JP2011172638A - Massage machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a massage machine which shortens the time for determining a shoulder position. <P>SOLUTION: When the massage machine 1 starts massage movement, treatment elements 8 waiting at a home position Ya start to elevate toward a shoulder position determination starting position Yb. In this case, the treatment elements 8 elevate at the weakest rolling whose target pressure is P1. When the treatment elements 8 reach the shoulder position determination starting position Yb, the treatment elements carry out a provisional shoulder detecting movement. At this time, the treatment elements 8 are elevated by force controlled rolling whose target pressure is P2 that is higher than P1. When provisional shoulder position determination is finished, a real shoulder determination movement is carried out. At this time, the treatment elements 8 are descended from the provisional shoulder position. A position whose detected pressure is P3 is determined to be the position of the real shoulder. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a massage machine for massaging a user's shoulder or the like by a hitting operation or the like by a treatment element.

  2. Description of the Related Art Conventionally, massage machines (see, for example, Patent Document 1) have been widely used as machines that massage the human body of a user (user). In this type of massage machine, for example, there is a model that massages a user (mechanical massage) by, for example, a hitting operation with a treatment element. Prior to the start of mechanical massage, this massage machine determines the shoulder position of the user by tracing the back of the user with the treatment element (shoulder position determination), stops the treatment element at the shoulder position, and taps, etc. Execute.

  Generally, for shoulder position determination, as shown in FIG. 7A, first, the treatment element waiting at the home position (lowermost position) is raised while tracing the back of the user. At this time, when the treatment element is raised by force control rolling that raises the treatment element while changing the treatment Z of the treatment element so that the target pressure takes the target pressure, and the pressure is detected by the treatment element in this ascending process, the user Determine that you are seated.

  As shown in FIG. 7B, when the treatment element reaches the substantially intermediate position Yk, the treatment element is temporarily stopped at this position. Here, if the user cannot be detected in the ascending process to the substantially intermediate position Yk, the treatment element starts to descend and returns to the home position. On the other hand, when the user is detected in the ascending process to the substantially intermediate position Yk, after the temporary stop, the user is re-raised by force control rolling. And as shown in FIG.7 (c), when the treatment allowance Z of the treatment element turns into the threshold value Zk, it will determine with the treatment element having reached the shoulder position (temporary shoulder), and will stop the raising operation of a treatment element.

JP 2008-272041 A

  By the way, the shoulder position determination described in the prior art is performed by raising the treatment element from the home position to the substantially intermediate position Yk while performing force control rolling, temporarily stopping the treatment element at the approximately intermediate position Yk, and then the user's shoulder. Again, it is determined to raise the treatment element while performing force control rolling. Therefore, it takes time to raise the treatment element while performing force control rolling, and the treatment element is temporarily stopped at the substantially intermediate position Yk. As a result, it takes time to determine the shoulder position. Therefore, since it takes a waiting time before starting massage, there is a problem that leads to user stress.

  The objective of this invention is providing the massage machine which can shorten the time which shoulder position determination requires.

  In order to solve the above problems, in the present invention, when mechanical massage is performed by a treatment element, the shoulder position of a user is determined by the treatment element, and the machine position is determined from the shoulder position determined by the shoulder position determination. In a massage machine capable of a massage, a treatment element moving means for simply moving the treatment element from a home position to a shoulder position determination start position; and after the treatment element reaches the shoulder position determination start position, the treatment element And a shoulder position determination execution means for executing shoulder position determination according to the above.

  According to this configuration, when the massage machine starts operating, the treatment device waiting at the home position starts the ascending operation to determine the shoulder position of the user, and the machine is positioned at a height determined from the shoulder position determination. Start a massage. At this time, when raising the treatment element from the home position, the treatment element is simply raised to the shoulder position determination start position of a predetermined height, and after the treatment element reaches the shoulder position determination start position, the actual shoulder position determination is executed. To do. For this reason, since it is only necessary to raise the treatment element from the home position to the shoulder position determination start position, the time required for raising the treatment element to the shoulder position determination start position is shortened. Thus, when the shoulder position is determined by raising the treatment element waiting at the home position, the time required for the determination can be shortened.

  In the present invention, the treatment element moving means is configured to perform force control rolling to view the position while changing the amount of protrusion of the treatment element so that the treatment element takes a target pressure, by weak rolling with a small target pressure. The gist is to raise the treatment element while performing.

