CN108452480B - Running machine and running posture detection method and device on running machine - Google Patents
Running machine and running posture detection method and device on running machine Download PDFInfo
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- CN108452480B CN108452480B CN201810318761.XA CN201810318761A CN108452480B CN 108452480 B CN108452480 B CN 108452480B CN 201810318761 A CN201810318761 A CN 201810318761A CN 108452480 B CN108452480 B CN 108452480B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0075—Means for generating exercise programs or schemes, e.g. computerized virtual trainer, e.g. using expert databases
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/56—Pressure
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/62—Measuring physiological parameters of the user posture
Abstract
The invention provides a running machine and a running posture detection method on the running machine, wherein the pressure sensor is arranged on the running machine, the data of the pressure sensor is measured, the falling force of a runner in all directions is calculated and determined, and then, the falling stepping force, the running steps, the step frequency, the running balance state and the like of the running posture of the runner are calculated, so that the runner can be reminded and guided through the detected data, the running machine is optimally regulated, and the running habit of the runner is improved.
Description
Technical Field
The invention relates to a running machine and a running posture detection method and device on the running machine.
Background
The common running machine only has running function, whether the running posture is accurate and reasonable or not can be guided and adjusted only by professionals such as a coach and the like, and is also judged from vision and experience. Along with the improvement of living standard, the requirement for professional body building is increased, and a constructor needs more accurate and more convenient running guidance.
Disclosure of Invention
The invention aims to provide a method for detecting running posture on a running machine, which obtains running posture data in running through the use of a runner. For this purpose, the invention adopts the following technical scheme:
a method for detecting running posture on a running machine comprises the following steps:
a) Firstly, powering up the running machine, initializing all components of the running machine, starting the pressure sensor, and reading pressure data of the pressure sensor at all positions;
b) Zeroing the pressure sensor: when the running machine is in idle load, reading the value of each pressure sensor, recording the value as an initial value of a corresponding sensor, and after zero calibration time is finished, reading the data of each pressure sensor again, performing difference value processing on the data read again by the pressure sensor and the initial value of the corresponding pressure sensor, and finishing zero calibration;
c) Reading of pressure during running: when a runner enters a running state, the main controller starts to read and process the pressure sensor data after zero correction, and the running pressure data of the pressure sensors at each position of the running board are recorded in real time;
d) Detecting the position of the trough: searching the trough of the running pressure data waveform according to the running pressure data finally obtained in the step c);
e) Calculating the touchdown time: according to d), a complete touchdown time is provided between the start and end points of adjacent wave troughs, and touchdown time=wave trough end time-wave trough start time;
f) Calculating the peak position: according to d), traversing the pressure data of all pressure points between the beginning and the end of adjacent wave troughs, wherein the highest value is the wave crest position, namely the touchdown;
g) Judging the ground contact of the left foot and the right foot: calculating the deviation between the current left sensor value and the current right sensor value and the average value of the respective sensors at the peak position, and if the current value of the left sensor is higher than the average value of the left sensor and the current value of the right sensor is lower than the average value of the right sensor, determining that the left sensor is a left foot, otherwise, determining that the right sensor is a right foot; if the values of the sensors at the two sides are simultaneously larger or smaller than the average value of the respective sensors, judging the offset proportion, wherein the left sensor is in contact with the ground when the offset proportion of the left sensor is larger, and the right sensor is in contact with the ground when the offset proportion of the right sensor is larger;
h) Judging the contact of the front sole and the rear sole: deriving pressure data of the pressure sensor, wherein the derivative of the section from the trough to the crest is larger than zero, namely the pressure data is gradually increased, and the front sole touches the ground; if the value is smaller than zero, namely the pressure data is reduced, judging that the heel touches the ground;
i) Left-right balance, according to the formula: left-right balance = average of left-right foot strike times = (left foot average strike time/(left foot average strike time + right foot average strike time)) × (right foot average strike time/(left foot average strike time + right foot average strike time) × 100%), left and right foot average strike times from average strike time, left foot average strike time = left foot total strike time/left foot step number, respectively;
j) Step frequency, according to the wave crest data and the wave trough data obtained in the steps d) and f), each time the wave crest appears, the step frequency of running of a runner can be obtained through the wave crest times;
k) Stride, according to the stride frequency of the runner obtained in j), in a period of time, stride = distance/stride frequency;
l) real-time monitoring algorithm processing: the running machine monitors the pressure data in real time, and repeats all the steps c) -k) above.
