JP2014161516A - Four-limb massage machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a massage machine which achieves various massage forms to upper limbs and lower limbs.SOLUTION: A four-limb massage machine 1 has an actuator 10 and a control section 50. The actuator 10 has a first displacement unit 20A and a second displacement unit 20B having a fluid-filled bag 21 and a plurality of compression cells 30A-30D. The compression cells 30A-30D have movable elements 31A-31D and magnetic force generating sections 40A-40D for attracting the movable elements 31A-31D. The fluid-filled bag 21 forms an output bulging section which bulges partially when at least one of the plurality of the compression cells 30A-30D is excited, and changes a position where the output bulging section is formed in accordance with the excitation state of the compression cells 30A-30D. The control section moves the output bulging section from a distal end section side to a trunk section side of an upper limb 100 on a row of the compression cells.

Description

  The present invention relates to a limb massage machine for massaging an upper limb and a lower limb.

  Hands and arms, such as PCs and mouse operations in desk work, are the most frequently used in the body and tend to get tired. In addition, when standing for a long time, the leg calves are swollen or fatigued. It is known that the upper limbs and lower limbs are alleviated from fatigue by massage using acupressure points and human palms, and are effective for stiff shoulders and back pain. For this reason, various methods are used to eliminate pain and fatigue of the upper and lower limbs. Patent Document 1 discloses an example of an armrest as a massage machine for a forearm using conventional vibration.

  The armrest described in Patent Literature 1 has an arm placing portion on which a user's forearm portion is placed. The arm placing portion has a diaphragm. The diaphragm is vibrated by a driving force obtained by converting the rotational motion generated by the motor of the main body into reciprocating motion. When a user uses a computer, put the forearm on the armrest and operate the keyboard. The armrest detects that the user's forearm has been placed and vibrates the diaphragm. The user can receive massage by vibration while operating the keyboard.

JP 2002-207552 A

  Conventional massage machines for upper limbs and lower limbs perform massage by vibration using rotational force generated by a motor or the like. For this reason, the massage which a user receives using the conventional massage machine becomes a monotonous movement with few changes. For this reason, the room for improvement is left in the point which provides a user with various massage.

  The present invention was created based on the above background, and an object thereof is to provide a massage machine that realizes various massage forms for the upper limb and the lower limb.

  (1) The first means is “an limb massager that massages at least one of the upper limb and the lower limb, wherein the limb massager includes a fluid-filled actuator and a control unit, and the fluid-filled actuator includes: A fluid encapsulating bag, a fluid, and a plurality of compression cells, the plurality of compression cells forming a compression cell array, wherein the fluid is encapsulated within the fluid encapsulation bag, and the plurality of compression cells are A movable element attached to the fluid-filled bag, and a magnetic force generating unit that attracts the movable element when excited, and the fluid-filled bag has at least one of the plurality of compression cells excited. Forming a partially expanded output expansion portion, and changing the formation position of the output expansion portion according to the excitation state of the plurality of compression cells, and the control unit Oite including the upper and lower extremities of the limbs massager for moving the output expansion unit from at least one end portion side to the trunk side ".

  The limb massage machine has an actuator and a control unit. The actuator has a plurality of compression cells forming a fluid-filled bag and a compression cell array. The compression cell has a mover attached to the fluid-filled bag, and a magnetic force generator that attracts the mover when excited. The fluid-filled bag forms a partially inflated output inflatable portion when at least one of the plurality of compression cells is energized. A control part changes the formation position of an output expansion part according to the excitation state of a compression cell. According to this configuration, the actuator can move the inflation output of the output inflation portion from the distal end side of the user's upper limb and lower limb toward the trunk side. Further, the actuator can change the bulging speed of the output expansion portion. For this reason, the massage machine can provide the user with various movements that simulate massage that slides the palm from the distal end side of the upper limb and the lower limb toward the trunk side.

  (2) The second means is: "The fluid-filled actuator has at least two or more compressed cell rows in parallel, and the control unit is a first of the plurality of compressed cell rows. A limb massager that associates movement of the output expansion portion formed in the second compression cell row of the plurality of compression cell rows and the output expansion portion formed in the compression cell row.

(3) The third means includes “a limb massage machine in which the control unit changes the expansion amount of the output expansion unit based on either the expansion position or the operation time of the output expansion unit”.
(4) The fourth means includes the “limb massage machine in which the fluid-filled actuator forms the output expansion portion at a position facing at least one acupoint in at least one of the upper limb and the lower limb”.

(5) The fifth means includes "the limb massager in which the movable element has a protrusion on the contact surface".
(6) The sixth means is, “The limb massage machine has a plurality of massage modes, a heat application unit, and a detection unit, and the heat application unit applies thermal energy to at least one of the upper limb and the lower limb. The plurality of massage modes include at least a high-temperature press massage mode and a low-temperature press massage mode, and the high-temperature press massage mode and the low-temperature press massage mode have different thermal energy applied by the heat application unit, and the detection unit Detects one of the skin temperature and pressing force of at least one of the upper limb and the lower limb and outputs a detection signal, and the control unit changes the plurality of massage modes based on the detection signal Machine ".

  (7) The seventh means is: "The fluid-filled actuator has a support substrate, and the support substrate has the plurality of compressed cell rows disposed on a surface thereof, and the support substrate includes at least an upper limb and a lower limb. It includes a limb massage machine that is formed in an arc shape in which the central portion in one width direction protrudes to the back side.

(8) The eighth means includes “an extremity massage machine in which the support substrate is made of a flexible material”.
(9) Ninth means is: “The massage machine has a thermal stimulation mode as the plurality of massage modes, and the control unit performs control not to excite the plurality of compression cells in the thermal stimulation mode, The control unit includes a four-limb massage machine that applies thermal energy to at least one of the upper limb and the lower limb by the thermal application unit in the thermal stimulation mode.

  (10) The tenth means is: “The movable element has a quadrangular shape, and the movable element has a first movable element side dimension in a column direction of the compressed cell row in the rectangular shape. A limb massager that is shorter than the second armature side dimension that intersects.

  This limb massage machine contributes to providing various massage forms for the upper and lower limbs.

The schematic block diagram of the limb massage machine of 1st Embodiment, and a user's upper limb. FIG. 2 is a cross-sectional structure diagram of the 1X-1X plane of FIG. It is a figure regarding the cross-sectional structure of 1X-1X plane of FIG. 1, (a) is a cross-sectional structure figure of the state in which the displacement unit formed the output expansion part, (b) forms the output expansion part in a different position from (a). FIG. It is a figure regarding the massage operation | movement in the limb massage machine of 1st Embodiment, (a) is a block diagram of an actuator, (b) is a corresponding | compatible figure of a user's upper limb and the moving direction of an output expansion part. It is a figure regarding the massage operation | movement in the limb massage machine of 1st Embodiment, (a) is a figure which shows the massage position in a user's upper limb, (b) is a graph which shows the bulging output in massage operation | movement. It is a figure regarding the excitation pattern of the displacement unit in the extremity massage machine of 1st Embodiment, (a) is an excitation pattern example in case of one compression cell which is not excited, (b) is excitation in the case of two compression cells which are not excited. Pattern example, (c) is an excitation pattern example when there are three compressed cells that are not excited. The schematic block diagram of the actuator in the extremity massage machine of 2nd Embodiment. It is a figure regarding operation | movement of the actuator in the limb massage machine of 2nd Embodiment, (a) is an output expansion part transition diagram showing the movement direction of an output expansion part, (b) is the movement direction of the output expansion part different from (a). The output expansion part transition diagram showing. It is a figure regarding operation | movement of the actuator in the limb massage machine of 2nd Embodiment, (a) is an output expansion part transition diagram showing the movement direction of the output expansion part different from FIG. 8, (b) is output expansion different from (a). The output expansion part transition diagram showing the moving direction of a part. It is a figure regarding operation | movement of the actuator in the extremity massage machine of 2nd Embodiment, (a) is a figure which shows the positional relationship of the acupoint and actuator in a user's upper limb, (b) is a bulge position and the number of bulges of an actuator. The graph which shows the relationship. The block diagram of the needle | mover in the extremity massage machine of 3rd Embodiment. The circuit block block diagram of the control part in the extremity massage machine of 4th Embodiment. The cross-section figure of the displacement unit in the extremity massage machine of 4th Embodiment. The massage mode table | surface in the extremity massage machine of 4th Embodiment. The cross-section figure of the actuator in the extremity massage machine of 5th Embodiment. It is a figure regarding the actuator in the extremity massage machine of 6th Embodiment, (a) is a sectional structure figure of an actuator, (b) is a section structure figure of an actuator in the state where a user's upper limb was put. It is a figure regarding the use condition of the actuator in the extremity massage machine of 7th Embodiment, (a) is a figure which shows the relationship between a user's upper limb and an actuator, (b) is an enlarged view of the dashed-dotted line circle in (a).

