Classifications

• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
  • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
  • A61H1/005—Moveable platforms, e.g. vibrating or oscillating platforms for standing, sitting, laying or leaning
• • A—HUMAN NECESSITIES
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  • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
  • A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
  • A61H23/0254—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with rotary motor
  • A61H23/0263—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with rotary motor using rotating unbalanced masses
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  • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
  • A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
  • A61H23/0254—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with rotary motor
  • A61H23/0263—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with rotary motor using rotating unbalanced masses
  • A61H2023/0272—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with rotary motor using rotating unbalanced masses multiple masses each rotated by an individual motor
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• • A—HUMAN NECESSITIES
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Definitions

• This invention relates to a system for applying therapeutic vibration and/or compression.
• COPD chronic obstructive pulmonary disease
• US Patent 9,895287 to Shockley, et al. describes a harness worn on the torso with a plurality of engines which apply an oscillating force to at least one treatment area of the patient in order to mobilize secretions in an airway.
• the oscillation force (amplitude and/or frequency of the motor) can be adjusted by the user or by a care provider.
• US Patents 9.956134 and USP 9,907,725 also to Shockley et al describe other features of this device. All are directed at assisting the mobilization of secretions in a patient suffering from, for example, chronic obstructive pulmonary disease (COPD), using this vest harness equipped with a plurality of simple, rotating motors.
• COPD chronic obstructive pulmonary disease
• a tactile stimulation system using one or more motors coupled to a relatively rigid enclosure.
• the motors may be equipped with a mass rotating on an axle about a point which is not at the center of the rotational inertia of the mass.
• the mass may therefore impart a vibration or wobble to the motor, because of the rotating imbalance.
• This assembly may be referred to herein as a motor with an eccentric rotating mass (ERM).
• a motor is attached to a garment or vest, wherein the motor has a rotating axle with an eccentrically mounted mass on the axle.
• the asymmetrically rotating mass produces a vibration that can cause a therapeutic vibration and/or compression to be applied to the torso of the patient.
• the rotating masses may comprise two or more rotating masses. These rotating masses may rotate with different frequencies, such that a beat frequency arises in the structure and is transmitted to the body. These beat frequencies may be low, and may be consistent with naturally occurring body rhythms such as respiration and heartbeat.
• the one or more motors with ERMs may be held within an elastomeric material which enhances coupling of the one or more motors to the body.
• the vibrational and/or compressive devices may be used in an architecture that uses feedback from measured parameters to alter the vibrational modes. Another embodiment uses a learning algorithm with artificial intelligence to direct the vibrational modes. Both of these embodiments enhance the ability of the described system to adapt to the individual.
• the architecture encodes various stimulating sensations as tactile sensations delivered through a plurality of the vibrational and/or compressive devices.
• the architecture encodes environmental stimuli such as sights and sounds as tactile sensations delivered through the plurality of the vibrational and/or compressive devices.
• the vibrational and/or compressive device may be used in conjunction with a sensor that measures some attributes of the user's body, comfort or function.
• the vibrational and/or compressive device may then be adjusted to achieve a predefined state within the user. This state may be repose, lower heart rate, lower blood pressure, and the like.
• an accelerometer may be used to accurately characterize the motion imparted by the vibration and/or compression device or wobbling motor.
• the motion can be characterized by monitoring performance metrics of the motors or devices themselves.
• a stimulus is applied to the user, and the stimulus is also analyzed to characterize some attribute of the stimulus. For example, if an auditory stimulus is applied, the signal is also analyzed by a spectrum analyzer, such that the audio power in a certain auditory band is measured. The vibrational and/or compressive device may then be driven by an algorithm that is based on the spectral content of the audio signal. Visual stimulus may be treated in an analogous way.
• Feedback techniques may be applied to the sensor and controller, to drive a measurement to a predefined level.
• Exemplary measurements include respiration, heartbeat, brainwaves, blood pressure, skin sweat, blood flow, muscle tension, eyeblinks, pupil diameter. Many more possible measurements and adjustments are envisioned, several of which are described in the exemplary embodiments discussed below.
• FIG. la is a simplified schematic diagram of a vibrational or compressive device using at least one motor with an eccentric rotating mass (ERM), and attached to a controller
• Fig. lb is a simplified schematic diagram of a vibrational or compressive device mechanical loading diagram depicting the surrounding elastic and inelastic constraints represented by spring-mass-dampers;
• Fig. 2a is a simplified schematic diagram of two motors with eccentric rotating masses
• Fig. 2b is a plot showing the beat frequency resulting from the interaction of frequency 1 applied to motor 1 and frequency 2 applied to motor 2
• Fig. 2c is a plot showing three different mechanical vibration frequency ranges of two motors with eccentric rotating masses; the vibration from the eccentric rotating mass, the beat frequency from the interaction of the two eccentric rotating masses, and the amplitude modulation determined by the controller;
• FIG. 3 shows the implementation of the eccentric motors on a vest garment worn on the torso with a simplified schematic diagram of the different components in a system architecture using the vibrational and/or compressive devices with the at least one biometric sensor, an auxiliary control component, an analyzer, and an external auditory feedback mechanism;
• FIG. 4 shows experimental data of a control signal driving eccentric rotating mass motors to induce vibration in the chest to modulate physiological processes
• FIG. 5a is a simplified schematic diagram overlaid on experimental data implementing an algorithm for the vibrational and/or compressive devices based on input from a sensor measuring a piece of information, illustrating the feedback and direct input methods
• Fig. 5b is a flowchart showing sensing, driving and feedback.
• Fig. 6a, Fig. 6b, Fig. 6c, and Fig. 6d are illustrations showing various delivery platforms and making use of the vibrational and/or compressive devices;
• Fig. 7a shows approximate resonant frequencies for different parts of the body
• Fig. 7b shows the mechanical coupling to the body.
• Figs. 8a-8e are simplified schematic diagrams of motors with eccentric rotating masses embedded in elastomeric lattices of varying geometry.
• Fig. 8a is a side view of the system
• Fig. 8b is one embodiment of the elastomeric material
• Fig. 8c is another embodiment of the elastomeric material
• Fig. 8d is another embodiment of the elastomeric material
• Fig. 8e shows a simplified plan view of the vibration-producing device encased in the elastomeric material.
