referring to Figure 4, the functions of each device in the operation support system 1 of this embodiment will be described.

[0060] Figure 4 is a diagram illustrating the functions of each device in the operation support system. First, the functions of the control device 200 in the sensor system 10 will be explained. The control device 200 has a communication unit 210, a data acquisition unit 211, and a signal output unit 212.

[0061] The communication unit 210 controls communication between the control device 200 and the information processing terminal 300. Specifically, the communication unit 210 transmits the sensor data output from the strain sensors 111 and 112 to the information processing terminal 300.

[0062] The data acquisition unit 211 acquires sensor data output from strain sensors 111 and 112.

[0063] The signal output unit 212 applies a small current to a designated skin electrode among the skin electrodes of the sensor 100 in response to a signal received from the information processing terminal 300, thereby generating a stimulus for the user.

[0064] In addition, in the sensor system 10 of this embodiment, for example, when the sensor 100 is attached to the back of the user's hand, an operation may be performed to associate each set of strain sensor 111 and skin electrode 131 with each set of strain sensor 112 and skin electrode 132 with the user's fingers to which each set is attached.

[0065] In this embodiment, this operation may cause the control device 200 to store information relating each of the multiple strain sensors and skin electrodes of the sensor 100 to the area to which each set is attached.

[0066] Furthermore, in this embodiment, the method for associating the multiple sets of sensors 100 with the parts to which each set is attached is not limited to the example described above. The multiple sets of sensors 100 and the parts to which each set is attached may be automatically associated, for example, by analyzing the sensor data of the strain sensors included in each set in the information processing terminal 300.

[0067] Furthermore, the functions of each part of the control device 200 described above may be realized by the processor of the control device 200 reading and executing a program that implements each of the above parts from a storage device. In addition, the program that implements each of the above parts may be downloaded to the control device 200 from a server device (not shown) located on the Internet.

[0068] Next, the functions of the information processing terminal 300 will be described. The information processing terminal 300 of this embodiment has a signal processing unit 310. The signal processing unit 310 includes a communication unit 311, a conversion unit 312, a comparison unit 313, a signal generation unit 314, and a storage unit 315.

[0069] The communication unit 311 controls communication between the information processing terminal 300 and the control device 200. Specifically, the communication unit 311 receives sensor data output from each of the multiple strain sensors provided on the sensor 100 from the control device 200.

[0070] The conversion unit 312 converts the multiple sensor data received by the communication unit 311 from the control device 200 into detection operation data that indicates the user's actions. Specifically, the conversion unit 312 may generate video data or the like that indicates the user's actions from the multiple sensor data.

[0071] The comparison unit 313 compares the detected motion data with the ideal motion data 316 stored in the storage unit 315, and identifies the body parts of the user where motion was detected that are performing actions that differ from the ideal motion indicated by the ideal motion data.

[0072] For example, suppose that a comparison of detected motion data with ideal motion data reveals that the user's middle finger movement differs from that of the ideal motion data. In this case, the comparison unit 313 identifies the middle finger as the part of the body whose movement needs to be corrected.

[0073] The signal generation unit 314 generates a signal to be transmitted to the control device 200 in accordance with the comparison result from the comparison unit 313. Specifically, the signal generation unit 314 generates a signal that includes information indicating the area identified by the comparison unit 313 and an instruction to apply a minute current to the skin electrode corresponding to the identified area.

[0074] For example, if the comparison unit 313 identifies the middle finger as the part whose movement needs to be corrected, the signal generation unit 314 generates a signal indicating an instruction to apply a minute current to the middle finger and the corresponding skin electrode. The signal generated by the signal generation unit 314 is transmitted to the control device 200 by the communication unit 311.

[0075] The memory unit 315 stores the ideal motion data 316. The ideal motion data 316 may be stored in the memory unit 315 in advance. Furthermore, the ideal motion data 316 may be stored for each of several types of movements in the field of sports, for example.

[0076] Specifically, for example, the ideal motion data 316 may include ideal motion data generated based on the pitching form of a baseball player, and ideal motion data generated based on the batting form of a tennis player.

[0077] Furthermore, in this embodiment, the ideal operation data 316 referenced in the comparison by the comparison unit 313 may be selected from a plurality of types of ideal operation data 316 stored in the storage unit 315.

[0078] In that case, the information processing terminal 300 may, for example, display a list screen on the display device 39 showing the types of ideal operation data 316, and allow the user to select the ideal operation data 316.

[0079] Furthermore, the information processing terminal 300 may identify the type of user action based on the detection action data converted by the conversion unit 312, and the comparison unit 313 may select the reference ideal action data from among multiple types of ideal action data 316 stored in the storage unit 315.

[0080] In this embodiment, by preparing multiple types of ideal operation data 316 in advance, the operation support system 1 can be used in various scenarios.

[0081] The signal processing unit 310 of the information processing terminal 300 may be implemented by the processor 31 reading and executing a signal processing program stored in the memory 32. The signal processing program may be downloaded to the control device 200 from a server device (not shown) located on the internet.