Further, the pressure data on the pressure sensor and the running pressure data were read using a sampling frequency of 125 HZ.
Further, the data of the pressure sensor is filtered and denoised while the data is collected.
Further, the treadmill will transmit the pressure related data or the running posture related data to the application software via wireless means, which is bluetooth, wiFi or ant+.
Further, in step b), the error of the difference process floating up and down can be reduced by the sliding average filtering process.
Further, in the step d), the starting condition of the trough is judged to be 1. The current value is higher than a zero threshold value, 2. The previous value is lower than the zero threshold value; the judging condition of the ending of the pressure trough is as follows: 1. the current value is below the zero threshold and 2. The previous value is above the zero threshold.
The invention further comprises the following technical scheme that the running machine comprises a running board and a running machine iron frame, wherein a running belt is arranged in the running board, the running machine iron frame is arranged below the running board, the running machine iron frame is connected with the running board through a connecting piece, a buffer piece, a pressure sensor and a pressure sensor support are sleeved outside the connecting piece, and the pressure sensor support are arranged at the lower part of the buffer piece.
Further, the connecting piece is a screw, and the buffer piece is a rubber pad.
Further, the pressure sensors are four, and the pressure sensors are respectively arranged on two sides of the running board. Two pressure sensors are arranged on the two sides.
The invention also comprises the following technical scheme, and the technical scheme device is used for realizing the method:
the utility model provides a detection device of running posture on treadmill, including main control unit module, pressure sensor, wireless communication module and pressure sensor data acquisition and conversion module, main control unit module passes through communication cable and is connected with pressure sensor data acquisition and conversion module and constitutes the hardware communication link, pressure sensor passes through communication cable and is connected to sensor data acquisition and conversion module's input port, from this establish a communication channel from the main processing chip of treadmill to pressure sensor, main control unit utilizes hardware communication protocol such as SPI or UART (universal asynchronous receiver transmitter) to carry out read-write operation to each pressure sensor through pressure sensor data acquisition and conversion module, obtain the corresponding pressure data in every position of treadmill running board, connect wireless communication module (such as bluetooth module, the ANT+ (antenna interface) module) on the main control unit module, wireless communication module passes through the communication with the running data of main control unit module into handheld device.
Further, the main controller module is a main control circuit module composed of a main processor chip and a peripheral circuit. The main processing chip is a Cortex-M0 chip. The peripheral circuit comprises a main processor chip system circuit, a key control circuit, a nixie tube display circuit, a buzzer control circuit, a system indicator light circuit and a power supply voltage stabilizing circuit.
Further, the main controller module analyzes and packages the pressure data acquired by the pressure sensor data acquisition and conversion module, and sends the pressure data to the wireless communication module through UART serial communication.
Further, the pressure sensor module is a differential signal output pressure sensor, belongs to a full-bridge strain type electronic miniature pressure weighing sensor, and comprises a group of power positive and negative input signal lines and a group of pressure analog signal positive and negative output signal lines, and is matched with a corresponding sensor data acquisition and conversion module for use.
Further, the sensor data acquisition and conversion module comprises a chip, a system circuit with a crystal oscillator, a power supply voltage stabilizing circuit and a system indicator lamp circuit, the chip adopts ADS1256 of TI company, the chip is provided with a plurality of analog signal input pins, each group of differential inputs can be composed of two AD input pins, the chip supports the functions of differential inputs, signal amplification, analog-to-digital conversion and the like, the chip is matched with a pressure sensor for use, and then converted digital signals are transmitted to the main controller module through an SPI (serial peripheral interface) communication mode or a USART (universal synchronous/asynchronous serial receiver/transmitter) mode.
Further, the wireless communication module comprises a wireless chip, a wireless chip system circuit, a power supply voltage stabilizing circuit, a system indicator lamp circuit and a USART circuit, wherein the wireless chip can be a WiFi chip, a Bluetooth chip or an ANT+ chip, and the USART serial port is used for receiving data information transmitted by the main controller module, wherein the data information refers to running gesture data information obtained after operation processing by the main controller module or direct data measured by the pressure sensor.
According to the technical scheme, the falling force of the runner in all directions is determined through measurement and calculation, so that various parameters of the running posture of the runner such as the falling stepping force, the running stride frequency, the running balance state and the like are calculated, the runner can be reminded and guided through the detected data, meanwhile, the running machine is optimally regulated in speed, and the running habit of the runner is improved.
