TWI393556B - Intelligent finger-controlled massaging system and method - Google Patents

Description

Intelligent accusation massage system and method

The invention relates to a smart accusation massage system and method, in particular to a smart accusation massage system with a pressure sensing part, which has the advantages and functions of controlling the massage force and easy operation according to the pressure of the finger pressing.

In general, the conventional massage chair has a controller, and the user can directly select the massage stroke and control the force to achieve the desired massage effect.

However, the design of the massage chair has the following two disadvantages:

[1] The control method is inconvenient. The controller of the conventional massage chair is generally designed with a selection button, a force adjustment button and a mode selection button for each limb segment, so that the control needs to be set one by one to perform the massage operation, which is quite inconvenient to use; for example : When massaging the calf, the user must first select the massage limb, adjust the strength, and finally choose the massage method (such as pinching, beating, vibrating), which has the disadvantage of inconvenience in use.

[2] Unable to reach the most comfortable massage power. Some of the conventional massage chairs are adjusted in a stepwise manner (for example, divided into five massage forces for the user to select), so that the user may not be able to obtain the most comfortable massage force.

Therefore, it is necessary to develop new products to solve the above shortcomings and problems.

The object of the present invention is to provide a smart accusation massage system and method, which have the advantages and functions of controlling the massage force and easy operation according to the force of the finger pressing, and are used to solve the problem that the conventional technical control method is inconvenient and cannot reach the most comfortable massage. Power and other issues.

The technical means for solving the above problems is to provide a smart accusation massage system, comprising: a seat body; a massage device, which is disposed in the seat body; the massage device has a back massage group, a a forearm massage group, a pair of thigh massage groups and a pair of calf massage groups; a control unit having a control panel, a pressure sensing portion and a control portion; the control panel is for a user to press The method inputs a command for controlling the action of the massage device; the pressure sensing portion is configured to sense the power of the user to press the control panel; and the control portion is based on the command input by the control panel and the force sensed by the pressure sensing portion The size controls the position and power of the massage device.

The invention further provides a smart accusation massage method comprising the following steps:

[A] preparation step: preparing a smart accusation massage system, comprising: a seat body; a massage device, which is disposed in the seat body; the massage device has a back massage group and a pair of forearm massage a group, a pair of thigh massage groups and a pair of calf massage groups; a control unit having a control panel, a pressure sensing portion and a control portion; the control panel is for a user to input and control by pressing The pressure sensing unit is configured to sense the power of the user to press the control panel; and the control unit controls according to the command input by the control panel and the force sensed by the pressure sensing unit. The position and power of the massage device;

[B] pressing step: the user selects the massage position by finger pressing on the control panel;

[C] processing step: reading the position and strength of the user pressing, and converting into a control parameter;

[D] Execution step: The massage device is actuated according to the control parameters.

The above objects and advantages of the present invention will be readily understood from the following detailed description of the preferred embodiments illustrated herein.

The invention will be described in detail in the following examples in conjunction with the drawings:

As shown in the first to third figures, the present invention is an intelligent accusation massage system comprising: a seat body 10; a massage device 20, which is disposed in the seat body 10; the massage device 20 The utility model has a back massage group 21 (which can move left and right along a first axial direction A1 and a second axial direction A2 and moves up and down), and a pair of forearm massage groups 22 (which can be along a third axial direction A3) Moving forward and backward), a pair of thigh massage groups 23 (which are movable back and forth along a third axial direction A3) and a pair of calf massage groups 24 (which are movable up and down along a second axial direction A2); The control unit 30 has a control panel 31, a pressure sensing unit 32 and a control unit 33. The control panel 31 is configured to allow a user 70 to input an instruction to control the motion of the massage device 20 by pressing; The pressure sensing unit 32 is configured to sense the force of the user 70 pressing the control panel 31. The control unit 33 controls the massage according to the command input by the control panel 31 and the strength sensed by the pressure sensing unit 32. The operating position and power of the device 20.