• the device may be driven by a function which is based on some stimulative characteristic, or some desired therapeutic goal, or in order to transmit information with tactile sensations.
• the function may be arbitrarily complex, and considerations involved in determining the details of the function are described more fully below.
• the term “actuator” is used synonymously with “motor,” “vibrational device,” “vibration-producing device” and “compression device” to refer to a motor with an ERM.
• compression device may be used below to emphasize that the motion may not be strictly oscillatory or sinusoidal or regularly repeating. In fact, the waveform can be quite complex.
• the vibration-producing or compressive device may be driven by a “function” or “waveform”, terms which are used interchangeably to refer to the signals sent to the motor by the motor controller to control its behavior.
• the function or waveform may or may not be regular, recurrent and/or oscillatory.
• controller is used to generally refer to a data processing unit usually equipped with a microprocessor integrated circuit that can execute a sequence of commands specified in its software. Accordingly, “controller” may be synonymous with “computer,” “ASIC” or “microprocessor”. The controller may be a single unit or multiple units performing different functions, but which together serve to control a device such as one or more motors or a system of motors.
• this actuator or vibrational device is a motor with a mass mounted on the axle of the motor.
• the mounting of the mass may be off center, such that the inertia of the spinning offset causes a wobble or a vibration in the motor.
• this eccentric rotating mass ERM can have any shape, including but not limited to ellipsoidal or circular.
• the defining feature is that the inertia of the spinning mass is not rotationally symmetric, and is therefore not balanced.
• the eccentric mass may be a simple circular shape, but mounted at a point not at the center of symmetry.
• the mass may be an ellipse or a polygonal shape, or indeed any arbitrary shape.
• This disclosure is organized as follows. The details of the novel vibrational and/or compressive devices using an ERM are described first, as well as a number of design alternatives. Then, a number of delivery platform options are described, that is, how the vibrational and/or compressive devices are deployed with respect to the user. Then, a number of system architectures are described, that is, how the delivery platform is used to accomplish a therapeutic goal. Then methods associated with these architectures are described. , A number of applications are described, and finally, the elastomeric coupling material.
• Fig. 1 shows a first exemplary embodiment of a therapeutic vibrational and/or compressive device 100, using an eccentric rotating mass (ERM).
• a motor 30 has an axle 31 which is rotated by the motor 30. Attached to the axle 31 is an eccentric, non-circular mass 20. As shown in Fig. 1, the mass 20 may be attached to the axle 31 in a fashion such that the rotation is asymmetric. In other words, the axle 31 is not located at the center of symmetry of the mass 20. As a result, the force of the asymmetric rotating mass 20 may cause a wobbling of the motor 30.
• the mass 20 may be ellipsoidal, but this is not necessary.
• the only requirement is that the rotational inertia may not be rotationally symmetric.
• the rotationally asymmetric mass may cause the motor assembly to vibrate at some frequency. The frequency of vibration may depend on the embodiment, as described below.
• the motor 30 is typically an ordinary DC motor or brushless DC motor, having the usual stator and windings.
• the motor 30 may be attached to a backing, chassis or housing 10, and this backing may be attached to the delivery platform.
• the backing, chassis or housing may be a piece of mechanically capable and relatively rigid material such as plastic, plywood or metal.
• the material may preferably be capable of supporting the weight of the motor and the forces associated with the vibration.
• the material may preferably also be appropriately rigid and elastic to transmit the vibration effectively to the user.
• the attachment methodologies may be sewing, stapling, adhering, gluing, Velcro, zip tying or any other convenient method that attaches the vibrational and/or compressive devices 100 to the backing or chassis 10.
• the attachment methods may be snaps, buckles, belts.
• the attachment mechanism should preferably be relatively rigid, such that the vibration is effectively coupled to the backing or chassis 10.
• the vibrating device may be removable, such that it can be relocated if desired. If the vibrational device is in a garment with pockets, the user can move the device to another location such as to the pocket.
• the attachment mechanism is shown schematically as reference number 50, and should be understood to refer to any of the attachment mechanisms listed above, or some other means whereby the vibrating motor is firmly and relatively rigidly attached to the backing, chassis or housing 10.
• the attachment mechanism may be the well known and inexpensive cable tie downs, also known as “zip ties”.
• the motor and housing may then be attached to the platform, i.e. to the garment, chair, cushion for example.
• the motors are in the same housing and coupled in this manner.
• the motors are in their own individual cases and then coupled through another substrate.
• the motors/casings may then be coupled through the user's body.
• the vibrational and/or compressive device may have a tension member holding the device against the body.
• the attachment mechanism may thereby transmit the vibration or compression to the body in a way that minimizes interference and avoids irritation or abrasion.
• Other sorts of attachment and deformable mechanisms are contemplated, but the options are too numerous to list here.
• a particularly effective deformable mechanism is an elastomeric material, described below with respect to Fig. 8a-8e.
• the delivery platform may be, for example, a chair, a mattress, a cushion, or some other delivery platform which affords the device 10 close disposition to a body.
• the backing, chassis or housing 10 may also support a sensing device 11 , which may sense the motion imparted to the delivery platform, chassis or housing 10.
• the sensor may be, for example, an accelerometer. This accelerometer may be used to measure the amplitude of the vibration caused by the rotating mass 20 spinning on axle 31 by motor 30. The sensed acceleration may provide a feedback signal to the motor controller 40, if precise motion control is required.
• the motor 30 may be, for example, a DC motor which is driven by a controller 40, which may deliver a current or a voltage to the motor 30 windings. These details will be discussed more fully below.
• the driving voltage or current may have a constant value, resulting in a relatively constant rate of rotation of the motor 30 and the mass 20.
• more complex waveforms may also be envisaged, and several are depicted in Fig. 2b.
• Fig. lb shows the vibration producing device disposed with respect to a user’s body 19 and a stationary surface 15, with an elastomeric material 60-64 disposed around the vibration-producing motor 30.
• the elastomeric material its structure and functioning will be discussed more fully below with respect to the mechanical coupling and Fig. 8.