(First embodiment)
With reference to FIG. 1, the structure of the massage machine 1 as a limb massage machine is demonstrated.
The massage machine 1 includes an actuator 10 as a fluid-filled actuator, a control unit 50, and a cable 12. The cable 12 electrically connects the actuator 10 and the control unit 50. The actuator 10 includes a first displacement unit 20A and a second displacement unit 20B arranged on the support substrate 11. The control unit 50 includes a control circuit 51 and a power supply unit 52. The power supply unit 52 supplies an operating voltage to the control circuit 51 and the actuator 10.

  When the user wants to receive a massage of the upper limb 100, the user places the upper limb 100 on the actuator 10. The massage machine 1 supports the upper limb 100 on a surface facing the upper limb 100 of the actuator 10.

  The first displacement unit 20A and the second displacement unit 20B have the same configuration. Hereinafter, the first displacement unit 20A and the second displacement unit 20B are collectively referred to as a displacement unit 20. The number of the displacement units 20 is not limited to two, and the actuator 10 has the number of displacement units according to the length of the upper limb 100, for example.

  The displacement unit 20 includes a first compression cell 30A, a second compression cell 30B, a third compression cell 30C, a fourth compression cell 30D, and a fluid sealing bag 21. The displacement unit 20 includes a first compression cell 30A and a second compression cell 30B that are a plurality of compression cells, and a third compression cell 30C and a fourth compression cell 30D that are a plurality of compression cells. A compressed cell string is arranged in a direction from the side toward the trunk side.

  Hereinafter, the first compressed cell 30A, the second compressed cell 30B, the third compressed cell 30C, and the fourth compressed cell 30D are collectively referred to as a compressed cell 30. In addition, it has four elements corresponding to the first compressed cell 30A, the second compressed cell 30B, the third compressed cell 30C, and the fourth compressed cell 30D, and A, B, C, and D are added to the reference numerals. In general, the components A, B, C, and D are denoted by reference numerals with the components omitted.

  The compression cell 30 includes a first magnetic force generation unit 40A, a second magnetic force generation unit 40B, a third magnetic force generation unit 40C, and a fourth magnetic force generation unit 40D. The compression cell 30 includes a first mover 31A, a second mover 31B, a third mover 31C, and a fourth mover 31D that are paired with the magnetic force generator 40. The magnetic force generator 40 is disposed on the lower surface side of the fluid sealing bag 21. The mover 31 is disposed on the upper surface side of the fluid sealing bag 21 in a pair with the magnetic force generation unit 40.

The configuration of the displacement unit 20 will be described with reference to FIG.
The magnetic force generation unit 40 of the compression cell 30 includes a magnetic force generation core 41 and a coil 42. The coil 42 is formed in an annular shape having a hollow portion 43 at the center. The coil 42 is disposed at the center of the magnetic force generation core 41.

The magnetic force generation core 41 may be configured to dispose a fixed iron core in the hollow portion 43. In such a configuration, the generated magnetic force can be increased.
The mover 31 is made of a metal plate member having magnetism such as iron.

  The fluid-filled bag 21 is a flexible flat bag made of, for example, silicon rubber. For example, water is sealed in the fluid sealing bag 21 as a fluid. The fluid in the fluid-filled bag 21 can be deformed when a part of the fluid-filled bag 21 is pressed from the outside, and the fluid moves inside the fluid-filled bag 21 and expands other parts. The amount of filling is adjusted so that it can be adjusted. The fluid-filled bag 21 is deformed when the excited magnetic force generation unit 40 sucks the mover 31 toward the fluid-filled bag 21 and presses the fluid-filled bag 21.

  The fluid sealed in the fluid sealing bag 21 is not limited to water. The fluid sealing bag 21 is filled with, for example, a magnetic fluid as a fluid. The magnetic fluid is, for example, a colloidal solution in which ferromagnetic fine particles having a surface adsorbed with a surfactant are dispersed in a solution.

The operation of the actuator 10 will be described with reference to FIG.
The magnetic force generation unit 40 generates a magnetic field when current is supplied to the coil 42. By setting the winding direction of the coil 42 so that the direction of the lines of magnetic force when the current flows is directed toward the mover 31, the mover 31 moves toward the fluid-filled bag 21 when the magnetic force generator 40 generates a magnetic field. Move to be attracted.

  In the actuator 10, when a current is supplied to any one of the coils 42 included in the four magnetic force generation units 40 of the displacement unit 20, the magnetic force generation unit 40 including the coils 42 is excited. The control unit 50 controls the excitation state of the magnetic force generation unit 40 by a magnetic force generation unit control signal VPC output from the control circuit 51 shown in FIG. The mover 31 that makes a pair with the excited magnetic force generation unit 40 is attracted to the magnetic force generation unit 40 side and locally presses and deforms the fluid sealing bag 21. When a part of the fluid sealing bag 21 is pressed, the fluid sealed in the fluid sealing bag 21 moves to the position of the magnetic force generator 40 that is not excited. As the fluid in the fluid-filled bag 21 moves, the surface of the fluid-filled bag 21 at the position of the magnetic force generator 40 that is not excited expands.

FIG. 3A shows a state in which the second magnetic force generating unit 40B to the fourth magnetic force generating unit 40D are excited and the first magnetic force generating unit 40A is not excited.
The second mover 31B to the fourth mover 31D paired with the second magnetic force generator 40B to the fourth magnetic force generator 40D are attracted by the second magnetic force generator 40B to the fourth magnetic force generator 40D and fluid-filled bags. A part of 21 is pressed. For this reason, as for the fluid enclosure bag 21, the output expansion | swelling part 22A is formed in the position of 40 A of 1st magnetic force generation parts which are not excited. The output inflating part 22 is defined as a part including a position where a part of the fluid sealing bag 21 is inflated and protrudes most.

FIG. 3B shows a state where the first magnetic force generator 40A, the third magnetic force generator 40C, and the fourth magnetic force generator 40D are excited, and the second magnetic force generator 40B is not excited.
Each of the first movable element 31A, the third movable element 31C, and the fourth movable element 31D is attracted to the first magnetic force generating part 40A, the third magnetic force generating part 40C, and the fourth magnetic force generating part 40D that make a pair, and is filled with fluid. A part of the bag 21 is pressed. For this reason, as for the fluid enclosure bag 21, the output expansion part 22B is formed in the position of the 2nd magnetic force generation part 40B which is not excited.

Thus, in the actuator 10, the formation position of the output expansion portion 22 changes according to the excitation patterns of the four magnetic force generation portions 40 of the displacement unit 20.
When the output expansion part 22 expands, it forms an expansion output. The massage machine 1 uses the expansion output of the output expansion unit 22 of the actuator 10 as an output for operating the treatment element. In the massage machine 1, the movable element 31 at the position where the output expansion portion 22 is formed presses the upper limb 100 of the user.