In more detail, the control panel 31 is a touch interface, as shown in the fourth figure, which includes a head back region 311, a right forearm region 312, a left forearm region 313, a right thigh region 314, and a left thigh region 315. , the right calf area 316 and the left calf area 317 and other work options, and the job option is displayed as a picture, the user 70 can select the massage part and the part press position, and according to the power of the user 70 when pressed Controlling the force of the massage device 20; of course, the control panel 31 can display options such as the function setting 318 and the power source 319 for the user 70 to set different requirements (for example, setting the beat or grab mode) and the power supply. In addition, the pressing position of the control panel 31 is achieved by a coordinate system composed of an X-axis and a Y-axis, and the control unit 33 outputs a position control parameter according to the coordinate value of the pressing position. Further, the massaging device 20 is controlled to move.

For example, when the user 70 presses the head-to-back region 311 on the control panel 31, the head massage group 21 is pressed against the user in the head-back region 311 by the user 70. The action of the massage is performed at the corresponding position of the back of the head; as shown in the fifth and fifth B, when the user presses the first pressing position P11 in the back region 311, the head massage group 21 will The first position P1 of the head of the user 70 is pressed; as shown in the sixth and sixth B diagrams, when the user 70 presses the second pressing position P12 in the back region of the head, the head massage group The 21 series presses the second position P2 of the back of the user 70. From this, it can be seen that the position at which the massage device 20 massages the human body completely corresponds to the position at which the finger presses the picture.

Of course, when the force of the user 70 pressing the control panel 31 is gradually increased, the pressing force of the back massage group 21 on the back of the user 70 is continuously increased. Conversely, when the user 70 presses the control panel. When the force of 31 is gradually weakened, the pressing force of the back massage group 21 on the back of the user 70 is gradually weakened.

In the design of the present invention, since the area of the head back is large, the head massage group 21 is designed to change the position on a plane (ie, corresponding to the X-axis and Y of the control panel 31). The movement of the shaft); while the range of the other limbs is small, the pair of forearm massage group 22, the pair of thigh massage group 23 and the pair of calf massage groups 24 are designed to be massaged only by axial movement. The purpose (ie, the movement of the Y-axis of the control panel 31).

Regarding the design of the massage device 20, the present invention can adopt the structure of the prior art in the market, and then select the most appropriate structure (beating, vibrating, grasping, etc.) according to different needs, and therefore, the massage manner of each part. The first embodiment of the head and back massage group 21 has a back massage mechanism 211, a back movement mechanism 212 and a head back control module 213. The head massage is provided. The mechanism 211 is configured to massage the user 70. The head back movement mechanism 212 is configured to interlock the position change of the head massage mechanism 211, and the head back control module 213 is configured to drive the head massage mechanism. 211 and the head back moving mechanism 212; the head back massage mechanism 211 has a first head back massage head 211A, a second head back massage head 211B, a first head back turning arm 211C, and a second head back rotation The arm 211D, the first back link 211E, the first back screw linkage 211F and the interlocking gear portion 211G are pivotally connected to the first head back pivot arm 211C and the second head back pivot arm 211D, respectively. ; the head back moving mechanism 2 The 12 series has a left and right screw 212A and a lifting tooth row 212B. The left and right screws 212A are screwed on the head and back helical interlocking portion 211F, and the lifting tooth row 212B is meshed with the interlocking gear portion 211G; and the head and back control The module 213 has a back kick driving unit 213A, a back grip driving unit 213B, a lifting drive unit 213C, a left and right driving unit 213D, a back back tapping force sensor 213E, and a back gripping amplitude sensing. The head back kick driving unit 213A is configured to drive the rotation of the first head back turning arm 211C, so that the first head back massage head 211A beats the user 70 (such as the eighth A and the The head back gripping driving portion 213B is for driving the rotation of the second head back turning arm 211D. When the second head back turning arm 211D is rotated, the first head back turning arm 211C is The angle between the first head back turning arm 211C and the second head back turning arm 211D is increased and decreased with the change of the rotation, so that the first head back is caused by the interlocking of the head back link 211E. The massage head 211A and the second head massage head 211B grasp the user (such as ninth A and The lifting drive unit 213C is configured to drive the interlocking gear portion 212G to move the head-back massage mechanism 211 up and down (ie, the movement of the second axial direction A2); the left and right driving portions The 213D is used to drive the left and right screws 212B to move the head and back massage mechanism 211 to the left and right (ie, the movement of the first axial direction A1); the head back impact force sensor 213E is disposed at the first The head back massage head 211A and the first head back rotation arm 211C are used to sense the force of the beat; and the head back grip amplitude sensor 213F is disposed on the second head massage head 211B. And one of the second head back rotating arms 211D for sensing the amplitude of the pinch. (The head-to-back beat force sensor 213E and the head-back gripping amplitude sensor 213F are separately provided when the first head back massage head 211A and the second head back massage head 211B are provided. The amplitude of the hitting force and the amplitude of the gripping are measured, and when the first head back turning arm 211C and the second head back turning arm 211D are set, the torque of the turning arm is sensed to obtain the force of the beating and grasping. The amplitude of the pinch is obtained; the amplitude of the beat and the amplitude of the grip are returned to the head-back control module 213, and the amplitude of the beat and the amplitude of the grip are the same as the predetermined result.