[0082] Next, with reference to Figure 5, the operation of the operation support system 1 of this embodiment will be described. Figure 5 is a sequence diagram illustrating the operation of the operation support system.

[0083] In the operation support system 1 of this embodiment, the strain sensors 111 and 112 of the sensor system 10 output sensor data according to the user's actions (step S501), and the control device 200 acquires the sensor data using the data acquisition unit 211 (step S502). Subsequently, the control device 200 transmits the acquired sensor data to the information processing terminal 300 using the communication unit 210 (step S503).

[0084] When the information processing terminal 300 receives sensor data, the conversion unit 312 converts the sensor data into detection operation data (step S504). Subsequently, the information processing terminal 300 compares the detection operation data with the ideal operation data using the comparison unit 313 and identifies the part of the operation that needs to be corrected (step S505).

[0085] Next, the information processing terminal 300 generates a signal via the signal generation unit 314 that includes an instruction to apply a minute current to the skin electrodes 131 and 132 located at positions corresponding to the identified area (step S506), and transmits the signal to the control device 200 via the communication unit 311 (step S507).

[0086] In the sensor system 10, when the control device 200 receives a signal from the information processing terminal 300, the signal output unit 212 applies a minute current to the skin electrode corresponding to the identified area, thereby generating stimulation (step S508).

[0087] In this case, the control device 200 may refer to information that associates multiple sets of sensors 100 with the areas to which each set is attached, and identify the skin electrode corresponding to the identified area.

[0088] Furthermore, while Figure 5 illustrates the process from detecting the user's actions to providing stimuli to correct those actions as an example, the process is not limited to this.

[0089] In this embodiment, the timing of providing stimulation to the user may be arbitrary. For example, stimulation may be provided while the user is performing an action, or after the user has finished their action. Furthermore, the timing of providing stimulation may be set by the user.

[0090] Thus, in this embodiment, the user's movements can be compared with ideal movements, and the areas where the movements need to be corrected can be directly stimulated. Therefore, according to this embodiment, the user can clearly understand the areas where their movements need to be corrected in order to bring their movements closer to ideal movements, and thus support the improvement of their motor skills.

[0091] Furthermore, according to this embodiment, when receiving instruction on movement from an instructor, the content of advice will not differ depending on the instructor, and the user's motor skills can be improved quickly.

[0092] In this embodiment, the control device 200 and the information processing terminal 300 have been described as separate devices, but the embodiment is not limited to this. The control device 200 may also function as the information processing terminal 300, in which case the control device 200 may have the functions of the signal processing unit 310.

[0093] Furthermore, in the embodiment described above, the sensor 100 is attached to the back of the user's hand, but the area to which the sensor 100 is attached is not limited to the back of the hand. The area to which the sensor 100 is attached can be any part of the body, such as the knee or elbow.

[0094] It should be noted that the present invention is not limited to the configurations shown in the above embodiments, including combinations with other elements. These aspects can be modified without departing from the spirit of the present invention and can be appropriately determined according to their application. [Explanation of symbols]

[0095] 1. Operation support system 10 Sensor Systems 100 sensors 101 Stretchable fabric base material 102 Slits 111, 112 Strain Sensors 131, 132 Skin electrode 200 Control device 300 Information Processing Terminals

Claims

1. A base material that expands and contracts in response to the movement of the human body, A strain sensor is placed on the substrate and detects the movement of the human body, A sensor comprising a skin electrode placed on the substrate to which a minute current is applied for assisting the movement of the human body.

2. The aforementioned base material is a stretchable fabric base material, The strain sensor is detachably attached to one side of the substrate. The sensor according to claim 1, wherein the skin electrode is attached to the other surface of the substrate.

3. The system comprises multiple strain sensors and skin electrodes. The sensor according to claim 1, wherein one strain sensor and one skin electrode are arranged as a pair on the substrate, and a slit is formed to separate the pairs.

4. A base material that expands and contracts in response to the movement of the human body, A strain sensor is placed on the substrate and detects the movement of the human body, A sensor including a skin electrode placed on the substrate to which a minute current is applied for assisting the movement of the human body, An operation support system including a terminal device that instructs the application of the minute current to the skin electrode based on sensor data output from the strain sensor.

5. The aforementioned terminal device is The operation support system according to claim 4, further comprising a control device connected to the sensor by wiring, and an information processing terminal that communicates with the control device.

6. The control device is A communication unit that communicates with the aforementioned information processing terminal, It has an output unit that applies the minute current to the skin electrode in response to an instruction received from the information processing terminal, The aforementioned information processing terminal is A data acquisition unit that acquires sensor data from the strain sensor via the control device, A comparison unit compares detected motion data, which indicates the movement of the human body detected from the sensor data, with ideal motion data, which indicates the ideal movement of the human body. The operation support system according to claim 5, comprising: a signal generation unit that generates a signal instructing the application of the minute current to the skin electrode in accordance with the results of the comparison and outputs it to the control device.

Images