With reference to FIG. 4, the massage operation | movement using the expansion output of the output expansion part 22 of the actuator 10 is demonstrated.
As shown in FIG. 4A, the actuator 10 has a plurality of displacement units 20 indicated by a first displacement unit 20A, a second displacement unit 20B, and a third displacement unit 20n. The actuator 10 continuously moves the formation position of the output expansion unit 22 across the plurality of displacement units 20 under the control of the control unit 50.

  The massage machine 1 causes the actuator 10 to face the upper limb 100. The massage machine 1 forms the output expansion part 22 in the position of the 1st needle | mover 31A which the 1st displacement unit 20A has, for example. The massage machine 1 moves the output expansion part 22 from the position of the first movable element 31A of the first displacement unit 20A toward the third displacement unit 20n. The massage machine 1 moves the output inflating part 22 shown in FIG. 4A from the wrist position A, which is the terminal side of the upper limb 100 shown in FIG. 4B, to the position B, which is the trunk part side. Correspond to the position.

  The massage machine 1 uses the movement shown in FIG. 4 to simulate the movement of pressing with the palm from the wrist position A, which is the distal side of the upper limb 100, to the position B, which is on the trunk side. To provide

With reference to FIG. 5, the operation | movement which changes the expansion output of the output expansion part 22 which the actuator 10 forms is demonstrated.
FIG. 5A shows the movement position of the output inflating part 22 in the massage operation for the user's upper limb 100 shown in FIG. As shown in FIG. 5B, the actuator 10 changes the expansion output of the output expansion unit 22 within the period of the massage operation. The actuator 10 is controlled by the control unit 50 when the formation position of the output expansion unit 22 that has started operation from the wrist position A at time t0 moves between the position C at time t1 and the position D at time t2. The expansion output of the output expansion unit 22 is increased. The actuator 10 changes the expansion output of the output expansion unit 22 based on either the massage operation time or the expansion position of the output expansion unit 22.

  The massage machine 1 is effective in promoting lymph flow in a state where the skin temperature of the upper limb 100 of the user has increased by performing the operation shown in FIG. 5 after repeating the massage operation shown in FIG. Provide massage operation to the user.

  The actuator 10 can change the magnetic force generated by the magnetic force generator 40 by changing the current supplied to the coil 42 of the magnetic force generator 40. In the magnetic force generation unit 40, the attractive force with respect to the mover 31 changes according to the generated magnetic force. For this reason, the actuator 10 can change the expansion output of the output expansion unit 22 by changing the current supplied to the coil 42 of the magnetic force generation unit 40.

The actuator 10 can change the expansion output of the output expansion unit 22 by changing the excitation pattern of the displacement unit 20.
FIG. 6 shows examples of different excitation patterns of the displacement unit 20.

  In the excitation pattern example shown in FIG. 6, the compression cell 30 marked “excitation” shows a state where a current is supplied to the coil 42 and the magnetic force generator 40 is excited. In the example of the excitation pattern, the compression cell 30 described as “non-excitation” indicates that no current is supplied to the coil 42 and the magnetic force generation unit 40 is not excited.

  The excitation pattern shown in FIG. 6A shows a case where there is one compressed cell that is not excited. The second movable element 31B to the fourth movable element 31D of the compression cell 30 to be excited press the fluid sealing bag 21 to form the output expansion portion 22A at the position of the first compression cell 30A.

  The excitation pattern shown in FIG. 6B shows a case where there are two compressed cells that are not excited. The third movable element 31C and the fourth movable element 31D of the compressed compression cell 30 press the fluid sealing bag 21 to form the output expansion part 22 at the positions of the first compression cell 30A and the second compression cell 30B.

  The excitation pattern shown in FIG. 6C shows a case where there are three compressed cells that are not excited. The third movable element 31C of the excited third compression cell 30C presses the fluid sealing bag 21, and places the output expansion portion 22 at the positions of the first compression cell 30A, the second compression cell 30B, and the fourth compression cell 30D. Form.

  The excitation patterns shown in FIGS. 6A to 6C are different from each other in the number of the movable elements 31 that press the fluid-filled bag 21 and the size of the area where the output expansion part 22 expands. For this reason, the expansion pattern of the output expansion part 22 differs in the excitation pattern shown by Fig.6 (a)-FIG.6 (c), respectively.

  The control unit 50 can change the expansion speed of the output expansion unit 22. The control unit 50 changes the expansion speed of the output expansion unit 22 by changing the voltage level change rate of the magnetic force generation unit control signal VPC generated by the control circuit 51.

  When the output expansion unit 22 moves from the wrist position A on the distal side to the position B on the trunk side, the control unit 50 reduces the expansion speed of the output expansion unit 22 to increase the expansion speed of the output expansion unit 22. Smooth. The massage machine 1 provides the user with a movement that moves so that the output inflating portion 22 is placed in the palm of the hand. When the output expansion unit 22 moves from the wrist position A on the distal side to the position B on the trunk side, the control unit 50 makes the expansion rate of the output expansion unit 22 steep and the output expansion unit 22 projects sharply. Like that. The massage machine 1 provides the user with a movement that moves so that the output inflating portion 22 taps.

  Thus, the massage machine 1 can perform various massage operations on the user's upper limb 100 using the actuator 10 by adopting the configuration and operation shown in FIGS. 1 to 6. However, the massage object part which the massage machine 1 massages is not limited to the upper limb 100 of the user. The massage machine 1 performs a similar massage operation on the user's lower limbs.

The user places the lower limb on the actuator 10 of the massage machine 1. The massage machine 1 performs massage similar to the content for the upper limb 100 on the user's lower limb.
The massage machine 1 of this embodiment has the following effects.

  (1) The massage machine 1 includes the actuator 10 and the control unit 50. The actuator 10 has a fluid-filled bag 21 and a plurality of compression cells 30 forming a compressed cell row. The compression cell 30 includes a mover 31 attached to the fluid-filled bag 21 and a magnetic force generator 40 that attracts the mover when excited. The fluid encapsulating bag 21 forms a partially inflated output inflating portion 22 when at least one of the plurality of compression cells 30 is energized. The control unit 50 changes the formation position of the output expansion unit 22 according to the excitation state of the compression cell 30. The control unit 50 changes the expansion speed of the output expansion unit 22 according to a control signal from the control circuit 51. According to this configuration, the actuator 10 can move the inflation output of the output inflation portion 22 from the position A on the distal end side of the upper limb 100 and the lower limb of the user toward the position B on the trunk side. Further, the actuator 10 can change the bulging speed of the output expanding portion 22. For this reason, the massage machine 1 can provide the user with a movement that simulates a massage that slides the palm from the position A on the distal end side of the upper limb 100 and the lower limb to the position B on the trunk side. Moreover, the massage machine 1 can provide the user with various movements of the expansion output of the output expansion unit 22. For this reason, the user can obtain various massage effects such as promoting the flow of lymph using the massage machine 1.

  (2) The massage machine 1 includes the actuator 10 and the control unit 50. The actuator 10 includes a fluid sealing bag 21 and a plurality of compression cells 30. The fluid encapsulating bag 21 forms a partially inflated output inflating portion 22 when at least one of the plurality of compression cells 30 is energized. The control unit 50 changes the formation position of the output expansion unit 22 according to the excitation state of the compression cell 30. When the control unit 50 moves the output expansion unit 22 from the position A on the distal end side of the upper limb 100 and the lower limb of the user toward the position B on the trunk side, the control unit 50 changes the expansion output of the output expansion unit 22. According to this configuration, the massage machine 1 changes the bulge output in the middle of moving the bulge output of the output expansion portion 22 from the position A on the distal end side of the upper limb 100 and the lower limb toward the position B on the trunk side. can do. For this reason, the massage machine 1 can provide a user by simulating various movements in the massage that slides the palm from the position A on the distal end side of the upper limb 100 and the lower limb to the position B on the trunk side. it can. For this reason, the user can perform a massage that effectively promotes the flow of lymph using the massage machine 1.