Drawings
FIG. 1 is a schematic diagram of a treadmill according to the present invention.
FIG. 2 is a schematic diagram of a running posture detecting device on a running machine according to the present invention.
Detailed Description
Reference is made to figure 1. The utility model provides a treadmill, includes running board 1 and treadmill iron stand 2, be equipped with running board 3 in the running board, running board 1 below is treadmill iron stand 2, and treadmill iron stand 2 passes through connecting piece with running board 1 and connects 4, the 4 overcoat of connecting piece is equipped with bolster 5, pressure sensor 6 and pressure sensor support 7, pressure sensor 5 and pressure sensor support 7 locate the bolster lower part. The pressure sensor support 7 is located below the pressure sensor 6. The connecting piece 4 is a screw, and the buffer piece 5 is a rubber pad. The pressure sensors 5 are four and are respectively arranged at two sides of the running board 1, and two pressure sensors 4 are arranged at the two sides.
When in installation, the screw passes through the rubber ring and the screw hole on the pressure sensor to connect the running machine iron stand 2 and the running board 1, thereby fixing the running board 1 and the running machine iron stand 2.
By adopting the running machine, the method for detecting the running posture on the running machine comprises the following steps:
a) The running machine is powered on, all components of the running machine are initialized, then the pressure sensor is started, and pressure data of the pressure sensor at all positions are read.
b) Zeroing the pressure sensor: when the running machine is in idle load, the value of each pressure sensor is read, the running machine program records the value as the initial value of the corresponding sensor by utilizing 2000ms time and utilizing an average value filtering mode, after zero calibration time is finished, the data of each pressure sensor is read again, and the data read again by the pressure sensor and the initial value of the corresponding pressure sensor are subjected to difference processing, so that zero calibration is finished. The result obtained in the idle state is zero value, and the result is that the difference value is up and down floating near the zero value, and the error of the difference value processing which is up and down floating can be reduced through the sliding average value filtering process.
c) Reading of pressure during running: when the runner enters a running state, the main controller starts to read and process the pressure sensor data after zeroing, and the running pressure data of the pressure sensors at all positions of the running board are recorded in real time.
d) Detecting the position of the trough: searching the trough of the running pressure data waveform according to the running pressure data finally obtained in the step c); the starting condition of the wave trough is judged to be that 1, the current value is higher than a zero threshold value, and 2, the previous value is lower than the zero threshold value; the judging condition of the ending of the pressure trough is as follows: 1. the current value is below the zero threshold and 2. The previous value is above the zero threshold.
e) Calculating the touchdown time: according to d), a complete touchdown time is defined between the start and end points of adjacent troughs, touchdown time=trough end time-trough start time.
f) Calculating the peak position: according to d), traversing the pressure data of all pressure points between the beginning and the end of adjacent wave troughs, wherein the highest value is the wave crest position, namely the touchdown.
g) Judging the ground contact of the left foot and the right foot: calculating the deviation between the current left sensor value and the current right sensor value and the average value of the respective sensors at the peak position, and if the current value of the left sensor is higher than the average value of the left sensor and the current value of the right sensor is lower than the average value of the right sensor, determining that the left sensor is a left foot, otherwise, determining that the right sensor is a right foot; if the values of the sensors at the two sides are simultaneously larger or smaller than the average value of the respective sensors, judging the offset proportion, wherein the left sensor is in contact with the ground when the offset proportion of the left sensor is larger, and the right sensor is in contact with the ground when the offset proportion of the right sensor is larger;
h) Judging the contact of the front sole and the rear sole: deriving pressure data of the pressure sensor, wherein the derivative of the section from the trough to the crest is larger than zero, namely the pressure data is gradually increased, and the front sole touches the ground; if a value less than zero occurs, i.e., the pressure data decreases, it is determined that the heel strike is occurring.
i) Left-right balance, according to the formula: left-right balance = average of left-right foot strike times = (left foot average strike time/(left foot average strike time + right foot average strike time)) × (right foot average strike time/(left foot average strike time + right foot average strike time) × 100%), left and right foot average strike times from average, left foot average strike time = left foot total strike time/left foot step number are calculated, respectively.
j) Step frequency, according to the wave crest data and the wave trough data obtained in the steps d) and f), each time the wave crest appears, the step frequency of running of a runner can be obtained through the wave crest times.
k) Stride, according to the stride frequency of the runner obtained in j), for a period of time, stride = distance/stride frequency.
l) real-time monitoring algorithm processing: the running machine monitors the pressure data in real time, and repeats all the steps c) -k) above.