• Fig. 2a shows a first motor 30, similar to motor 30 depicted in Fig. la. However, in this embodiment there may be a second motor 32 similar to first motor 30 and disposed adjacent to first motor 30. Motor 32 may also have an eccentric rotating mass 22 which is obliquely mounted on axle 33 of motor 32. Accordingly, both motor 30 and motor 32 have obliquely mounted masses 20 and 22 that rotate with an unbalanced force, such that both motor 30 and motor 32 both wobble.
• Fig. 2c is a graphical depiction of the acceleration of the device shown in Fig. 1. That is, Fig. 2c shows the acceleration of the rotating mass 20, (or likewise the acceleration of the entire assembly of motor and casing). The magnitude of the acceleration is shown (in arbitrary units) as a function of time, as the mass 20 rotates on axle 31 driven by motor 30. The spacing between the acceleration peaks corresponds to the period of revolution of the motor. This acceleration may be associated with the vibration, or wobble, of the motor, as a result of the eccentrically mounted mass.
• Controllers 40 and 42 may control motors 30 and 32, respectively.
• controller 40 may drive motor 30 at a first frequency f l5 and controller 42 may drive motor 32 and a second frequency f 2 .
• This assembly of the two motors with eccentric rotating masses, but rotating at a different frequency and coupled through backing 10 may comprise a second embodiment 100’ of the vibrational and/or compressive device.
• This embodiment is denoted as 100’ in Fig. 2a, and therefore the vibration and/or compression may be applied at a much lower rate and at higher amplitude than each of the individual motors 30 and 32 vibrate alone.
• Fig. 2b is a plot showing the amplitude of the motion of the coupled eccentric rotating mass ERM motors 30 and 32 in the vibration/compression device 100’, when one motor is driven by one frequency, and the other motor is driven by another.
• the difference between the two frequencies is at about one Hz.
• the beat frequency occurs at about 1 Hz, as shown in the chart a Fig. 2b.
• low frequencies can be achieved without the use of a large, low frequency, expensive, massive motor.
• the vibration and/or compression can be generated conveniently, as described more fully below.
• One particularly interesting embodiment may be when the first frequency f j applied to motor 30 is held constant while the second frequency f 2 applied to motor 32 is swept through a frequency range using, for example, a sawtooth function.
• the beat frequency will also be swept through a range that is the difference between f j andf 2 .
• the beat frequency may conveniently and easily be designed to overlap or nearly overlap with a naturally occurring physiological rhythm, such as heart rate or respiration. It appears that using such an approach, the autonomic nervous system may respond by altering the physiological rhythm to be more similar to the beat frequency of the motors. Accordingly, applying a beat frequency which is near, but slightly lower than the user’s resting heart rate, may encourage the resting heart rate to be lowered as a result.
• the masses 20 and 22 may also rotate in opposite directions or with a phase difference or frequency difference between them, or they may rotate in synchronism. These choices, cyclical or counter cyclical, the phase relationship, amplitude and frequency between the eccentric masses 20 and 22, may all affect the behavior of the vibrational and/or compressive device 100’. These design choices may be made, depending on the details of the application, and the behavior desired of the vibrational and/or compressive device 100’. [00048] It should be understood that the design concepts discussed here may also be applied to a vibrational and/or compressive device with any other number of motors, rather than one, two or three.
• vibrational and/or compressive device becomes more complex, more complex behaviors may be expressed by them, such that the details can become exceedingly complex.
• an axle rotating with an unbalanced mass which imports a wobble or vibration to the rotation of the motor.
• the vibrating device may be used on many delivery platforms.
• the vibrating device can be attached to the lining of a vibration and/or compression vest that fits snugly around the torso. It may alternatively be fitted into a bed mattress or a chair, or a cushion.
• the device or delivery platform may be sized according to the individual user’s body size.
• the first delivery platform that will be described is that of a wearable garment 101 fitted to the body.
• the first example is a garment fitted to the torso, e.g., a vest 101.
• the vest 101 may be snugly fit to a patient using a configurable or adjustable fitting mechanism.
• the fitting mechanism may be, for example, snaps, Velcro, buckles, belts, laces that may draw the garment up like a corset.
• the fitting mechanism serves to hold the plurality of vibration and/or compression devices 100 firmly against the body of the user.
• the vest 101 may also be equipped with a wireless antenna/receiver, allowing its parameters, motion, behavior, user or sensors to be monitored and/or adjusted wirelessly or remotely, or via the internet.
• the vest embodiment 101 shown in Fig. 3 may have three vibrational and/or compressive devices 100, disposed on the right hand side of the torso of the user (shown rear facing in Fig. 3). Three additional vibrational and/or compressive devices 100 may be located on the front portion of vest 101, also on the right hand side of the user. It should be understood that this is an exemplary embodiment only, and that more or fewer vibrational and/or compressive devices 100 may be disposed on the vest embodiment 101. In addition, the vibrational and/or compressive devices 100 may be disposed on any of a number of different locations on the wearer’s torso. These may be locations that are chosen because they are particularly effective at accomplishing therapeutic purposes, as will be described further below.
• a number of sensors 65, 70 and 75 may be applied to the body.
• the sensors may be located wherever a piece of information can be acquired by the sensors, but in some embodiments, they may be located, for example, on or near the head, chest and wrist as shown by sensors 65, 70 and 75 in Fig. 3. It should be understood that this is exemplary only and that the sensors may be deployed in different quantities, and in a large number of different areas, such as the chest.
• the sensors 65, 70 and 75 may be positioned externally, internally or remotely. However, the sensors are configured to measure some piece of information, wherein the information is generally related to the users status or condition.
• the term “sensor’ may also include motion sensor or accelerometer 11, that monitors the motion of the vibration producing devices 100 or 100’.
• This vest 101 may be exemplary of garments in general, which may also take the form of a pant leg, a sock, a hat, earring or headband for example.
• the vest embodiment 101 is merely exemplary of a wearable garment in general, as distinct from other delivery platforms described below. It should be understood that the vibrational and/or compressive device 100 can be incorporated in many different delivery platforms for delivery of the therapeutic vibration and/or compression to a user. Several of these delivery platforms are illustrated in Figs. 6A-6D.
• Figs. 6a - 6d show four other delivery platforms on which the vibrational and/or compressive device 100 may be deployed.