  (3) The actuator 10 includes the displacement unit 20 and the control unit 50. The displacement unit 20 includes a plurality of compression cells 30 and a fluid sealing bag 21 in which a fluid is sealed. The compression cell 30 includes a magnetic force generator 40 and a mover 31. The control circuit 51 included in the control unit 50 outputs a magnetic force generation unit control signal VPC that changes the excitation pattern of the compression cell 30. The magnetic force generator 40 of the compression cell 30 attracts the mover 31 when excited. The mover 31 attracted by the magnetic force generation unit 40 locally presses the fluid sealing bag 21. When at least one of the compression cells 30 is energized, the fluid-filled bag 21 forms a partially inflated output inflation portion 22. According to this structure, the massage machine 1 can obtain a bulging output without using a mechanical movable part. For this reason, the weight increase by a mechanical movable part can be suppressed. Moreover, the massage machine 1 can suppress unpleasant vibration and sound due to a power source such as a rotational force. For this reason, the massage machine 1 can provide a comfortable massage for the user.

(Second Embodiment)
The massage machine 1 of 2nd Embodiment has a different structure in the following parts compared with the massage machine 1 of 1st Embodiment, and has the same structure in another part. About the structure which is common in the massage machine 1 of 1st Embodiment, the same code | symbol is attached | subjected and the one part or all part of the description is abbreviate | omitted.

  The actuator 10 in the massage machine 1 of 1st Embodiment has the compression cell 30 by which the displacement unit 20 is arrange | positioned at the matrix form of 2 rows 2 columns. The control unit 50 of the massage machine 1 forms the output expansion unit 22 in the displacement unit 20 of the actuator 10, and the output expansion unit 22 from the position A on the distal end side of the user's upper limb 100 and the lower limb to the position B on the trunk side. Move. On the other hand, in the actuator 60 of the second embodiment, the displacement unit 23 includes a first compressed cell row 25 and a second compressed cell row 26 in which a plurality of compressed cells 30 are arranged in the same direction. The control part 50 forms the output expansion part 22 in the 1st compression cell row | line | column 25 and the 2nd compression cell row | line | column 26, and the said position from the position A of the user's upper limb 100 and the lower limb side to the position B of the trunk part side The output expansion part 22 is moved. The control unit 50 of the massage machine 1 associates the movement of the output expansion unit 22 of the first compressed cell row 25 and the second compressed cell row 26.

The configuration of the actuator 60 will be described with reference to FIG.
The actuator 60 has a fourth displacement unit 23A and a fifth displacement unit 23B. The fourth displacement unit 23A and the fifth displacement unit 23B have the same configuration. Hereinafter, the fourth displacement unit 23A and the fifth displacement unit 23B are collectively referred to as the displacement unit 23.

  The displacement unit 23 includes a fluid sealing bag 24, a first compression cell row 25, and a second compression cell row 26. The first compressed cell row 25 includes a fifth compressed cell 32A, a sixth compressed cell 32B, and a seventh compressed cell 32C. The second compressed cell row 26 includes an eighth compressed cell 32D, a ninth compressed cell 32E, and a tenth compressed cell 32F.

  Hereinafter, the fifth compressed cell 32A, the sixth compressed cell 32B, the seventh compressed cell 32C, the eighth compressed cell 32D, the ninth compressed cell 32E, and the tenth compressed cell 32F are collectively referred to as a compressed cell 32. In addition, when the constituent elements having six elements corresponding to the compressed cell 32 and having the symbols A, B, C, D, E, and F are collectively referred to, A, B, C, D, E , And F are indicated by symbols omitted.

  The displacement unit 23 has a fifth movable element 33A, a sixth movable element 33B, a seventh movable element 33C, an eighth movable element 33D, a ninth movable element 33E, and a tenth element of the compression cell 32 on the upper surface side of the fluid sealing bag 24. A mover 33F is provided.

  When any one of the compression cells 32 is excited, the movable member 33 of the compressed compression cell 32 locally presses and deforms the fluid sealing bag 24. When a part of the fluid-filled bag 24 is pressed, the fluid-filled bag 24 is formed with an output inflating portion 22 that is partially inflated.

  When the actuator 60 in the massage machine 1 faces the user's upper limb 100 and supports the upper limb 100, the fourth displacement unit 23 </ b> A faces the position of the distal end side of the upper limb 100. The fifth displacement unit 23B faces the position of the upper limb 100 on the trunk side.

When the control unit 50 of the massage machine 1 forms the output expansion unit 22 in the displacement unit 23,
The output expansion unit 22 formed in the first compression cell row 25 and the output expansion unit 22 formed in the second compression cell row 26 are moved in association with each other.

With reference to FIG. 8, the example of the moving direction of the output expansion part 22 formed in the displacement unit 23 is demonstrated.
FIG. 8A shows the trunk of the fifth displacement unit 23B in which the output expansion portion 22 formed at the positions of the fifth compression cell 32A and the tenth compression cell 32F of the fourth displacement unit 23A straddles the displacement units. An example of moving to the side is shown.

  When the fluid-filled bag 24A has an excitation pattern in which the sixth compression cell 32B to the ninth compression cell 32E are excited and the fifth compression cell 32A and the tenth compression cell 32F are not excited, the fifth compression cell 32A and the tenth compression cell. The output expansion portion 22 is formed at the position of 32F. When the fifth compression cell 32A and the tenth compression cell 32F are excited and the sixth compression cell 32B and the ninth compression cell 32E change to a state where they are not excited, the position where the output expansion portion 22 is formed is the sixth compression cell 32B and the sixth compression cell 32B. 9 Move to the position of the compression cell 32E. In the fourth displacement unit 23A and the fifth displacement unit 23B, when the positions of the two non-excited compression cells 32 are changed in the direction toward the trunk, the formation position of the output expansion part 22 is directed in the direction toward the trunk. Moving.

  The massage machine 1 can realize a movement simulating a massage performed with the palms of both hands by using the expansion output of the output expansion unit 22 so that the user's upper limb 100 is directed from the distal end side toward the trunk side. it can.

  In FIG. 8B, the formation position of the output expansion portion 22 of the fourth displacement unit 23A moves in the clockwise direction, and the formation position of the output expansion portion 22 of the fifth displacement unit 23B moves in the counterclockwise direction. An example is shown.

  When the fluid compression bag 24A has an excitation pattern in which the sixth compression cell 32B to the tenth compression cell 32F of the fourth displacement unit 23A are excited and the fifth compression cell 32A is not excited, the output expansion is performed at the position of the fifth compression cell 32A. Part 22 is formed. When the fifth compression unit 32B of the fifth displacement unit 23B is excited and the tenth compression cell 32F is not excited, the fluid encapsulating bag 24B has an output expansion at the position of the tenth compression cell 32F. Part 22 is formed. When the fifth compression cell 32A of the fourth displacement unit 23A is excited and the sixth compression cell 32B is changed to a non-excited state, the formation position of the output expansion portion 22 moves to the position of the sixth compression cell 32B. When the tenth compression cell 32F of the fifth displacement unit 23B is excited and the ninth compression cell 32E changes to a non-excited state, the formation position of the output expansion part 22 moves to the position of the ninth compression cell 32E.

  In the fourth displacement unit 23A, the control unit 50 changes the position of the compressed cell 32 that is not excited in the clockwise direction, and moves the formation position of the output expansion unit 22 in the clockwise direction. Further, in the fifth displacement unit 23B, the control unit 50 changes the position of the compressed cell 32 that is not excited in the counterclockwise direction, and moves the position where the output expansion unit 22 is formed in the counterclockwise direction.