  According to this configuration, when raising the treatment element from the home position to the shoulder position determination start position, the treatment element is raised by weak rolling, so that the user can sit on the massage machine even if the treatment element is simply raised. It is possible to determine whether or not it is. Therefore, when the user is not seated, the treatment element can be returned to the home position.

  In the present invention, the shoulder position determination execution unit determines the shoulder position of the user by force control rolling that looks at the position while changing the amount of protrusion of the treatment element so that the treatment element takes a target pressure. This is the gist.

According to this configuration, the shoulder position is determined by force control rolling, so that the shoulder position of the user can be determined with higher accuracy.
In the present invention, the shoulder position determination execution means performs a temporary shoulder detection operation for roughly determining the shoulder position of the user by moving the treatment element in the upward direction from the home position, and performing the temporary shoulder detection operation. Then, the gist of the present invention is to determine the shoulder position by a main shoulder determination operation in which the treatment element is moved in the downward direction and the final position is viewed.

  According to this configuration, when determining the shoulder position of the user, first, a rough position determination is made by the upward direction of the treatment element, that is, the temporary shoulder detection operation, and then the downward direction of the treatment element, that is, the shoulder determination operation. To perform detailed position determination. Therefore, after the rough position determination, the final shoulder position is determined by fine position determination, so that the shoulder position of the user can be determined with higher accuracy.

  In the present invention, when the shoulder position determination execution unit cannot determine the shoulder position in a certain distance or a certain time in the descending direction when the therapy element is moved in the descending direction, And forcibly terminating the shoulder position determination.

  According to this configuration, when the treatment element is lowered to finely determine the shoulder position of the user, if the shoulder position cannot be detected within a certain distance or a certain time range, the treatment element is stopped. The shoulder position determination is forcibly terminated. Therefore, it is not necessary to unnecessarily lower the treatment element, so that safety can be ensured.

  According to the present invention, the time required for shoulder position determination can be shortened.

The schematic structure of the massage machine in one Embodiment is shown, (a) is a side view, (b) is a front view. Operation | movement explanatory drawing which shows the operation | movement aspect of a shoulder position determination apparatus. The block diagram which shows the electric constitution of a shoulder position determination apparatus. Explanatory drawing which shows the specific operation | movement of a starting position movement operation | movement. (A), (b) is explanatory drawing which shows the specific operation | movement of temporary shoulder detection operation | movement. Explanatory drawing which shows the specific operation | movement of this shoulder determination operation | movement. (A)-(c) is explanatory drawing which shows the operation | movement aspect of the conventional massage machine.

Hereinafter, an embodiment of a massage machine embodying the present invention will be described with reference to FIGS.
As shown to Fig.1 (a), (b), the massage machine 1 is provided with the seat part 2 where a user sits. A backrest 3 for leaning a user is attached to the back of the seat 2 so as to be tiltable along the front-rear direction (A-axis direction in FIG. 1A) with the lower end as an axis 4. A reclining mechanism 6 that tilts the backrest 3 using a motor or the like as a drive source is provided below the seat surface 5. A pair of armrests 7 and 7 are fixedly attached to both sides of the backrest 3 in the left-right direction.

  As shown in FIGS. 1 and 2, the backrest 3 is provided with a mechanical massage mechanism 9 that massages the user with a pair of treatment elements 8, 8. The mechanism main body 10 of the mechanical massage mechanism 9 is provided with a vertical movement motor 11 that reciprocates the mechanism main body 10 (that is, the treatment element 8) in the vertical direction along the seat surface 5. The mechanism main body 10 can reciprocate between a home position Ya at the lowest rail end and an uppermost position Yc at the rail uppermost end along a guide rail 12 (see FIG. 2) extending along the vertical direction of the backrest 3. It has become. The mechanism body 10 is provided with a strength / weakness motor 13 that reciprocates the treatment element 8 in the direction orthogonal to the seat surface 5. The strength / weakness motor 13 is used when the treatment element 8 is pulled out in the front-rear direction to change the allowance Z of the treatment element 8 or when the treatment element 8 is vibrated finely. Note that the allowance Z corresponds to the pop-out amount.

  The mechanical massage mechanism 9 aligns the treatment element height Y with the shoulder of the user by the vertical movement motor 11 during shoulder massage, which is the process of the mechanical massage, and the strength motor 13 outputs the treatment element 8. The allowance Z is enlarged, the treatment element 8 is placed on the shoulder of the user, and the treatment element 8 is vibrated in this state to massage the user. Examples of the mechanical massage include a massage operation, a massage operation, a brushing operation, an acupressure operation, and a pushing operation.