As shown in the tenth figure, the forearm massage group 22 has a forearm massaging mechanism 221, a forearm moving mechanism 222 and a forearm control module 223 for massaging the user 70. The forearm movement mechanism 222 is configured to drive the position change of the forearm massage mechanism 221, and the forearm control module 223 is configured to drive the forearm massage mechanism 221 and the forearm movement mechanism 222; the forearm massage mechanism 221 has a a forearm massage head 221A, a forearm rotation arm 221B and a forearm spiral linkage portion 221C; the forearm movement mechanism 222 has a forearm front and rear screw 222A and a forearm airbag 222B, and is screwed on the forearm spiral linkage portion 221C; The forearm control module 223 has a forearm gas driving portion 223A, a forearm front and rear driving portion 223B and a forearm gas pressure sensing portion 223C; the forearm gas driving portion 223A is for supplying air to the forearm air bag 222B, thereby driving the The rotation of the forearm turning arm 221B (as shown in FIGS. 11A and 11B) causes the forearm massage head 221A to press the user 70; the forearm front and rear driving portion 223B is The forearm front and rear screws 222A are driven to move the forearm massaging mechanism 221 forward and backward (ie, the movement of the third axial direction A3); and the forearm gas pressure sensor 223C is disposed on the forearm gas driving portion 223A. After sensing the pressure of the gas, the gas pressure is returned to the front arm control module 223, and the gas pressure is the same as the predetermined result.

The pair of calf massage groups 24 and the pair of thigh massage groups 23 can be massaged according to the above-mentioned massage mechanism design, which will not be described in detail herein; in the pair of calf massage groups 24, the system can be designed and The head and back massage group 21 has the same mechanism (but does not have a lifting mechanism and only grips), and the pair of thigh massage groups 23 can be designed as the same mechanism as the forearm massage group 22.

As shown in FIG. 12, it is a schematic diagram of the driving relationship between the control unit 30, the pair of forearm control modules 223, the pair of thigh control modules 233, and the pair of lower leg control modules 243. Each of the thigh massage groups 23 has a one-leg massage mechanism 231, a one-leg movement mechanism 232, and a one-leg control module 233 for massaging the user 70, the thigh moving mechanism The 232 is used to interlock the position change of the thigh massage mechanism 231, and the thigh control module 233 is used to drive the thigh massage mechanism 231 and the thigh moving mechanism 232; and each calf massage group 24 has a calf The massage mechanism 241, a calf moving mechanism 242 and a calf control module 243 for massaging the user 70, the calf moving mechanism 242 for interlocking the position change of the calf massage mechanism 241 The calf control module 243 is configured to drive the calf massage mechanism 241 and the calf moving mechanism 242; further, each thigh control module 233 has a one-leg grip driving portion 233A, a Front and rear legs 233B, and a thigh section drive amplitude pinch sensor 233C, the control module 243 and each leg having a lower leg based gas driving section 243A, a lower leg portion 243B and a vertical drive gas pressure sensing leg portion 243C.

As shown in the thirteenth aspect, the present invention further includes an intelligent accusation massage method comprising the following steps:

[A] preparation step 51: preparing a smart accusation massage system, comprising: a seat body 10; a massage device 20, which is disposed in the seat body 10; the massage device 20 has a head massage group 21, a pair of forearm massage group 22, a pair of thigh massage group 23 and a pair of calf massage group 24; a control unit 30 having a control panel 31, a pressure sensing portion 32 and a control portion 33; the control panel 31 is for a user 70 to input a command for controlling the operation of the massage device 20 by pressing; the pressure sensing portion 32 is for sensing the force of the user 70 pressing the control panel 31; and the control portion 33 Controlling the actuation position and the amount of power of the massage device 20 according to the command input by the control panel 31 and the magnitude of the force sensed by the pressure sensing unit 32;

[B] pressing step 52: the user 70 selects a massage position on the control panel 31 by finger pressing;

[C] processing step 53: reading the position and force pressed by the user 70, and converting into a control parameter;

[D] Step 54 is performed: the massaging device 20 operates in accordance with the control parameters.