  The massage machine 1 realizes a movement simulating a massage in which the user's upper limb 100 is held in the clockwise direction and the counterclockwise direction with the palms of both hands by using the expansion output of the output expansion unit 22. Can do.

FIG. 9 shows another example of the moving direction of the output expansion portion 22 formed in the displacement unit 23.
FIG. 9A shows an example in which the formation position of the output expansion portion 22 moves from the fourth displacement unit 23A to the fifth displacement unit 23B across the displacement units in the sawtooth direction.

  The control unit 50 moves the position of the compression cell 32 that is not excited in the sawtooth shape direction, and moves the formation position of the output inflating portion 22 in the fluid sealing bag 24A and the fluid sealing bag 24B in the sawtooth shape direction.

  The massage machine 1 realizes a movement that simulates a massage that moves the user's upper limb 100 from the distal end side toward the trunk side while moving in the width direction by using the expansion output of the output expansion section 22. can do.

  FIG. 9B shows an example in which the output expansion portion 22 formed in the fourth displacement unit 23A moves to the trunk side of the fifth displacement unit 23B across the displacement unit while rotating in the clockwise direction. Has been.

  The control unit 50 moves the position of the compression cell 32 that is not excited while rotating in the clockwise direction, and rotates the formation position of the output expansion unit 22 in the fluid-filled bag 24A and the fluid-filled bag 24B in the clockwise direction. Move while.

  The massage machine 1 realizes a movement simulating a massage that moves the user's upper limb 100 from the distal end side toward the trunk side while rotating with the palm of the hand by using the expansion output of the output expansion section 22. can do.

  The massage machine 1 is not limited to the moving direction of the output expansion unit 22 shown in FIGS. 8 and 9 by changing the magnetic force generation unit control signal VPC output from the control circuit 51 of the control unit 50, and various movements are possible. Direction can be realized.

With reference to FIG. 10, the stimulation massage operation | movement with respect to the point in the user's upper limb 100 is demonstrated.
FIG. 10A shows the relationship between the position of the acupoint on the upper limb 100 and the position of the actuator 60.

  Acupoints are places on the surface of the human body where physical condition adjustment and alleviation of various symptoms can be achieved by applying stimulation with finger pressure, wrinkles, wrinkles and the like. When performing massage for the user, by stimulating the acupoint prior to the massage, the blood flow and lymph flow are improved, and the massage effect can be enhanced.

  The upper limb 100 of the human body has, for example, acupuncture points such as a row notch, a messenger, a gate, a hole, a song, and a shakuzawa. The displacement unit 20 of the actuator 60 has a configuration capable of forming the output expansion portion 22 at a position facing the acupoint of the upper limb 100.

  The actuator 60 has the compression cell 32 at a position facing the acupoint of the user's upper limb 100 when the user's upper limb 100 is placed. In the displacement unit 23, the actuator 60 makes the compression cell 32 at a position facing the acupuncture point not excited, and excites another compression cell 32, thereby forming the output expansion portion 22 at a position facing the acupuncture point.

FIG. 10B shows the relationship between the position of the output expansion portion 22 formed by the actuator 60 and the number of occurrences of expansion output.
When the massage machine 1 moves the formation position of the output expansion part 22 in the actuator 60 from the distal end side of the upper limb 100 toward the trunk side, the massage machine 1 moves to stimulate the acupoints of the upper limb 100. After the massage machine 1 repeats the expansion and contraction of the output expansion portion 22 a plurality of times (three times in the example shown in FIG. 10B), for example, when the formation position of the output expansion portion 22 becomes a row notch point. Move towards the trunk side. The massage machine 1 can realize a movement that simulates massage performed with the palm of the palm toward the trunk after stimulating the row notch points on the upper limb 100.

  As in the first embodiment, the massage target part that the massage machine 1 performs massage is not limited to the upper limb 100 of the user. The massage machine 1 can perform the same massage operation on the user's lower limbs.

  The massage machine 1 of this embodiment has the same effects as (1) to (3) produced by the massage machine 1 of the first embodiment. That is, it is possible to provide the user with an operation that simulates a massage that slides the palms of both hands from the distal end side of the user's upper limb 100 and lower limb toward the trunk side using the swollen output of the actuator 60. And other various effects. Moreover, the massage machine 1 has the following effects.

  (4) The massage machine 1 includes the actuator 60 and the control unit 50. The actuator 60 has a fluid sealing bag 24, a first compression cell row 25, and a second compression cell row 26. The control unit 50 associates the movement of the output expansion unit 22 formed in the first compression cell row 25 and the output expansion unit 22 formed in the second compression cell row 26. According to this configuration, the massage machine 1 can move the expansion output of the output expansion unit 22 between the first compression cell row 25 and the second compression cell row 26. Moreover, the massage machine 1 can move the expansion | swelling output of the output expansion | swelling part 22 toward the trunk | body side from the terminal part side of a user's upper limb 100 and a lower limb. For this reason, the massage machine 1 can move the expansion output of the output expansion part 22 from the terminal part side of the user's upper limb 100 and the lower limb toward the trunk part side, including changes in the width direction. For this reason, the massage machine 1 can provide the operation | movement which simulates the massage which performs various motions, sliding a palm toward the trunk | body side from the terminal part side of a user's upper limb 100 and a lower limb. For this reason, the user can receive various massages using the massage machine 1.

  (5) The massage machine 1 includes the actuator 60 and the control unit 50. The actuator 60 has a displacement unit 23. The control unit 50 forms the output expansion unit 22 at the position of the displacement unit 23 facing the acupoints of the upper limb 100 and the lower limb of the user. According to this configuration, when the actuator 60 moves the formation position of the output expansion portion 22 from the position A on the user's upper limb 100 and the lower limb toward the position B on the trunk, the acupuncture point is on the moving path. including. For this reason, the massage machine 1 can implement | achieve the motion which simulates the massage performed with the palm toward the trunk side after stimulating the acupoint. For this reason, the user can receive a more effective massage.

(Third embodiment)
The massage machine 1 of 3rd Embodiment has a different structure in the following parts compared with the massage machine 1 of 1st Embodiment, and has the same structure in another part. About the structure which is common in the massage machine 1 of 1st Embodiment, the same code | symbol is attached | subjected and the one part or all part of the description is abbreviate | omitted.

The needle | mover 31 of the compression cell 30 in the massage machine 1 of 1st Embodiment is comprised with a plate-shaped metal. On the other hand, the mover 34 of the compression cell 30 of the third embodiment has a protrusion 36.
With reference to FIG. 11, the structure of the needle | mover 34 is demonstrated.

  As shown in FIG. 11, the mover 34 has a configuration in which a protrusion 36 is formed on the surface of a plate-like metal 35 having magnetism such as iron. The surface on which the projecting portion 36 of the mover 34 is formed is a contact surface on which the mover 34 contacts and presses the user. For this reason, the mover 34 is attracted to the magnetic force generation unit 40 when the pair of magnetic force generation units 40 is excited. Further, the movable element 34 at the position where the output expansion portion 22 is formed presses the user on the surface where the protruding portion 36 is formed.

  The mover 34 is configured to have a protruding portion 36 formed by protruding a part of the plate-like metal 35. The mover 34 has a structure to which a protrusion 36 formed of rubber, silicon, plastic, or the like is attached.