  As shown in FIG. 3, the massage machine 1 is provided with a controller 14 that comprehensively controls the operation of the massage machine 1. The controller 14 includes, for example, an MPU (Micro Processing Unit) and a memory. The controller 14 is connected to an operating device 15 that is operated when setting an operation course or an operation mode of the massage machine 1. Further, the output of the controller 14 is connected to the vertical motion motor 11 via the vertical motor drive unit 16 and to the strength motor 13 via the strength motor drive unit 17.

  When the user receives a massage with the massage machine 1, the operation course and the operation mode are selected and designated by the operation device 15, and the operation start button is pressed after the selection and designation. At this time, the controller 14 grasps the operation course and operation mode selected by the operation device 15 on the basis of the operation signal input from the operation device 15, and the vertical movement motor 11 along the selected operation course and operation mode. Further, the massage machine 1 is operated by controlling the strength / weakness motor 13.

  In addition, the massage machine 1 of the present example is provided with a shoulder position determination device 18 that determines the shoulder position of the user by the mechanical massage mechanism 9 prior to performing the mechanical massage. The shoulder position determination device 18 of this example performs the user's shoulder position determination by raising the treatment element 8 by force control rolling, as in the prior art, but in this example, at the home position Ya. A device that simply raises the treatment element 8 to the shoulder position determination start position Yb without performing any special control when the standby treatment element 8 is raised to a substantially intermediate position in the height direction (that is, the shoulder position determination start position Yb). It has become.

  In the force control rolling, the treatment element 8 is raised while changing the allowance Z of the treatment element 8 so that the pressure applied to the treatment element 8 takes the target pressure. This is a process of determining whether or not the treatment element 8 is at the shoulder position of the user, that is, determining the shoulder position of the user. Therefore, in the case of this example, the mechanical massage mechanism 9 is provided with a pressure sensor 19 that detects the pressure applied to the treatment element 8. The pressure sensor 19 starts pressure detection when the massage machine 1 operates, and sequentially outputs sensor signals to the controller 14. The movement locus of the treatment element 8 at the time of shoulder position determination takes a meandering locus La as shown in FIG. The pressure sensor 19 corresponds to a pressure detection unit.

  Prior to the start of the shoulder position determination, the controller 14 is provided with a start position movement operation execution unit 20 that simply raises the treatment element 8 from the home position Ya to the shoulder position determination start position Yb, that is, a start position movement operation. It has been. As shown in FIG. 4, the start position moving operation execution unit 20 performs the weakening rolling by moving the treatment element 8 in the state where the maximum amount of the treatment element 8 is retracted into the seat surface 5 (progress Z = Za). Is raised to the shoulder position determination start position Yb, and the treatment element 8 is moved to the shoulder position determination start position Yb. The weakest rolling is a process in which the treatment pressure 8 is raised by force control rolling with the target pressure set to P1 (for example, “0.1 V”), and although the nominal name is force control rolling, the detected pressure is slight. The processing is the same as when the treatment element 8 is not controlled at all. The start position movement operation execution unit 20 corresponds to the treatment element moving means.

  As shown in FIG. 3, after the treatment element height Y reaches the shoulder position determination start position Yb, the controller 14 performs an operation for determining the user's temporary shoulder position by the treatment element 8, that is, a temporary shoulder detection operation. A temporary shoulder detection operation execution unit 21 to be executed is provided. As shown in FIG. 5A, the temporary shoulder detection operation execution unit 21 raises the treatment element 8 from the shoulder position determination start position Yb by force control rolling with the target pressure set to P2 (> P1), for example, and the treatment element 8 When the turn Z of Z becomes Zb, the height position is recognized as a temporary shoulder, and the ascending operation of the treatment element 8 is stopped.

  After the provisional shoulder determination, the provisional shoulder detection operation execution unit 21 performs a widening operation for expanding the width (treatment element width X) between the pair of treatment elements 8 and 8, as shown in FIG. The protrusion operation for pushing the treatment element 8 is performed simultaneously until Z reaches the threshold value Zc. When the allowance Z becomes the threshold value Zc, the treatment element 8 is positioned above the shoulder of the user. Moreover, since the operation mechanism which moves a pair of treatment elements 8 and 8 to the width direction is a generally known mechanism, it abbreviate | omits for details. The temporary shoulder detection operation execution unit 21 constitutes a shoulder position determination execution unit.