In more detail, each part of the massage device 20 is designed according to the different embodiments of the above embodiments, and the steps of the massage method also have different processes, the description of which is as follows: in the back of the present invention According to the embodiment of the module 21, the functions of the beating and grasping are performed on the control panel 31 according to the needs of the user; as shown in FIG. 14A, the head is When the back massage group 21 is set to the beat mode, when the user 70 is in the pressing step 52, if the finger pressing position is the head back region 311 of the control panel 31, the processing step 53 further includes the following Two processes: reading the X-axis and Y-axis coordinate values of the control panel and the pressing force sensing value 531A; converting the X-axis, the Y-axis coordinate value and the pressing force sensing value of the control panel into the position control parameter And the power control parameter 531B; and the executing step 54 further includes the following three processes: controlling the lifting drive unit and the left and right driving parts according to the position control parameter, driving the head massage mechanism to move 541A; controlling the back of the head according to the power control parameter Part 541B; execution head The massage operation 541C is as shown in FIG. 14B. When the head massage group 21 is set to the grip mode, when the user 70 presses the step 52, the position of the finger press is The processing unit 31 further includes the following two processes: reading the X-axis, the Y-axis coordinate value and the pressing force sensing value 532A of the control panel; and pressing the control panel The X-axis, the Y-axis coordinate value and the pressing force sensing value are converted into the position control parameter and the force control parameter 532B; and the executing step 54 further includes the following three processes: controlling the lifting drive unit and the left and right driving parts according to the position control parameter, The head massage mechanism is driven to move 542A; the power control parameter is converted into the gripping amplitude control parameter 542B; the head back gripping driving unit is controlled according to the gripping amplitude control parameter, and the head back gripping massage operation 542C is performed; As shown in the pressing step 52, if the position of the finger pressing is the right forearm region 312 or the left forearm region 313 of the control panel 31, the processing step 53 further includes the following two processes. : Read control The X-axis and Y-axis coordinate values of the panel are pressed and the pressing force sensing value 533A; the Y-axis coordinate value and the pressing force sensing value of the control panel are converted into the position control parameter and the force control parameter 533B; Single axial movement, therefore, only need to convert the Y-axis coordinate value; and the execution step 54 includes the following three processes: controlling the front and rear driving parts of the forearm according to the position control parameter, driving the forearm massage mechanism to move 543A; The parameter is converted into a gas force control parameter 543B; the forearm gas driving portion is controlled according to the gas force control parameter, and the forearm massage operation 541C is performed; as shown in FIG. 14D, when the user 70 presses the step 52, if the finger is pressed The position is the right thigh region 314 or the left thigh region 315 of the control panel 31. The processing step 53 further includes the following two processes: reading the X-axis, the Y-axis coordinate value, and the pressing force of the control panel. Sense value 534A; convert the pressed Y-axis coordinate value and the pressing force sensing value of the control panel into a position control parameter and a force control parameter 534B; because only a single axial movement is performed, Therefore, only the Y-axis coordinate value is converted; and the execution step 54 includes the following three processes: controlling the front and rear driving parts of the thigh according to the position control parameter, driving the thigh massage mechanism to move 544A; converting the power control parameter into the gripping The amplitude control parameter 544B; the thigh grip driving unit is controlled according to the gripping amplitude control parameter, and the thigh massage operation 544C is performed; as shown in FIG. 14E, when the user 70 presses the step 52, if the finger is pressed For the right calf region 316 or the left calf region 317 of the control panel 31, the processing step 53 further includes the following two processes: reading the control panel by the pressed X-axis, the Y-axis coordinate value, and the pressing force sensing. a value of 535A; converting the pressed Y-axis coordinate value and the pressing force sensing value of the control panel into a position control parameter and a force control parameter 535B; since only a single axial movement is performed, only the Y-axis coordinate value is converted; The execution step 54 further includes the following three processes: controlling the upper and lower driving portions of the lower leg according to the position control parameter, driving the calf massage mechanism to move 545A; and converting the force control parameter into the gas force. Control parameters 545B; Kong prepared by the gas forces the gas parameter control leg drive unit, the job execution leg massage 545C.