The massage machine 1 of this embodiment has the same effects as (1) to (3) produced by the massage machine 1 of the first embodiment. Moreover, the massage machine 1 has the following effects.
(6) The massage machine 1 includes the actuator 10 and the control unit 50. The actuator 10 has a fluid-filled bag 21 and a plurality of compression cells 30 forming a compressed cell row. The compression cell 30 includes a mover 34 attached to the fluid-filled bag 21 and a magnetic force generator 40 that attracts the mover 34 when excited. The mover 34 has a configuration in which a protrusion 36 is formed on the surface of the plate-like metal 35. The fluid encapsulating bag 21 forms a partially inflated output inflating portion 22 when at least one of the plurality of compression cells 30 is energized. According to this configuration, in the massage machine 1, when the actuator 10 forms the output expansion portion 22, the movable element 34 positioned on the output expansion portion 22 presses the user. For this reason, the massage machine 1 can effectively stimulate the user by the protruding portion 36 of the movable element 34. For this reason, the massage machine 1 can provide a user with more effective massage.

(Fourth embodiment)
The massage machine 1 of 4th Embodiment has a different structure in the following parts compared with the massage machine 1 of 1st Embodiment, and has the same structure in another part. About the structure which is common in the massage machine 1 of 1st Embodiment, the same code | symbol is attached | subjected and the one part or all part of the description is abbreviate | omitted.

  The control unit 50 in the massage machine 1 according to the first embodiment includes a control circuit 51 and a power supply unit 52. On the other hand, the control unit 90 of the fourth embodiment includes a heat application unit 53 in addition to the control circuit 51 and the power supply unit 52. In the massage machine 1 according to the fourth embodiment, the actuator 10 includes the detection unit 27.

A circuit block configuration of the control unit 90 will be described with reference to FIG.
The control unit 90 includes a control circuit 51, a power supply unit 52, and a heat application unit 53. The heat application unit 53 includes a high frequency signal generation unit 54 and a signal synthesis unit 55.

  The high frequency signal generator 54 generates a high frequency signal HFS that is combined with the magnetic force generator control signal VPC generated by the control circuit 51. The signal synthesis unit 55 generates a synthesis control signal VPHF by synthesizing the magnetic force generation unit control signal VPC generated by the control circuit 51 and the high frequency signal HFS generated by the high frequency signal generation unit 54, and the magnetic generation unit 40 of the actuator 10. Control.

  When the control unit 90 controls the magnetic force generation unit 40 of the actuator 10, the control unit 90 supplies the magnetic force generation unit 40 with a combined control signal VPHF including a component of the high frequency signal HFS generated by the high frequency signal generation unit 54. The magnetic force generator 40 generates a magnetic flux containing a high frequency component when excited by the composite control signal VPHF. The magnetic flux generated by the magnetic force generator 40 intersects the mover 31. When the magnetic flux crossing the mover 31 changes, the mover 31 generates an eddy current. When the magnetic force generator 40 is excited by the composite control signal VPHF containing a high frequency component, the number of magnetic flux changes per unit time of the magnetic flux generated by the magnetic force generator 40 increases. By exciting the magnetic force generation unit 40 using the composite control signal VPHF including a high-frequency component, the mover 31 rises to a temperature at which a thermal stimulus can be applied to the user due to an eddy current flowing.

  In this way, the heat application unit 53 supplies the magnetic force generation unit 40 with the combined control signal VPHF obtained by combining the high frequency signal HFS generated by the high frequency signal generation unit 54 and the magnetic force generation unit control signal VPC generated by the control circuit 51. The mover 31 is heated. The massage machine 1 performs the thermal stimulation operation | movement which provides a user with thermal energy using the heat | fever which the needle | mover 31 generate | occur | produces.

With reference to FIG. 13, the structure of the displacement unit 20 which the actuator 10 has is demonstrated.
The displacement unit 20 has a detection unit 27 on the surface on which the mover 31 presses the upper limb 100 of the user. The detection unit 27 includes, for example, a pressure sensor and a heat sensor. The detection unit 27 detects the skin temperature of the user's upper limb 100 and the contact pressure between the upper limb 100 and the mover 31 to detect the temperature detection voltage VTH according to the skin temperature and the pressure detection voltage VPR ( (See FIG. 12).

The control unit 90 controls the massage mode of the massage machine 1 based on the temperature detection voltage VTH and the pressure detection voltage VPR from the detection unit 27.
With reference to FIG. 14, the massage mode of the massage machine 1 is demonstrated.

The massage machine 1 provides the user with, for example, four types of massage modes shown in FIG. 14 as massage modes.
The pressing force shown in FIG. 14 is a force with which the massage machine 1 presses the upper limb 100 of the user. The pressing force is a value based on the expansion force of the output expansion unit 22 of the actuator 10. The expansion force of the output expansion unit 22 can be changed by control from the control unit 90. For example, when the current value supplied to the coil 42 of the magnetic force generation unit 40 changes, the output expansion unit 22 changes the expansion output.

  The temperature shown in FIG. 14 is a temperature at which the massage machine 1 warms the user's skin. The temperature is a value based on the amount of heat generated by the mover 31 of the actuator 10. When the temperature is high, the massage machine 1 gives large heat energy to the user. When the temperature is low, the massage machine 1 gives small thermal energy to the user. The heat generation temperature of the mover 31 can be changed by control from the control unit 90. For example, when the frequency of the high-frequency signal component included in the composite control signal VPHF changes, the temperature of the mover 31 is changed.

  The pressure massage in the massage mode shown in FIG. 14 is a mode in which the massage machine 1 stops the heat generation of the movable element 31 and performs the massage by pressing with the expansion force of the output expansion unit 22 as a strong force. The low temperature press massage in the massage mode is a mode in which the massage machine 1 performs massage with the temperature of the movable element 31 being low and the expansion force of the output expansion part 22 being strong. The high-temperature press massage in the massage mode is a mode in which the massage machine 1 performs massage with the temperature of the movable element 31 being high and the expansion force of the output expansion unit 22 being weak. The thermal stimulation in the massage mode is a mode in which the massage machine 1 stops the expansion output of the output expansion unit 22 and only the thermal stimulation is performed with the temperature of the movable element 31 being high. The controller 90 selects the massage mode based on the temperature detection voltage VTH and the pressure detection voltage VPR output from the detection unit 27.

The massage machine 1 of this embodiment has the same effects as (1) to (3) produced by the massage machine 1 of the first embodiment. Moreover, the massage machine 1 has the following effects.
(7) The massage machine 1 includes the actuator 10 and the control unit 90. The actuator 10 has a plurality of compression cells 30. The compression cell 30 includes a mover 31 attached to the fluid-filled bag 21 and a magnetic force generator 40 that attracts the mover when excited. The actuator 10 has a detector 27 on the surface where the mover 31 presses the user. The control unit 90 includes a control circuit 51 and a heat application unit 53. The heat application unit 53 includes a high frequency signal generation unit 54 and a signal synthesis unit 55. The heat application unit 53 controls the magnetic force generation unit 40 with a signal including a high frequency component, thereby causing the mover 31 to generate heat. The detection unit 27 detects the temperature of the user's skin and the contact pressure between the user and the mover 31 and outputs a detection signal. According to this configuration, the massage machine 1 can perform massage by thermal stimulation. Moreover, the massage machine 1 can select the massage mode based on the temperature of the user's skin. The massage machine 1 can select a massage mode based on the contact pressure between the user and the mover 31. For this reason, the massage machine 1 can select and provide the massage mode suitable for a user based on a user's biometric information. For this reason, the user can receive a more effective and comfortable massage.

(Fifth embodiment)
The massage machine 1 of 5th Embodiment has a different structure in the following parts compared with the massage machine 1 of 1st Embodiment, and has the same structure in another part. About the structure which is common in the massage machine 1 of 1st Embodiment, the same code | symbol is attached | subjected and the one part or all part of the description is abbreviate | omitted.

  In the actuator 10 in the massage machine 1 of the first embodiment, the displacement unit 20 is disposed on the flat support substrate 11. On the other hand, in the actuator 70 of the fifth embodiment, the support substrate 13 on which the displacement unit 20 is arranged is formed in an arc shape in which the central portion in the width direction of the upper limb 100 of the user protrudes to the back side.