The pressure data on the pressure sensor and the running pressure data were read using a sampling frequency of 125 HZ.
According to the invention, the falling position and the falling force of the runner during running are determined through the self-adaptive algorithm, so that various parameters of the running posture of the runner, such as the falling stepping force, the running stride, the stride frequency, the running balance state, the touchdown time, the front sole landing condition and the rear sole landing condition, are judged. Through runner's running appearance, we can remind the runner, optimize the speed governing to the treadmill simultaneously, improve runner's running habit etc..
Referring to fig. 2, a detecting device for implementing the above-mentioned running posture detecting method on a running machine includes a main controller module 100, a pressure sensor 300, a wireless communication module 200 and a data collecting and converting module 400 of the pressure sensor 300, wherein the main controller module 100 is connected with the data collecting and converting module of the pressure sensor 300 through a communication cable to construct a hardware communication link, the pressure sensor 300 is connected to an input port of the sensor data collecting and converting module through the communication cable, thereby establishing a communication channel from a main processing chip of the running machine to the pressure sensor 300, the main controller performs read-write operation on each pressure sensor 300 through the data collecting and converting module of the pressure sensor 300 by using hardware communication protocols such as SPI or UART (universal asynchronous receiver transmitter), so as to obtain corresponding pressure data at each position of a running board of the running machine, and the main controller module 100 is connected with the wireless communication module 200 (such as a bluetooth module, a WIFI module, an ant+ (antenna interface) module), and the wireless communication module 200 transmits running data of the main controller module 100 into a handheld device through communication.
The main controller module 100 is a main control circuit module composed of a main processor chip and a peripheral circuit 120. The main processing chip 110 is a Cortex-M0 main chip. The peripheral circuit 120 includes a main processor chip system circuit 121, a key control circuit 122, a nixie tube display circuit 123, a buzzer control circuit 124, a system indicator light circuit 125, and a power supply voltage stabilizing circuit 126.
The main controller module 100 analyzes and packages the pressure data acquired by the data acquisition and conversion module of the pressure sensor 300, and sends the pressure data to the wireless communication module 200 through UART serial communication.
The pressure sensor 300 module is a differential signal output pressure sensor 300, belongs to a full-bridge strain electronic miniature pressure weighing sensor, and comprises a group of power supply positive and negative input signal lines and a group of pressure analog signal positive and negative output signal lines, and is matched with a corresponding sensor data acquisition and conversion module.
The sensor data acquisition and conversion module 400 comprises an AD chip 401, a system circuit 402 with a crystal oscillator, a power supply voltage stabilizing circuit 403 and a system indicator circuit 404, wherein the AD chip 401 adopts ADS1256 of TI company, the chip is provided with a plurality of analog signal input pins, each group of differential inputs can be composed of two AD input pins, the chip supports the functions of differential inputs, signal amplification, analog-to-digital conversion and the like, and is matched with the pressure sensor 300 to use, and converted digital signals are transmitted to the main controller module 100 through an SPI (serial peripheral interface) communication mode or a USART mode.
The wireless communication module 200 includes a wireless chip 201, a wireless chip system circuit 202, a power supply voltage stabilizing circuit 203, a system indicator lamp circuit 204, and a USART circuit 205, where the wireless chip may be a WiFi chip, a bluetooth chip, or an ant+ chip, and a USART serial port is used to receive data information transmitted from the main controller module 100.
The invention can transmit the pressure data or running gesture related data of the sensor to the application software in a wireless mode, wherein the wireless mode can be Bluetooth, wiFi, ANT+ and the like. The implementation platform of the algorithm can be placed in software of a running machine main control board, real-time data can be transmitted to the APP of the handheld device 500 in a wireless mode such as Bluetooth or WiFi, and the algorithm is written in the APP to realize calculation of various running gesture parameters.
After the related data of the running postures of the runners are obtained by the algorithm, APP, WEB, PC end software can analyze, evaluate and score the running postures of each runner, give posture lifting suggestions and guidance, and can also help to improve the running postures of the runners by adjusting various parameters of the running machine.