  As shown in FIG. 3, the controller 14 includes a main shoulder determination operation execution unit 22 that performs an operation of finally determining the shoulder position of the user by the treatment element 8 after the temporary shoulder determination, that is, a main shoulder determination operation. Is provided. As shown in FIG. 6, the shoulder determination operation execution unit 22 lowers the treatment element 8 positioned at the temporary shoulder detection position and determines whether or not the pressure detected by the pressure sensor 19 becomes P3 (> P2), for example. The shoulder position is detected by looking at. When the detected pressure is P3 and the main shoulder is detected, the main shoulder determination operation execution unit 22 stops the lowering operation of the treatment element 8, and after the treatment element 8 stops, the tapping operation is performed on the treatment element 8 as a massage operation. Let The shoulder determination operation execution unit 22 constitutes a shoulder position determination execution unit.

Next, the operation of the shoulder position determination device 18 of this example will be described with reference to FIGS.
First, when the massage machine 1 is stopped, the treatment element 8 stands by at the home position Ya as shown in FIG. When the massage machine 1 starts operation, the shoulder position determination device 18 starts the shoulder position determination operation. At this time, the start position movement operation executing unit 20 moves the treatment element 8 from the home position Ya by the weakest rolling to move to the shoulder position determination start position Yb. Since the weakest rolling is a process in which the detected pressure is small, the treatment element 8 simply performs a process of raising the Za with the smallest allowance Z, and reaches the shoulder position determination start position Yb in a short time. When the treatment element 8 reaches the shoulder position determination start position Yb, the treatment element 8 temporarily stops at this position.

  On the other hand, when the start position movement operation execution unit 20 raises the treatment element 8 from the home position Ya and confirms that the allowance Z of the treatment element 8 exceeds the specified value, the user is seated on the massage machine 1. Recognize that it is not. Therefore, when the start position movement operation execution unit 20 detects that the user is not seated on the massage machine 1, the start position movement operation execution unit 20 lowers the treatment element 8 that has reached the shoulder position determination start position Yb and returns it to the home position Ya. For this reason, the treatment element 8 turns back the route that has been raised and returns to the home position Ya.

  When the treatment element 8 reaches the shoulder position determination start position Yb, the temporary shoulder detection operation execution unit 21 executes a temporary shoulder detection operation. At this time, as shown in FIG. 5 (a), the provisional shoulder detection operation executing unit 21 sets the target pressure to P2 higher than P1 from the state where the treatment element height Y is Yb and the allowance Z is Za. The ascending operation of the treatment element 8 is restarted by the force control rolling. If the treatment element 8 is positioned near the shoulder in this ascending process, the restriction by the back is taken and the allowance Z becomes the threshold Zb. When the provisional shoulder detection operation executing unit 21 confirms that the allowance Z has reached the threshold value Zb, the treatment element height Y at this time is recognized as the provisional shoulder position, and the ascending operation of the treatment element 8 is stopped.

  Further, when the temporary shoulder detection operation executing unit 21 stops the ascending operation of the treatment element 8 by the provisional shoulder detection, as shown in FIG. The projecting operation for bringing out the allowance Z into Zc is executed simultaneously. The widening operation is an operation for avoiding the user's neck when the allowance Z is Zc. The provisional shoulder detection operation execution unit 21 ends the provisional shoulder detection operation when the treatment element width X reaches Xa and the allowance Z reaches Zc.

  When the provisional shoulder detection operation ends, the shoulder determination operation execution unit 22 executes the shoulder determination operation. As shown in FIG. 6, the shoulder determination operation executing unit 22 starts the lowering operation of the treatment element 8 while the treatment element width X is Xa and the allowance Z is Zc. At this time, the shoulder determination operation execution unit 22 lowers the treatment element 8 until the detected pressure reaches P3. The main shoulder determination operation executing unit 22 recognizes the treatment element height Y as the main shoulder position and stops the treatment element 8 when detecting that the detected pressure is P3 during the lowering operation. After that, the hitting operation is executed as one operation of the mechanical massage.