• Fig. 6a shows a chair 12, wherein vibrational and/or compressive devices 100 are installed behind the fabric of the chair.
• additional vibrational and/or compressive devices 100 may be deployed in the seat portion of the chair, or in the arm rest portions of the chair, as shown.
• the location and distribution of the vibrational and/or compressive devices may be optimized to achieve a therapeutic purpose.
• Fig. 6b shows a sleeping or horizontal delivery platform 14, whereon the user can recline in order to receive the vibrational and/or compressive therapeutic massage.
• the vibrational and/or compressive devices 100 are shown distributed on a front surface of the mattress or delivery platform.
• Fig. 6c shows a sitting cushion 16, where in a plurality of vibrational and/or compressive devices 100 is also deployed. This configuration may be particularly effective in coupling the vibrations in a resonant fashion to a user’s torso or spinal column.
• Fig. 6d shows a pendant earring 18, wherein a vibrational and/or compressive device 100 is also deployed, and suspended from the earlobe.
• a headband, wristband, shoe insert for example.
• vibrational and/or compressive device 100 can be deployed to provide therapeutic vibration and/or compression to a user.
• the device may include at least one first motor assembly 100, including a first motor 30, an axle 31 driven by the first motor 30, and at least one asymmetric mass 20 coupled to the axle 31, characterized in that the asymmetric mass is coupled to the axle at a point offset from its center of mass, such that the asymmetric mass produces a vibration having a frequency, amplitude and phase when rotated by the first motor 30.
• the vibration producing device may further include at least one sensor that measures a quantity, and a controller 110, further characterized in that the controller 110 adjusts at least one of the frequency, amplitude and phase of the vibration based on the measured quantity, in order to urge a value of the measured quantity under closed-loop feedback control, towards a predefined value.
• the first motor assembly may further include at least one second motor 32 rotating at a second frequency with at least one second asymmetric mass 22 coupled to a second axle 33, wherein the second motor 32 is mechanically coupled to the first motor 30, defining at least one coupled motor pair assembly 100’ characterized in that the coupled motor pair assembly 100’ generates a beat interference pattern based on the first and second frequencies, the beat interference pattern having a characteristic frequency and amplitude, which defines a therapeutic vibration.
• the beat interference pattern produced by the coupled motor pair assembly may be tuned by the controller to interact with a naturally occurring mammalian physiological rhythm, wherein the naturally occurring mammalian physiological rhythm is at least one of heart rate, respiration rate, heart rate variability, blinking, sleep cycles, circadian rhythm.
• the at least one motor pair assembly may be coupled to a naturally occurring mammalian resonant structure which resonates with a characteristic frequency, such that the motor and naturally occurring mammalian resonant structure form a resonant coupled system
• Some embodiments may use a plurality of motor pair assemblies and these motor pair assemblies are positioned in locations adjacent to at least one naturally occurring resonant physiological structure and with the naturally occurring resonant physiological structure and the at least one motor pair assembly defining coupled oscillators.
• the plurality of coupled motor pair assemblies may be disposed on a platform, wherein the platform comprises at least one of garment (101), a chair (12), a mattress (14), a hat, a headband, an earring (18), eye mask, strap, recliner, floor, and a cushion (16).
• the vibration producing device further comprises an antenna for wireless data transmission and reception, and thus is configurable to be monitored or adjusted wirelessly.
• a number of sensors 65, 70 and 75 are applied to the body.
• the sensors may be located wherever a piece of information can be acquired by the sensors, but in some embodiments, they may be located, for example, on or near the head, chest and wrist as shown by sensors 65, 70 and 75 in Fig. 3. It should be understood that this is exemplary only and that the sensors may be deployed in different quantities, and in a large number of different areas, such as the chest.
• the sensors 65, 70 and 75 may be positioned externally, internally or remotely. However, the sensors are configured to measure some piece of information, wherein the information is generally related to the users status or condition, or rhe behavior of the vibration producing device.
• Biometric sensing equipment that measures an item of information may be involved in this system in a feedback loop, as will be described further below.
• the information may be fed to a decision making unit, which may adjust the motor controller in response to a certain behavior as measured by the sensing unit.
• This unit is also referred to as a “mapping unit” because it may map one item (sensor signal level) to another item (algorithm applied to the motor).
• the decision making unit could also use artificial intelligence.
• biometric quantities can be monitored, but they may include the heart rate, eccrine activity, and heart rate variability (HRV).
• HRV heart rate variability
• other biological aspects may be measured, including blood pressure, respiration rate, eye blinking, oxygenation.
• Other aspects may include respiratory effort, EEG theta/beta ratio, piloerector muscle activity, electrogastrography, reaction time, electrooculogram, pupil diameter, micro and macro saccade activity, posture, skin potential, electromyogram, pre-ejection period (PEP), stroke volume, cardiac output, left ventricular ejection time (LVET), blood pressure, and vascular resistance, for example.
• PEP pre-ejection period
• LVET left ventricular ejection time
• vascular resistance for example. This list is not meant to be exhaustive, but only to provide examples of information that can be used with the vibrational devices.
• the output of the sensors 65, 70 and 75 may be fed to a computer, 110, that receives the sensor signals and records them.
• the computer 110 may feed the signal to an analyzer 112. This analyzer may analyze the signal in order to characterize the state of the user wearing the therapeutic garment 101.
• the analyzer When the analyzer has completed its analysis of the signals from computer 110, it may send a signal to a mapper 116 shown in Fig. 3. This mapper may map the analyzed sensor results to a specific algorithm that is then applied to the motor 30 by the motor controller 40. Several examples of this mapping algorithm are described further below in the section directed to applications.
• the vibration producing device may include at least one sensor (65, 70 and 75) which senses at least one piece of information, wherein the at least one piece of information may be related to at least one of a physical, psychological, emotional and environmental status of the body, and wherein at least one of the frequency, amplitude, and the timing of successive pulses of the vibration is based on the at least one piece of information.
• the vibration producing device may further include a mapping unit 116 that relates measured quantity sensed by the sensor 65, 70, 75 to an algorithm that produces a motor drive waveform that drives the vibration producing device, based on the at least one piece of information.
• a user’s pulse rate is monitored by a sensor deployed on the wrist, and the sensory output is recorded by computer 110.