In summary, the advantages and effects of the present invention can be summarized as follows:

[1] Press the force of the finger to control the massage power. The traditional massage chair needs to adjust the strength of the button, which is inconvenient to use, and some of the conventional massage chairs are adjusted in a stepwise manner, so that the user may not get the most comfortable massage. The invention uses the force of the finger to press the control panel 31 to control the massage force of the massage device 20, which is not only easy to adjust, but also can adjust the strength according to the user's needs, and solves the inconvenience and segmentation of the prior art. The shortcomings of adjustment.

[2] Easy to operate. There are many control buttons of the massage chair, and the control needs to be set one by one to perform the massage operation, which is quite inconvenient to use; and the invention only needs to press the picture on the control panel 31 with a finger, and can press the same The position is massaged, and the massage force is adjusted according to the pressing force, and the complicated setting process is not required, and the operation is quite easy.

The present invention has been described in detail with reference to the preferred embodiments of the present invention, without departing from the spirit and scope of the invention.

From the above detailed description, it will be apparent to those skilled in the art that the present invention can achieve the foregoing objects, and the invention has been in accordance with the provisions of the patent law.

10. . . Seat body

20. . . Massage device

twenty one. . . Head massage group

211. . . Head massage mechanism

211A. . . First head massage head

211B. . . Second head massage head

211C. . . First head back arm

211D. . . Second head back arm

211E. . . Head back linkage

211F. . . Head-to-back spiral linkage

211G. . . Linkage gear

212. . . Head back moving mechanism

212A. . . Left and right screw

212B. . . Lifting tooth row

213. . . Head back control module

213A. . . Head back beating drive

213B. . . Head back gripping drive

213C. . . Lifting drive

213D. . . Left and right drive

213E. . . Head back beating force sensor

213F. . . Head back gripping amplitude sensor

twenty two. . . Forearm massage group

221. . . Forearm massage mechanism

221A. . . Forearm massage head

221B. . . Forearm swivel arm

221C. . . Forearm spiral linkage

222. . . Forearm moving mechanism

222A. . . Forearm front and rear screw

222B. . . Forearm airbag

223. . . Forearm control module

223A. . . Forearm gas drive

223B. . . Forearm front and rear drive

223C. . . Forearm gas pressure sensing

twenty three. . . Thigh massage group

231. . . Thigh massage mechanism

232. . . Thigh moving mechanism

233. . . Thigh control module

233A. . . Thigh grip drive unit

233B. . . Front and rear driving part of the thigh

233C. . . Thigh grip amplitude sensor

twenty four. . . Calf massage group

241. . . Calf massage mechanism

242. . . Calf moving mechanism

243. . . Calf control module

243A. . . Calf gas drive

243B. . . Lower leg upper and lower drive

243C. . . Calf gas pressure sensing unit

30. . . control unit

31. . . control panel

311. . . Head area

312. . . Right forearm

313. . . Left forearm

314. . . Right thigh area

315. . . Left thigh area

316. . . Right calf area

317. . . Left calf area

318. . . Function setting

319. . . power supply

32. . . Pressure sensing department

33. . . Control department

51. . . Preparation step

52. . . Press step

53. . . Processing steps

54. . . Steps

70. . . user

A1. . . First axial direction

A2. . . Second axial direction

A3. . . Third axial direction

P11. . . First pressing position

P12. . . Second pressing position

P1. . . First position

P2. . . Second position

The first figure is a schematic diagram of the intelligent accusation massage system of the present invention.

The second figure is a schematic view of the seat body and the massage device of the present invention.

The third figure is a schematic view of the control panel of the present invention.

The fourth figure is a schematic diagram of the display of the control panel of the present invention.

The fifth A picture is a schematic diagram of the finger pressing position

Figure 5 is a schematic diagram of the massage position of the massage device at the moment of finger pressing

Figure 6 is a schematic diagram of the finger pressing position 2

Figure 6B is a schematic diagram of the massage position of the massage device when the finger is pressed at the second position.

The seventh figure is a schematic view of the structure of the head massage group of the present invention.