  On the other hand, if the detected pressure is equal to or lower than the determination lower limit value Pk (for example, “0.5 V”) even when reaching the maximum determinable position Yd during the lowering operation of the treatment element 8, the shoulder determination operation execution unit 22 is used. If the person is not seated, the descending operation of the treatment element 8 is forcibly terminated. That is, if the shoulder determination operation executing unit 22 cannot detect that the detected pressure becomes P3 within the range of the maximum position Yd that can be determined from the highest position Yc when the treatment element 8 is lowered in the shoulder determination operation. Recognizing that there is no user, the descending operation is forcibly terminated, and the treatment element 8 is forcibly retracted to the home position.

  As described above, in this example, when the shoulder position of the user is determined prior to the execution of the mechanical massage, the treatment element 8 waiting at the home position Ya is simply moved to the shoulder position determination start position Yb having a predetermined height. After the treatment element 8 reaches the shoulder position determination start position Yb, the actual shoulder position determination is executed. For this reason, even in the case of taking the determination method of performing the shoulder position determination by raising the treatment element 8 from the home position Ya as in this example, the treatment element is simply from the home position Ya to the shoulder position determination start position Yb. Since 8 is raised, the time required for the determination can be shortened accordingly, and as a result, the time required for the shoulder position determination can be shortened.

According to the configuration of the present embodiment, the following effects can be obtained.
(1) When performing the shoulder position determination by raising the treatment element 8 waiting at the home position Ya, the treatment element 8 is simply raised from the home position Ya to the shoulder position determination start position Yb, and is moved to the shoulder position determination start position Yb. Since the actual shoulder position determination is performed by force control rolling after reaching, the time required for the shoulder position determination can be shortened. Therefore, since the waiting time until the actual massage is started after the start operation of the mechanical massage is performed with the operation device 15 is shortened, the user does not feel stress.

  (2) Since the treatment element 8 is lifted by the weakest rolling from the home position Ya to the shoulder position determination start position Yb, even if the time required for the raising operation of the treatment element 8 is shortened, It is possible to execute seating detection for checking whether or not a user is seated on the machine 1.

  (3) The pressure applied to the treatment element 8 is detected by the pressure sensor 19, and the shoulder position of the user is determined from the detected pressure. For this reason, a user's shoulder position can be determined by the accurate form of tracing the user's body (back) directly with the treatment element 8.

  (4) The shoulder position of the user is determined by force control rolling that raises the treatment element 8 while changing the allowance Z of the treatment element 8 so that the pressure applied to the treatment element 8 takes the target pressure. Therefore, the shoulder position of the user can be determined by a method with high detection accuracy called force control rolling.

  (5) In the shoulder position determination of this example, the temporary shoulder detection operation is performed in the upward direction of the treatment element 8, and after the temporary shoulder position is detected in this operation, the final shoulder determination operation is performed in the downward direction of the treatment element 8. Determine the ideal shoulder position. Therefore, the rough position determination is first performed in the ascending direction of the treatment element 8, and the final position determination is performed by fine position determination in the subsequent descending direction of the treatment element 8, so that the shoulder position of the user is more accurately determined. Can be judged well.

  (6) When the treatment element 8 is lowered by the shoulder determination operation, if the detected pressure is equal to or less than the determination lower limit value Pk within the range from the highest position Yc to the maximum position Yd that can be determined, it is determined that there is no user. The descending operation of 8 is forcibly terminated. Therefore, it is not necessary to unnecessarily lower the treatment element 8, and safety can be ensured.

  (7) When the massage machine 1 stops, the treatment element 8 is put on standby at the home position Ya. Therefore, when the user sits on the massage machine 1, the treatment element 8 does not hit the body and is in the way. There is no.

Note that the embodiment is not limited to the configuration described so far, and may be modified as follows.
The rising speed of the treatment element 8 during the start position moving operation and the rising speed of the treatment element 8 during the temporary shoulder detection operation are not limited to being the same. For example, the rising speed of the former may be faster than the latter.

The start position moving operation is not limited to the weakest rolling, and may be a simple ascending operation that does not execute force control rolling, for example.
When the treatment element 8 reaches the shoulder position determination start position Yb, it is not limited to temporarily stopping at the position Yb. That is, even if the treatment element 8 reaches the shoulder position determination start position Yb, the ascending operation may be continuously continued without stopping at the position Yb, and the transition to the temporary shoulder detection operation may be continued.

The shoulder position determination start position Yb is not limited to the height at which the shoulder position determination is started, and may be any predetermined position higher than the home position Ya.
The shoulder position determination is not limited to a method of determining based on the detected pressure applied to the treatment element 8, and may be, for example, specifying the user's human body shape based on how light is reflected by the optical sensor.