The configuration of the actuator 70 will be described with reference to FIG.
FIG. 15 shows a cross-sectional structure in a state where the user's upper limb 100 is placed on the actuator 70. The actuator 70 has a sixth displacement unit 20C and a seventh displacement unit 20D in the width direction of the upper limb 100. The sixth displacement unit 20C and the seventh displacement unit 20D have, for example, the same configuration as the first displacement unit 20A in the first embodiment shown in FIG. The actuator 70 can support the user's lower limb, similar to the user's upper limb 100 shown in FIG. 15.

  The support substrate 13 of the actuator 70 has the sixth displacement unit 20C and the seventh displacement unit 20D arranged on the surface. The support substrate 13 of the actuator 70 is formed in an arc shape in which the central portion in the width direction of the upper limb 100 protrudes in the back surface direction.

  The displacement unit 20 has a deformable fluid-filled bag 21. When the sixth displacement unit 20 </ b> C and the seventh displacement unit 20 </ b> D are disposed on the surface of the support substrate 13, the compression cell 30 is disposed along the arc shape of the support substrate 13. The fluid-filled bags 21 of the sixth displacement unit 20 </ b> C and the seventh displacement unit 20 </ b> D are deformed so as to follow the arc shape of the support substrate 13 between the compression cells 30. The movable element 31 of the compression cell 30 becomes a surface having an angle along the arc shape of the support substrate 13 at the position of the compression cell 30.

The massage machine 1 of this embodiment has the same effects as (1) to (3) produced by the massage machine 1 of the first embodiment. Moreover, the massage machine 1 has the following effects.
(8) The massage machine 1 has an actuator 70 in which a plurality of displacement units 20 are arranged on the surface of the support substrate 13. The actuator 70 supports the upper limb 100 or the lower limb of the user. The support substrate 13 is formed in an arc shape in which the central portion in the width direction of the upper limb 100 or the lower limb protrudes in the back surface direction. According to this configuration, the compression cell 30 of the displacement unit 20 is arranged along the arc shape of the support substrate 13. For this reason, the mover 31 of the displacement unit 20 becomes an angled surface along the arc shape of the support substrate 13 at the position of the compression cell 30. For this reason, when the actuator 70 supports the user's upper limb 100 or lower limb, the actuator 70 can support the user's upper limb 100 or lower limb in close contact with each other over a wide area. For this reason, the actuator 70 can efficiently provide the expansion output of the output expansion unit 22 in a wide area of the upper limb 100 or the lower limb of the user. For this reason, the user can receive an effective massage in a wide area of the upper limb 100 or the lower limb.

(Sixth embodiment)
The massage machine 1 of 6th Embodiment has a different structure in the following parts compared with the massage machine 1 of 5th Embodiment, and has the same structure in another part. About the structure which is common in the massage machine 1 of 5th Embodiment, the same code | symbol is attached | subjected and the one part or all part of the description is abbreviate | omitted.

  The support substrate 13 in the massage machine 1 according to the fifth embodiment is formed in an arc shape in which the center portion in the width direction of the upper limb 100 or the lower limb of the user protrudes in the back surface direction. On the other hand, the support substrate 14 of the sixth embodiment is made of a flexible material.

The configuration of the actuator 70 will be described with reference to FIG.
As illustrated in FIG. 16A, the actuator 70 includes a sixth displacement unit 20 </ b> C and a seventh displacement unit 20 </ b> D in the width direction of the upper limb 100.

  The support substrate 14 of the actuator 70 has the sixth displacement unit 20C and the seventh displacement unit 20D disposed on the surface thereof. The support substrate 14 of the actuator 70 is made of a flexible material. The support substrate 14 is made of an epoxy resin containing a flexibility imparting agent as a flexible material. The material which comprises the support substrate 14 is not restricted to the epoxy resin in which a flexibility imparting agent is contained. As the material having flexibility, for example, silicon rubber, flexible ceramics, and other materials are used.

  As shown in FIG. 16B, when the actuator 70 supports the user's upper limb 100, the support substrate 14 receives a load from the upper limb 100 and forms an arc shape in which the central portion in the width direction protrudes in the back surface direction. To do. The arc shape formed by the support substrate 14 is a shape in which the movable element 31 of the displacement unit 20 disposed on the surface of the support substrate 14 is in close contact with the upper limb 100. When supporting the user's lower limbs, the support substrate 14 receives a load from the lower limbs and forms an arc shape in which the central portion in the width direction protrudes in the back surface direction. The arc shape formed by the support substrate 14 is a shape in which the movable element 31 of the displacement unit 20 disposed on the surface of the support substrate 14 is in close contact with the lower limb.

  The massage machine 1 of this embodiment has the same effects as (1) to (3) played by the massage machine 1 of the first embodiment and (8) played by the massage machine 1 of the fifth embodiment. Moreover, the massage machine 1 has the following effects.

  (9) The massage machine 1 has an actuator 70 in which a plurality of displacement units 20 are arranged on the surface of the support substrate 14. The actuator 70 supports the upper limb 100 or the lower limb of the user. The support substrate 14 is made of a flexible material. According to this configuration, when the actuator 70 supports the upper limb 100 or the lower limb of the user, the support substrate 14 forms an arc shape in which the central portion in the width direction of the upper limb 100 or the lower limb protrudes in the back surface direction. For this reason, the mover 31 of the displacement unit 20 becomes a surface having an angle along the shape of the upper limb 100 or the lower limb in the width direction. For this reason, when the actuator 70 supports the user's upper limb 100 or lower limb, the actuator 70 can be closely supported in a wide area according to the shape of the user's upper limb 100 or lower limb. For this reason, the actuator 70 can efficiently give the expansion output of the output expansion unit 22 in a wide area of the upper limb 100 or the lower limb of the user according to the body shape of the user. For this reason, the user can receive a more effective massage in a wide area of the upper limb or the lower limb regardless of the body shape.

(Seventh embodiment)
The massage machine 1 of 7th Embodiment has a different structure in the following parts compared with the massage machine 1 of 1st Embodiment, and has the same structure in another part. About the structure which is common in the massage machine 1 of 1st Embodiment, the same code | symbol is attached | subjected and the one part or all part of the description is abbreviate | omitted.

  In the actuator 10 in the massage machine 1 of the first embodiment, the movable element 31 of the compression cell 30 has a quadrangular shape in which the lengths of two opposing sides are substantially the same. On the other hand, in the actuator 80 of the seventh embodiment, the movable element 37 of the compression cell 30 has a quadrangular shape with two sets of opposite sides having different lengths.

The configuration of the actuator 80 will be described with reference to FIG.
FIG. 17A shows the relationship between the user's upper limb 100 and the actuator 80.
The actuator 80 has an eighth displacement unit 20E and a ninth displacement unit 20F. The displacement unit 20 has four compression cells.

  As shown in FIG. 17 (b), the displacement unit 20 includes the eleventh movable element 37 </ b> A, the twelfth movable element 37 </ b> B, the thirteenth movable element 37 </ b> C, and the fourteenth element facing the four compression cells on the fluid sealing bag 28. A mover 37D is provided. The mover 37 has a quadrangular shape in which the lengths of two opposing sides are different. The mover 37 has a first mover side dimension 38 of the first mover side that is the side in the column direction, and a second mover side dimension 39 of the second mover side that is the side that intersects the first mover side. Shorter than.

When at least one of the plurality of movable elements 37 presses the fluid sealing bag 28, the fluid sealing bag 28 partially expands to form the output expansion part 22.
The massage machine 1 of this embodiment has the same effects as (1) to (3) produced by the massage machine 1 of the first embodiment. Moreover, the massage machine 1 has the following effects.