Figure 8 is a schematic diagram of the beating action of the present invention

Figure 8B is a schematic diagram of the beating action 2 of the present invention

The ninth A diagram is a schematic diagram of the grasping action of the present invention

Figure IX is a schematic view of the gripping action 2 of the present invention

The tenth figure is a schematic structural view of the front arm massage group of the present invention

The eleventh A is a schematic diagram of the action of the air pressure driving of the present invention

Figure 11B is a schematic diagram of the second action of the air pressure driving of the present invention.

Figure 12 is a schematic diagram of the control relationship of the present invention

Figure 13 is a schematic flow chart of the intelligent accusation massage method of the present invention

Figure 14A is a schematic view of the massage process of the present invention

Figure 14B is a schematic view of the massage process 2 of the present invention

Figure 14C is a schematic diagram of the massage procedure 3 of the present invention

The fourteenth D diagram is a schematic diagram of the massage procedure four of the present invention

Figure 14E is a schematic diagram of the massage procedure 5 of the present invention

51. . . Preparation step

52. . . Press step

53. . . Processing steps

54. . . Steps

Claims (4)

A smart accusation massage system comprising: a seat body; a massage device is disposed in the seat body; the massage device has a back massage group, a pair of forearm massage groups, and a pair of thigh massage groups And a pair of calf massage groups; a control unit having a control panel, a pressure sensing portion and a control portion; the control panel is configured to allow a user to input an instruction to control the movement of the massage device by pressing; The pressure sensing unit is configured to sense the power of the user to press the control panel; and the control unit controls the actuation position of the massage device according to the command input by the control panel and the magnitude of the force sensed by the pressure sensing portion. The amount of power. The smart accusation massage system according to claim 1, wherein the head massage group has a back massage mechanism, a back movement mechanism and a back control module, and the head massage mechanism is used for The user performs a massage, the head-rear movement mechanism is configured to interlock the position change of the head-back massage mechanism, and the head-back control module is configured to drive the head-back massage mechanism and the head-rear movement mechanism; each forearm The massage group has a forearm massage mechanism, a forearm movement mechanism and a forearm control module for massaging the user, the forearm movement mechanism for interlocking the positional change of the forearm massage mechanism, The forearm control module is configured to drive the forearm massage mechanism and the forearm movement mechanism; each thigh massage group has a one-leg massage mechanism, a one-leg movement mechanism and a one-leg control module, and the thigh massage mechanism is used for Massaging the user, the thigh moving mechanism is for interlocking the position change of the thigh massage mechanism, and the thigh control module is for driving the a thigh massage mechanism and the thigh moving mechanism; and each calf massage group has a calf massage mechanism, a calf movement mechanism and a calf control module, the calf massage mechanism is for massaging the user, The calf moving mechanism is for interlocking the position change of the calf massage mechanism, and the calf control module is for driving the calf massage mechanism and the calf moving mechanism. The intelligent accusation massage system according to claim 2, wherein the head-back control module has a back-slapping driving portion, a back-grip driving portion, a lifting driving portion, and a left-right driving portion. a back beating force sensor and a back gripping amplitude sensor; the forearm control module has a forearm gas driving portion, a forearm front and rear driving portion and a forearm gas pressure sensing portion; the thigh control module The utility model has a one-leg grip driving part, a big leg front and rear driving part and a one-leg gripping amplitude sensor; and the calf control module has a calf gas driving part, a lower leg upper driving part and a calf gas pressure sensing unit. A smart accusation massage method comprising: [A] preparing step: preparing a smart accusation massage system comprising the steps of: a seat body; a massage device disposed in the seat body; the massage The device has a back massage group, a pair of forearm massage groups, a pair of thigh massage groups and a pair of calf massage groups; a control unit having a control panel, a pressure sensing portion and a control portion; the control panel is The user is configured to input a command for controlling the action of the massage device by pressing; the pressure sensing portion is configured to sense the power of the user to press the control panel; and the control portion is configured to input the instruction according to the control panel. And the magnitude of the force sensed by the pressure sensing unit, controlling the actuation position and the power amount of the massage device; [B] pressing step: the user selects the massage position by finger pressing on the control panel; [C] processing step : reading the position and strength of the user's pressing and converting into a control parameter; [D] performing the step: the massaging device operates according to the control parameter.