The shoulder position determination is not limited to the method of determining the temporary shoulder by the temporary shoulder detection operation and then determining the final shoulder position by the real shoulder determination operation. For example, only the temporary shoulder detection operation may be performed.
The weak rolling performed during the start position moving operation is not limited to the weakest rolling, and may be any target pressure lower than that of normal rolling.

-Shoulder position determination is not limited to that by force control rolling, and other determination methods may be used.
-The descending forced stop of the treatment element 8 in the shoulder determination operation is not limited to being less than the determination lower limit value Pk even after the treatment element 8 has passed the maximum position Yd that can be determined. For example, the condition may be that the detected pressure does not satisfy P3 even if the treatment element 8 passes the maximum position Yd that can be determined.

The forced descending stop of the treatment element 8 in the shoulder determination operation may be performed on the condition that the detected pressure does not reach a predetermined pressure within a certain time, for example.
The maximum determinable position Yd is not limited to a height slightly lower than the shoulder position determination start position Yb, and can be changed as appropriate.

  The mechanical massage mechanism 9 is not limited to the one using a motor as a drive source, and for example, a cylinder or a solenoid may be used. Moreover, the structure of the mechanical massage mechanism 9 is not limited to the example of embodiment, It can change suitably.

The massage machine 1 is not limited to a model that can perform only mechanical massage, but may be a model that can also perform pneumatic massage using an airbag, for example.
Next, technical ideas that can be grasped from the above-described embodiment and other examples will be described below together with their effects.

  (A) In any one of claims 1 to 5, the shoulder position determination execution means moves the treatment element in the upward direction from the home position and confirms the user's shoulder, and then a pair of the treatment elements A width-expanding operation for separating the treatment elements from each other in the width direction and a projecting operation for greatly projecting the treatment element outward are performed simultaneously. According to this configuration, since the separating operation and the protruding operation of the treatment element are simultaneously performed, it is possible to shorten the time required from the shoulder position determination until the actual mechanical massage is started.

    (B) In any one of claims 1 to 5 and the technical idea (a), the pressure sensor includes a pressure detection unit that detects a pressure applied to the treatment element, and the treatment element moving unit or the shoulder position determination execution unit includes: Based on the pressure applied to the treatment element, the shoulder position of the user is determined. According to this configuration, since the shoulder position of the user is determined based on the pressure applied to the treatment element, it is possible to determine the shoulder position of the user with a precise form of tracing the user's body directly with the treatment element. It becomes possible.

  DESCRIPTION OF SYMBOLS 1 ... Massage machine, 8 ... Treatment element, 18 ... Shoulder position determination apparatus, 19 ... Pressure sensor as pressure detection means, 20 ... Start position movement operation execution part as treatment element movement means, 21 ... Shoulder position determination execution means Temporary shoulder detection operation execution unit constituting 22... Shoulder determination operation execution unit constituting shoulder position determination execution means, Ya... Home position, Yb. Shoulder position determination start position, Z.

Claims (5)

In the case of the mechanical massage by the treatment element, the shoulder position of the user is determined by the treatment element, and in the massage machine capable of the mechanical massage from the shoulder position determined by the shoulder position determination,
A treatment element moving means for simply moving the treatment element from a home position to a shoulder position determination start position;
A massage machine comprising shoulder position determination execution means for executing shoulder position determination by the treatment element after the treatment element reaches the shoulder position determination start position. The treatment element moving means is configured to perform force control rolling to view the position while changing the pop-out amount of the treatment element so that the treatment element takes a target pressure while performing weak rolling with a small target pressure. The massage machine according to claim 1, wherein the treatment element is raised. The shoulder position determination execution means determines the shoulder position of the user by force control rolling to view the position while changing the amount of protrusion of the treatment element so that the treatment element takes a target pressure. The massage machine according to claim 1 or 2. The shoulder position determination execution means performs a provisional shoulder detection operation for roughly determining the shoulder position of the user by moving the treatment element in the upward direction from the home position, and after the provisional shoulder detection operation, the treatment The massage machine according to any one of claims 1 to 3, wherein the shoulder position is determined by an actual shoulder determination operation in which a child is moved in a descending direction and the final position is viewed. The shoulder position determination execution means stops the treatment element if the shoulder position cannot be determined for a certain distance or time in the downward direction when the treatment element is moved in the downward direction. The massage machine according to claim 4, wherein the shoulder position determination is forcibly terminated.

Images