• This data possibly in combination with other data such as blood pressure, respiration, perspiration, may also be sent to the computer 110.
• the data collected by computer 110 from the sensors deployed on the user may then be sent to the analyzer 112.
• the analyzer 112 may analyze the data, in order to characterize, for example, the level of relaxation or arousal that the user is presently experiencing. For example, if the analyzer 112 determines that the user is in a stressed or hypertensive state, the analyzer may send the message to the mapper 116 directly to apply a stress lowering algorithm to motor controllers 40-48.
• the stress lowering algorithm may include vibration and/or compression pulses that are substantially synchronous with the heart rate but slightly lower. This may urge the autonomic nervous system to relax the breathing, blood pressure or pulse rate.
• Other examples of stress lowering algorithms are described below with respect to other implementations and embodiments.
• the algorithms may be fed to the motor controllers 40-48, which will control the motor movements according to the applied algorithms.
• the motors in the vibrational and/or compressive devices will execute what may, in fact, be a rather complicated sequence of vibrations, in terms of frequency, phase and amplitude changes.
• controller 110 may poll the sensors 65, 70 and 75 again, in order to detect the effect of the vibrational and/or compressive device on the user.
• the user may be a patient with high levels of stress, as evidenced by an elevated heart rate.
• a heart rate monitor may measure the user’s heart rate, feed that to the controller and/or signal analyzer, which determines that the user’s heart rate is higher than the target heart rate.
• a signal may be sent to the mapper 116 which may invoke a heart rate reducing algorithm.
• the sensor may be polled again, to see if the stress level is reduced as represented by the sensor output. If not, a different algorithm may be invoked, or a signal level changed.
• the vibration producing device may use a controller 110 which may be programmed to control the at least one of the first motor assembly 100 and the coupled vibrationsmotor pair assembly 100’, and to execute an algorithm defined by a sequence of , wherein the algorithm and sequence of vibrations is chosen based on the measured quantity of the at least one sensor 65, 70, 75.
• the measured quantity may be a piece of information based on at least one of acceleration, rate of rotation, Heart Rate (HR), Electrodermal Activity (EDA), Heart Rate Variability (HRV), Blood Pressure (BP), Blood Acceleration, Blood Velocity, Evoked Response, Skin Temperature, Core Body Temperature, Impedance Cardiography, Electrical Bioimpedance, Breathing Rate (BR), Breathing Rate Variability (BRV), Eye Blinking, Blood Oxygenation (Sp02), Respiratory Effort (RE), Electroencephalography (EEG), Piloerector Muscle Activity, Cortisol Level, Circadian Rhythm, Startle Response, Electrogastrography (EGG), Reaction Time, Electrooculography (EOG), Pupil Diameter, Eye Saccade Activity (macro/micro), Body Posture, Skin Potential (SP), Electromyography (EMG), Pre-ejection Period (PEP), Stroke Volume (SV), Cardiac Output (CO), Left Ventricular Ejection Time (LVET), Isovolumetric
• vibrational and/or compressive devices 100 in architecture shown in Fig. 3 are exemplary only and that other configurations may also be chosen. It should also be understood that the methods described here may equally be applied to other platforms, such as those shown in Fig. 6a-6d. It should also be understood that the functions of the signal analyzer 112 and mapper 116 functions may also be performed by a single computer, 110, such that separate functional units may not be necessary. All of the functions described here, including the signal analyzer and mapper, may not be necessary in all architectures, and in some, the function may be absent entirely.
• the sensor output is simply applied to the mapper or decision making unit 116, which selects an algorithm to apply to the motor controller 40.
• the sensor value may be supplied to the user, who may then directly choose an algorithm, to be applied to the vibrational and/or compressive devices 100.
• a simple example would be the sensor output applied directly to an amplifier driving the compression device, with or without a filter to smooth the signal and modify the phase of the compression device output.
• modules shown in Fig. 3 may be implemented in software alone. That is, a single computer 110 may monitor the heart rate, compare to target value, look up the appropriate vibrational and/or compressive device algorithm, and apply it to the motor controller.
• motor algorithms There are many examples of possible motor algorithms. These motor control algorithms can be applied to individual motors, or to banks of motors, or to all motors. They may have a simple oscillatory waveform or an arbitrarily complex and time-varying waveform. The amplitude and frequencies applied may vary in order to transmit information or a particular sensation to the user.
• One example would be a control algorithm that applies a waveform to a motor and then to the neighboring motor with a time delay, and again to the next motor in sequence, which could provide the effect of a wave going past the subject.
• a cooling capability or heating capability may be coupled to the garment 101.
• This system 118 may apply a cooling capability or heating capability to the user. Heat is considered to be a soothing effect, such that warming the torso may assist in the stress reduction outcome of this architecture.
• System 118 may also be a pneumatic system which may apply air pressure to the vest 101 in order to modify the vibration and/or compression characteristics.
• module 118 may also be a cooling apparatus. Applying colder temperatures is known to have a therapeutic effect, and may be particularly therapeutic in combination with massage therapy to mitigate damage or injury to soft tissues.
• the system architectures shown in Fig. 3 include a source of a stimulus, either audio 214 or video 210. It should be understood that these architectures may be applicable to stimuli in general, of which audio and video are examples.
• Fig. 3 shows an audio stimulus is applied to a user.
• the audio stimulus may be in the form of music from a speaker 214 as shown in Fig. 3.
• the user will hear the sound from speaker 214, as one may enjoy listening to their favorite playlist.
• the signal analyzer 112 may also be analyzing the audio signal.
• Signal analyzer 112 may be, for example, spectrum analyzer which reports the magnitude of the signal in certain frequency ranges.
• mapping algorithm unit 116 This unit may be for example, a look-up table, in that for a given output from the signal analyzer 112, the mapping algorithm unit chooses one algorithm among many. That is, it chooses the proper response to the results of the signal analyzer 112. Alternatively, the mapper 116 may execute a far more complex routine based on the signal analyzer 112 results.
• a mapping algorithm 116 may be programmed to create large perceptible massaging movement that is correlated to the overall volume of an audio signal.