  (10) The massage machine 1 includes the actuator 80 and the control unit 50. The actuator 80 has a fluid sealing bag 28 to which the mover 37 is attached. The fluid encapsulating bag 28 forms a partially inflated output inflating portion 22 when at least one of the plurality of movable elements 37 is pressed. The movable element 37 has a first movable element side dimension 38 of the first movable element side in the column direction shorter than a second movable element side dimension 39 of the second movable element side intersecting the first movable element side. The control part 50 changes the formation position of the output expansion part 22, and moves the output expansion part 22 from the terminal part side of a user's upper limb 100 and a lower limb toward the trunk part side. According to this structure, the actuator 80 can change the formation position of the output expansion part 22 which the fluid enclosure bag 28 forms with a short distance. For this reason, the massage machine 1 can move the expansion output of the output expansion part 22 at short intervals from the user's upper limbs 100 and the lower limbs toward the trunk. For this reason, the massage machine 1 can provide the user with a movement that simulates a massage that smoothly slides the palm from the distal end side of the user's upper limb 100 and lower limb toward the trunk side. For this reason, the user can receive a comfortable massage.

(Other embodiments)
This limb massage machine includes embodiments other than the first to seventh embodiments. Hereinafter, the modification of 1st-7th embodiment as other embodiment of this limb massager is shown. The following modifications can be combined with each other.

  -Actuator 10 of a 1st embodiment and a 2nd embodiment has mover 31 or mover 33 in which compression cell 30 comprises a single metal plate-like member. However, the compressed cell 30 is not limited to the contents shown in the first and second embodiments. For example, the actuator of a modification has a mover comprised of a metal member in which a compression cell is divided into small plate-like pieces. When the mover presses the fluid-filled bag, the mover is deformed according to the shape of the pressing portion of the fluid-filled bag, and can efficiently press the fluid-filled bag.

  In the actuator 10 of the first embodiment, the fluid enclosing bag 21 of the displacement unit 20 encloses water or magnetic fluid. However, the fluid sealing bag 21 is not limited to the content shown in the first embodiment. For example, in the actuator of the modification, the fluid sealing bag of the displacement unit encloses a liquid such as oil or a gas such as air.

  In the actuators of the first embodiment and the third to seventh embodiments, the displacement unit 20 has four compression cells 30. However, the displacement unit 20 is not limited to the contents shown in the first embodiment and the third to seventh embodiments. For example, in a modified actuator, the displacement unit has five or more compression cells.

  In the actuators of the first to seventh embodiments, the compression cell of the displacement unit has a square mover. However, the displacement unit is not limited to the contents shown in the first to seventh embodiments. For example, in the actuator of the modification, the compression cell of the displacement unit has an octagonal or other shape movable element.

  -The actuator 10 of 4th Embodiment has a pressure sensor in which the detection part 27 of the displacement unit 20 detects a pressure. However, the detection part 27 is not restricted to the content shown by 4th Embodiment. For example, as for the massage machine of a modification, the detection part of a displacement unit has either a displacement sensor, a speed sensor, and an acceleration sensor.

  DESCRIPTION OF SYMBOLS 1 ... Massage machine, 10 ... Actuator, 11 ... Support substrate, 13 ... Support substrate, 14 ... Support substrate, 21 ... Fluid enclosure bag, 22 ... Output expansion part, 24 ... Fluid enclosure bag, 24A ... Fluid enclosure bag, 24B ... Fluid enclosing bag, 25 ... first compression cell row, 26 ... second compression cell row, 27 ... detector, 28 ... fluid enclosure bag, 30 ... compression cell, 30A ... first compression cell, 30B ... second compression cell, 30C ... third compression cell, 30D ... fourth compression cell, 31 ... mover, 31A ... first mover, 31B ... second mover, 31C ... third mover, 31D ... fourth mover, 32 ... compression Cell, 32A ... 5th compression cell, 32B ... 6th compression cell, 32C ... 7th compression cell, 32D ... 8th compression cell, 32E ... 9th compression cell, 32F ... 10th compression cell, 33 ... Movable element, 33A ... 5th mover, 33B ... 6th mover, 33C 7th mover, 33D ... 8th mover, 33E ... 9th mover, 33F ... 10th mover, 34 ... mover, 36 ... protrusion, 37 ... mover, 37A ... 11th mover, 37B ... 12th mover, 37C ... 13th mover, 37D ... 14th mover, 38 ... 1st mover side dimension, 39 ... 2nd mover side dimension, 40 ... magnetic force generation part, 40A ... 1st magnetic force generation part , 40B ... second magnetic force generation unit, 40C ... third magnetic force generation unit, 40D ... fourth magnetic force generation unit, 50 ... control unit, 53 ... heat application unit, 60 ... actuator, 70 ... actuator, 80 ... actuator, 90 ... Control unit, 100 ... upper limb.

Claims (10)

A limb massager that massages at least one of the upper and lower limbs,
The limb massage machine has a fluid-filled actuator and a control unit,
The fluid-filled actuator has a fluid-filled bag, a fluid, and a plurality of compression cells,
The plurality of compressed cells form a compressed cell string;
The fluid is sealed inside the fluid sealing bag,
The plurality of compression cells include a mover attached to the fluid-filled bag, and a magnetic force generation unit that attracts the mover by being excited,
The fluid-filled bag forms a partially inflated output inflating portion when at least one of the plurality of compression cells is excited, and the output inflating portion according to the excitation state of the plurality of compression cells. Change the formation position of
The said control part moves the said output expansion | swelling part from the terminal part side of at least one of the said upper limbs and lower limbs to the trunk side on the said compression cell row | line | limb massager. The fluid-filled actuator has at least two or more compressed cell rows in parallel,
The control unit moves the output expansion unit formed in the first compression cell column of the plurality of compression cell columns and the output expansion unit formed in the second compression cell column of the plurality of compression cell columns. The limb massage machine according to claim 1. The limb massage machine according to claim 1 or 2, wherein the control unit changes an expansion amount of the output expansion unit based on either an expansion position or an operation time of the output expansion unit. The limb massage machine according to any one of claims 1 to 3, wherein the fluid-filled actuator forms the output expansion portion at a position facing at least one acupoint in at least one of the upper limb and the lower limb. The limb massage machine according to any one of claims 1 to 4, wherein the mover has a protrusion on a contact surface. The limb massage machine has a plurality of massage modes, a heat application unit, and a detection unit,
The thermal application unit applies thermal energy to at least one of the upper limb and the lower limb,
The plurality of massage modes have at least a high-temperature press massage mode and a low-temperature press massage mode,
The high-temperature press massage mode and the low-temperature press massage mode are different from each other in heat energy applied by the heat application unit,
The detection unit detects a skin temperature and a pressing force of at least one of the upper limb and the lower limb and outputs a detection signal;
The limb massage machine according to any one of claims 1 to 5, wherein the control unit changes the plurality of massage modes based on the detection signal. The fluid-filled actuator has a support substrate,
The support substrate has the plurality of compressed cell rows disposed on a surface thereof,
The said support substrate is formed in the arc shape which the center part in the width direction of at least one of an upper limb and a lower limb protruded in the back surface side. The Claim 2 or Claim 3 which quotes Claim 2 is quoted. Limb massage machine. The limb massage machine according to claim 7, wherein the support substrate is made of a flexible material. The massage machine has a thermal stimulation mode as the plurality of massage modes,
The control unit performs control not to excite the plurality of compression cells in the thermal stimulation mode,
The limb massage machine according to claim 7 or 8, wherein the control unit causes the thermal application unit to apply thermal energy to at least one of the upper limb and the lower limb in the thermal stimulation mode. The mover has a rectangular shape,
The first mover side dimension in the column direction of the compressed cell row in the quadrangular shape is shorter than the second mover side dimension intersecting the first mover side. 4. Limb massage machine according to item.