The foregoing is merely illustrative of the preferred embodiments of this invention, and it will be appreciated by those skilled in the art that variations and modifications of this invention can be made without departing from the principles of the invention, and these are considered to be within the scope of the invention.
Claims (6)
1. A method for detecting running posture on a running machine is characterized by comprising the following steps:
a) Firstly, powering up the running machine, initializing all components of the running machine, starting the pressure sensor, and reading pressure data of the pressure sensor at all positions;
b) Zeroing the pressure sensor: when the running machine is in idle load, reading the value of each pressure sensor, recording the value as an initial value of the corresponding sensor, and after zero calibration time is finished, reading the data of each pressure sensor again, performing difference value processing on the data read again by the pressure sensor and the initial value of the corresponding pressure sensor, and finishing zero calibration;
c) Pressure reading during running: when a runner enters a running state, the main controller starts to read and process the pressure sensor data after zero correction, and the running pressure data of the pressure sensors at each position of the running board are recorded in real time;
d) Detecting the position of the trough: searching the trough of the running pressure data waveform according to the running pressure data finally obtained in the step c);
e) Calculating the touchdown time: according to d), a complete touchdown time is provided between the start and end points of adjacent wave troughs, and touchdown time=wave trough end time-wave trough start time;
f) Calculating the peak position: according to d), traversing the pressure data of all pressure points between the beginning and the end of adjacent wave troughs, wherein the highest value is the wave crest position, namely the touchdown;
g) Judging the ground contact of the left foot and the right foot: calculating the deviation between the current left sensor value and the current right sensor value and the average value of the respective sensors at the peak position, and if the current value of the left sensor is higher than the average value of the left sensor and the current value of the right sensor is lower than the average value of the right sensor, determining that the left sensor is a left foot, otherwise, determining that the right sensor is a right foot; if the values of the sensors at the two sides are simultaneously larger or smaller than the average value of the respective sensors, judging the offset proportion, wherein the left sensor is in contact with the ground when the offset proportion of the left sensor is larger, and the right sensor is in contact with the ground when the offset proportion of the right sensor is larger;
i) Left-right balance, according to the formula: left-right balance = average of left-right foot strike times = (left foot average strike time/(left foot average strike time + right foot average strike time)) × (right foot average strike time/(left foot average strike time + right foot average strike time) × 100%), left and right foot average strike times from average strike time, left foot average strike time = left foot total strike time/left foot step number, respectively;
j) Step frequency, according to the wave crest data and the wave trough data obtained in the steps d) and f), each time the wave crest appears, the step frequency of running of a runner can be obtained through the wave crest times;
k) Stride, according to the stride frequency of the runner obtained in j), in a period of time, stride = distance/stride frequency;
l) real-time monitoring algorithm processing: the running machine monitors the pressure data in real time, and repeats all the steps from c) to k);
and filtering and denoising the pressure sensor data while collecting the data.
2. The method for detecting a running position on a treadmill according to claim 1, wherein the pressure data on the pressure sensor and the running pressure data are read using a sampling frequency of 125 HZ.
3. The method for detecting a running position on a running machine according to claim 1, wherein the running machine transmits the pressure-related data or the running position-related data to the application software by wireless means, which is bluetooth, wiFi or ant+.
4. The method according to claim 1, wherein in the step b), the difference processing is performed to reduce the floating error by sliding the average value filtering.
5. The method according to claim 1, wherein in the step d), the starting condition of the trough is 1. The current value is higher than the zero threshold value, 2. The previous value is lower than the zero threshold value; the judging condition of the ending of the pressure trough is as follows: 1. the current value is below the zero threshold and 2. The previous value is above the zero threshold.
6. The method for detecting the running posture on the running machine according to claim 1, wherein the running machine comprises a running board and a running machine iron frame, a running belt is arranged in the running board, the running machine iron frame is arranged below the running board, the running machine iron frame is connected with the running board through a connecting piece, a buffer piece, a pressure sensor and a pressure sensor support are sleeved outside the connecting piece, and the pressure sensor support are arranged on the lower portion of the buffer piece.
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| CN201810318761.XA CN108452480B (en) | 2018-04-11 | 2018-04-11 | Running machine and running posture detection method and device on running machine |
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| CN201810318761.XA CN108452480B (en) | 2018-04-11 | 2018-04-11 | Running machine and running posture detection method and device on running machine |
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