• the mapping algorithm would implement that algorithm as a result of the audio volume measurement from signal analyzer 112. If the audio volume is higher, the mapping algorithm 116 may choose a higher revolution rate on the eccentric masses of the motor, so by speeding up the massaging rate of the vest 101.
• the mapping algorithm maps the volume of an audio signal to an RPM rate of the motor.
• This mapping concept will also be used in Fig. 3 wherein an audio, or video signal is mapped from an intensity profile into a mapping algorithm. In this scenario, the user may perceive the audio or video signal through the vibration mechanism, either with or without combining sight and sound.
• Fig. 5b is a flow chart illustrating in method format the basic components of the control architecture.
• the first step S501 of the method S500 starting in some physiological state may be to query a sensor, in order to measure a piece of information indicative of the users situation or status.
• the sensor may be, for example, any or a combination of those listed above, or it may be a different sensor operating on a different piece of information.
• the sensor output may be recorded in step S502, sorted and analyzed by a computer 110.
• the computer 110 may determine directly an algorithm to apply to the motor, or the computer may send the data to a dedicated analyzer 112.
• This analyzer 112 may then send a message to the mapping or decision making element 116 as to the users status or situation in step S503, such as their emotional state or physiological state.
• the mapping or decision making unit 116 may then make a decision (based on for example a lookup table) regarding the algorithm to apply to the motors in step S504 and vest 101, in response to the user’s condition, as measured by the at least one sensor.
• the function or waveform is delivered to the motor in step S505.
• the sensors may be polled again, and any changes in the status of the user as a result of the application of the tactile sensation, may be evaluated. Based on the results, the computer 110, signal analyzer 112 or the mapping element 116 may be updated to new values, based on the response of the user.
• a possible feedback loop is shown in Fig. 5b, from step S505 to step S500.
• information as to the environmental state may be sensed by the sensor in optional step S506.
• a set point or pre-defmed value or pre-measured number may be input to the controller in optional step S507.
• external stimuli may be applied in optional step S508.
• the feedback loop may be implemented with respect to these set points as predefined quantities.
• a diagnostic routine may be applied to a user.
• This diagnostic routine may execute a series of patterns on the vibration producing devices, and monitor at least one sensor, to measure the effect of the sequence on the user, if any.
• the vibration producing device may include a controller which may be programmed to perform a diagnostic sequence of vibrations while monitoring the sensor, and then creates a new sequence based on the monitoring of the sensor during the diagnostic sequence, wherein the new sequence is unique to the user, and wherein this new sequence is learned by the controller based on the diagnostic sequence.
• a stimulus may be applied to the user.
• the stimulus may be either vibratory or auditory or visual, for example, or the stimulus may be some other sensation.
• the second stage 112 is the signal analyzer stage, wherein the frequency components of the stimulus are analyzed. The results of this analysis then may go to the mapping algorithm stage 116. The mapping determines the algorithm appropriate for this stimulus analysis.
• the mapping stage 116 then sends the selected algorithm to the motor controller 40, which applies the algorithm to the motor 30.
• the motor 30 then delivers the tactile sensation to the vest 101 and user.
• the effect of this method is to map one type of sensation (e.g.
• the architecture illustrated in Fig. 5b thereby becomes a parallel sensory input mechanism, which is linked by the algorithm to the sensations coming through the usual sensory channels, which may significantly heighten or at least alter, the user’s perception of the stimulus.
• the vibration producing device may include an input signal 40-48, wherein the input signal is directed to or from a user.
• the vibration producing device may also include at least one signal analyzer 112 that analyzes the input signal to generate an analyzed signal and a motor drive waveform based on the analyzed signal and wherein the controller 110 is programmed to control at least one of the first motor assembly 100 and the coupled motor pair assembly 100’, using the motor drive waveform, to produce the vibration based on the input signal, such that the system applies the vibration based on the input signal to at least a portion of the body of the user.
• the input signal may be at least one of an audio signal 214 and a video signal 210, wherein the input signal has spectral content in at least one frequency band.
• the device may be used to help a user obtain a meditative state.
• the devices in Fig. 6a-6d may direct vibrations through the body in patterns that urge the user’s physiology into a state conducive for meditation.
• users sit on a cushion Fig. 6c or clip device 100 in Fig. 6d to their ears or wear a headband embedded with device 100.
• the controller 110 sends a signal to the motors 100 that transmit vibrations to the user sitting on the cushion 16.
• the vibration amplitude and frequency increases sinusoidally in time, although it could be any arbitrary periodic waveform.
• the wavelength of the sinusoidal rise and fall of the vibrations of the motors vary within the range of human respiration of 2-20 breaths per minute.
• a typical program sequence may start at a typical resting breath rate of 15 BPM and then become slower over time. Over time, the user’s respiration will begin naturally to follow the rise and fall of the vibrations of the motor(s). As the wavelength of the sinusoidal rising and falling of the motor vibrations increases, the user’s respiration rate will also slow. The vibrations become an unconscious guide to the breath, thus linking the control architecture of the device with the autonomic nervous system.
• a test sequence is run to determine how slow a user can breath. This respiration rate is then used as the target wavelength for the sinusoidal variation of the motor vibrations.
• the sensor 65 detects a person’s respiration rate.
• the control system then adjusts the sinusoidal wavelength to match the user's respiration with or without a bias.
• the “bias” may be understood to be a quantity related to the magnitude and direction of the difference between the sensed respiration rate and the targeted respiration rate. If the bias is applied to make the wavelength longer in the vibration it will cause the users respiration to slow. If the wavelength of the sinusoidal vibration is decreased then their respiration rate of the user will increase.
• a signal processing method that involves the measurement of the average energy present in specific audible frequency bands, over specific moving-time windows, to control the frequency of oscillation of stimulator(s) (mechanical, electrical, light, or auditory stimulators) applied to the human body.
• stimulator(s) mechanical, electrical, light, or auditory stimulators
• a specific frequency band, or bands, located within the auditory spectrum (20Hz-20kHz) is/are isolated to determine the average power signal [A(t)], representing the band or combined bands, over a specific moving-time window.
• This frequency band isolation method can be accomplished via analog or digital methods, including the use of lowpass, highpass and/or bandpass filters or via transformations such as the Fast Fourier Transform.
• A[t] is defined, it is used to control the operating frequency of a voltage controlled oscillator (VCO) or the speed of a rotating electric motor. In the case of application to VCO, the VCO will then drive an amplifier to actuate eccentric rotational mass motors that produce tactile impulses in relation to the VCO output.
• VCO voltage controlled oscillator
• a separate control may be used to modulate the amplitude of the VCO output, via the amplifier.
• the motor's speed is determined by the value of A(t).
• A(t) can be conditioned to drive the motor via pulse width modulation (PWM) methods, however a linear amplifier could also be used.
• PWM pulse width modulation
• the lectric motor may have an ERM coupled to the shaft that may result in variations of force as the shaft rotates.
• a microcontroller adapted and configured to send motor control signals to a PWM control board.
• the PWM control board then sends the PWM drive signals to the DC motor controllers, which then send the PWM drive voltages to the DC motors.
• the PWM drive signals may be set to a specific fundamental frequency somewhere between 10Hz and 100kHz.
• the specific fundamental frequency is chosen on the basis of the type of DC vibration motor used, where the optimal fundamental frequency may be a function of the size, weight, coil resistance, and nominal rotational rate of the motor.
• the fundamental frequency may be chosen to optimize motor efficiency in terms of electrical power in versus mechanical power out.
• the system Fig 7b can be represented as a spring-mass-damper system.
• the spinning of the eccentric rotational mass creates oscillations in the vertical axis.
• a resonance will occur that is mechanically coupled into the user Fig 7b.
• the human body resonates at various frequencies, represented in Fig. 7a. By matching these frequencies it is possible to create mechanical oscillations throughout the body. These mechanical oscillations in the human body are then coupled to other systems, such as the skeletal, respiratory, circulatory, nervous, lymphatic, and endocrine systems. As an example is shown in Fig.
• FIG. 7b of how the spine can also be represented as spring-mass-damper system.
• Oscillations of device 100’ in this example create movement through the spine and cause the head to move up and down. Sweeping through a frequency range couples to resonant frequencies throughout the body.
• the vibrating motor assembly 100 or 100’ when coupled to the body as shown in Fig. 7a, may form a resonant coupled system.
• the human body acts as a resonant cavity when actuated by a vibrating mass.
• resonances of the body can be determined.
• a system composed of the vibration motors and a detection accelerometer may be used.
• the vibration motors act as an input, transferring mechanical vibrations to the body.
• accelerometers placed at various positions in the vest to detect vibrations of the body. By mapping the input voltage to the motors to the frequency response of the body determined by the accelerometers, the resonance of the body may be determined. This resonant information can then be used in the motor routine to increase the effect of the vibrating motors on the body.
• the plurality of motor pair assemblies may be disposed on a platform, and in locations which are likely to couple into the resonant structures mentioned above.
• the platform may be at least one of garment, a chair, a mattress, a hat, a headband, an earring, and a cushion.
• the platform may be a reclining chair with elevated foot support and a plurality of motor pair assemblies are coupled through the reclining chair to the body of the user, with the plurality of motor pair assemblies spanning the centerline of the body.
• the platform may be a cushion with a motor pair assembly that couples to the user’s body when sat on, laid on, or otherwise compressed against the body.
• the inside edges of adjacent ones of the plurality of motor pair assemblies may be spaced between 0.25 inches and 7 inches apart from each other.
• the beat interference pattern may have a variable frequency within a range of frequency that overlaps the naturally occurring physiological rhythm.
• the range of frequencies spans a naturally occurring physiological frequency, wherein the naturally occurring physiological frequency comprises at least one of a heart rate (0.5-3Hz), respiration rate (0.03-0.3Hz), eye blinking rate (0.05-0.5Hz), cerebral fluid volume change rate (0.3-0.7 Hz), neuronal activity rates in the brain (0.05-100Hz), gastric activity rate (0.02-0.08Hz) and harmonics and sub-harmonics of these naturally occurring physiological frequencies.
• the vibrating motor 30 may be coupled to the body of the user with an elastomeric material 60, as was also illustrated in Fig. lb.
• the elastomeric material may be designed to have certain properties, in order to improve the delivery of the therapeutic vibration to the body.
• the remainder of this discussion is directed to the design, manufacture, and implementation of this elastomeric structure.
• the vibrating mass motor 30 is coupled to a user 19 using an elastomeric material 60.
• the purpose of the elastomeric material 60 is to control the coupling of the vibration of the motor 30 to the body of the user 19.
• the elastomer lattice may be designed to be anisotropic, that is, it may be, by design, more flexible in one dimension than the other.
• the vibrating motor 30 because of its construction, can wobble, move or rotate in a three-dimensional sense. This movement can be decomposed into an in-plane harmonic motion and a longitudinal harmonic motion.
• the longitudinal component or direction is as shown in Fig. 8a, and the in-plane motion is orthogonal to that.
• the longitudinal harmonic motion is similar to a vibration that would be launched by, for example, a magnetically driven speaker cone.
• a speaker generates vibrations primarily as percussive longitudinal waves.
• the vibrating motor also has an in-plane component.
• the elastomeric material may be deployed against the body such that the longitudinal component is orthogonal to the skin surface of the body.
• the elastomer lattice may have a different response to the in-plane component versus the longitudinal component.
• the elastomeric material may have at least twice the stiffness to the longitudinal component relative to the in-plane component.
• the stationary surface 15 may be a chair, or the floor, or a bed, for example. Any surface which does not move appreciably with the vibration, or is mechanically coupled to a fixed member, is considered to be the stationary surface 15.
• the elastomeric material 60 is depicted as having a damping mechanism (i.e., a “dash pot”) and a spring mechanism.
• each elastomeric material has both an elastic and an inelastic response to motion.
• the inelastic portion tends to damp or suppress the motion and the elastic portion tends to support or enhance the motion.
• the presence of these elastic and inelastic mechanisms results in the elastomer having a mechanical impedance, wherein the impedance describes the ability of the elastomer to couple vibration from the motor 30 to a body 19.
• Fig. lb is a simplified schematic illustration of another exemplary embodiment 140 of the novel system.
• embodiment 140 includes a vibrating motor 30, a stationary rigid surface 15, and a users body 19.
• the vibrating motor 30 is surrounded by a plurality of elastomeric materials 60, 61, and 62.
• additional elastomeric material 60 and 61 additional elastomeric materials 63 and 64 are disposed above and below the vibrating motor 30.
• the vibrating motor is essentially surrounded by, enclosed or encased in elastomeric material 60.
• Fig. 8a-Fig. 8e show an exemplary structure for the elastomeric material 60.
• the elastomeric material 60 virtually surrounds the vibrating motor 30.
• the elastomeric material 60 shown in Fig. 8a and 8e has square or rectangular cells, that is, open cavities within the elastomeric material, each of which is defined by a wall around the rectangular shape. These cells generally have one longer, longitudinal axis, as shown as 601 and 602 in Fig. 8e. THe longitudinal axis is labeled “height, h” in Figs. 8a-8e.
• the cells may also have a characteristic width, w, that describes the open face dimension of the cell, and a cell wall thickness, t.
• the mechanical properties of this elastomeric material may be essentially isotropic. However, in many embodiments, anisotropic behavior is desired.
• the cells or voids may have one dimension longer than another.
• the open void may have a characteristic lateral dimension W (as defined abotve) describing the span of the open cell, that is shorter than its length or height, h.
• the cells may define columns, wherein the column has one stiffness in a traverse in-plane direction which is much lower than the stiffness in the longitudinal direction. Movement in the in-plane direction involves the bending moment of the beams that define the walls of the column, whereas stiffness in the longitudinal direction involves compression of the column wall material. In some embodiments, the stiffness in the longitudinal direction is at least 1.5x the stiffness in the transverse direction.
• An “aspect ratio” of the elastomeric structure may be defined as the height of a cell, h, divided by the thickness, t, of the cell wall. This aspect ratio may be in the range
• Fig. 8 is a plan view showing the cell structure of exemplary elastomeric material 60.
• the cell structure is that of a honeycomb, that is, a closed packed hexagonal array of cells.
• Fig. 8c shows a square or rectangular cellular structure, wherein each cell is defined by a square opening within the elastomeric material.
• each cell comprises a triangular shape.
• the elastomeric material has a cellular structure where in different shapes of cells is surrounded by a wall of the elastomeric material.
• the detailed kinematics and material properties of these elastomeric materials can be defined by the selection of the cell shape, the wall thickness, and the ratio of the open to the closed structure.
• This elastomeric material may have a structure which is chosen for its stiffness properties.
• silicone or poly dimethyl Siloxane, Urethane rubber, or some other type of rubber may be a suitable material for the construction of the elastomeric material 60.
• the elastomeric structure may be fabricated by injection or pour molding. That is a mold is formed, and silicone rubber is injected into the mold to form the structure.
• the motor 30 may be embedded on all sides by the honeycomb elastomeric structure. As described previously the motor may be confined to a plastic casing, and this casing then and buried in the elastomeric structure 60.
• the vibration producing device may be held in an elastomeric material 60.
• the elastomeric material (60) may have a cellular structure with cells having a height (h) and width (w) and wall thickness (t), and an aspect ratio (height/thickness), of 1.5-50 such that the elastomeric material in stiffer in a direction along its height (h), with this stiffer direction disposed orthogonally to a body of a user, to directionally focus momentum of the motors in this orthogonal direction.
• the elastomeric material may have a cell structure with cells having a longitudinal axis, and with cell walls having a thickness, such that at least a portion of the cells have an aspect ratio (longitudinal axis/wall thickness) greater than 1.5:1, with the long axis orthogonal to the surface of the user
• the elastomeric material may have a structure of arranged cells, wherein the cells define a plane and a longitudinal direction parallel to the longitudinal axis, which is orthogonal to that plane, and wherein the cell structure is more flexible in the plane compared to the orthogonal longitudinal direction, and wherein at least a portion of the cells in the cell structure have a characteristic dimension w of about 1 cm, and wherein at least a portion of the cells have walls with a thickness of between about 1 and 5 mm.
• the elastomeric material may have a honeycomb structure of close-packed hexagonally arranged cells, wherein the cells define a plane and a longitudinal direction orthogonal to that plane, and wherein the honeycomb elastomeric structure is more flexible in the plane compared to the orthogonal longitudinal direction, and wherein the cells have a characteristic dimension of about 1 cm, and wherein walls of the cells have a thickness of between about 1 and 5 mm, which has been found to couple mechanical vibrations of the motor assembly to naturally occurring mammalian resonant structures.
• the choice of height, cell width and cell wall thickness will, in general, depend on the details of the application.
• the height, width and thickness may be chosen such that the vibration of the elastomer, coupled to the motor (30) may then effectively couple mechanical vibrations of the motor assembly to naturally occurring mammalian resonant structures.
• the range specified above may yield a vibration in the range 5 to 100 Hz, thus overlapping many of the resonant modes shown in Fig. 7a.
• the elastomeric material In addition to assisting coupling to body resonance, the elastomeric material also results in several additional unexpected advantages, including:
• the compliant material on the other side of the motors allows them to move to create a Swedish massage style chopping effect.
• the overall system is much quieter as the motors are not moving against anything rigid or sound-producing (like a strap or taut membrane). 4.
• the elastomer between the body and motor dampens the impact of the motors so that larger motors with larger eccentric weights that produce larger momentum transfer that can be felt at lower pleasing frequencies can be used.
• the elastomeric material is easily constructed from, for example, silicone injected into a mold, as is well known in the industry.

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• Health & Medical Sciences (AREA)
• Epidemiology (AREA)
• Pain & Pain Management (AREA)
• Physical Education & Sports Medicine (AREA)
• Rehabilitation Therapy (AREA)
• Life Sciences & Earth Sciences (AREA)
• Animal Behavior & Ethology (AREA)
• General Health & Medical Sciences (AREA)
• Public Health (AREA)
• Veterinary Medicine (AREA)
• Percussion Or Vibration Massage (AREA)

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• 2020
  • 2020-07-09 JP JP2022533365A patent/JP2023500737A/ja active Pending
  • 2020-07-09 EP EP20896512.9A patent/EP4069177A1/de active Pending
  • 2020-07-09 WO PCT/US2020/041294 patent/WO2021112922A1/en unknown

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