JP2020036716A - Massage strength adjustment device and massage machine - Google Patents

Abstract

To provide a massage strength adjustment device for providing a user with a massage with a massage strength set according to the user.SOLUTION: A massage strength adjustment device is a device for adjusting massage strength in a massage machine 1 configured by a control unit 9 of the massage machine 1 having one or more massage units 15 and includes pressure sensors 70, 71, 72 for detecting massage strength given to a user from the massage units, and the control unit 9 for controlling the massage units. The control unit controls the massage strength to be given to the user from the massage units so as to be strength corresponding to user strength determined on the basis of user information.SELECTED DRAWING: Figure 3

Description

  The present disclosure relates to a massage intensity adjusting device and a massage machine.

  Patent Literature 1 discloses a massage machine that sets a stimulus amount according to a user's sex, age, body shape, and the like, and provides a massage according to the setting. In addition, this massage machine determines the user's body type and sets a massage intensity corresponding to a position specified from the body type.

JP 2008-6037 A

  The massage intensity given to the user by the massage machine differs for each user. In addition, the massage intensity given to the user may change even when the posture changes during the massage due to body movement during the massage. Therefore, it is not easy to give a massage with a strength suitable for each user.

  In this regard, it is unclear whether the massage intensity actually given to the user is appropriate for the user only by setting the amount of stimulation using the user information as in Document 1. In particular, if the user does not sit on the massage machine in an appropriate posture or changes the posture during the massage, the set massage strength may not be given.

  According to an embodiment, the massage intensity adjustment device is a device that adjusts the massage intensity in a massage machine having one or more massage units, and a detection unit that detects a massage intensity given to the user from the massage unit. A controller that controls the massage unit, wherein the controller determines the massage intensity given to the user from the massage unit based on the user information, based on the detected value indicating the massage intensity detected by the detection unit. Control is performed so that the strength is in accordance with the strength.

  According to another embodiment, a massage machine has one or more massage units and is equipped with the massage intensity adjusting device.

FIG. 1 is a front perspective view of the massage machine. FIG. 2 is a schematic diagram of a massage machine. FIG. 3 is a functional block diagram of the massage machine. FIG. 4 is a side view illustrating the posture of the massage machine. FIG. 5 is a front view of the massage unit. FIG. 6 is a side view of the massage unit, showing (A) a state where the movable frame is pulled into the base frame, and (B) a state where the movable frame is pushed out of the base frame. . FIG. 7 is a front view of the armrest 6 on the right side, showing (A) a state before the expansion of the arm massage unit during the thin arm massage, and (B) a state after the expansion of the arm massage unit during the thin arm massage. FIG. FIG. 8 is a front view of the armrest 6 on the right side, showing (A) a state before the expansion of the arm massage unit during the thick arm massage, and (B) a state after the expansion of the arm massage unit during the thick arm massage. FIG. FIG. 9 is a block diagram of the massage strength adjusting device according to the first embodiment. FIG. 10 is a diagram illustrating a specific example of the setting information according to the first embodiment. FIG. 11A is a block diagram illustrating a control configuration of the control processing according to the first embodiment, and FIG. 11B is a flowchart illustrating a flow of the control processing according to the first embodiment. FIG. 12 is a block diagram of a massage strength adjusting device according to the second embodiment. FIG. 13 is a diagram illustrating a specific example of the setting information according to the second embodiment. FIG. 14 is a block diagram illustrating a control configuration of a control process according to the second embodiment. FIG. 15 is a block diagram of a massage strength adjusting device according to the third embodiment. FIG. 16 is a diagram illustrating a specific example of the conversion information according to the third embodiment. FIG. 17A is a block diagram illustrating a control configuration of a control process according to the third embodiment, and FIG. 17B is a flowchart illustrating a flow of the control process according to the third embodiment.

[1. Overview of massage intensity adjustment device and massage machine]
(1) The massage intensity adjusting device included in the present embodiment is a device that adjusts the massage intensity in a massage machine having one or more massage units, and detects the massage intensity given to the user from the massage unit. Unit, and a control unit for controlling the massage unit, the control unit, based on the detected value indicating the massage intensity detected by the detection unit, the massage strength given to the user from the massage unit, the user information Is controlled according to the user strength determined based on the

  The user information is information specifying attributes such as age (age band), gender, body type, and the like for each user. The massage intensity determined based on the user information may not always be the massage intensity suitable for the user. For example, when the posture of the user sitting on the massage machine is not appropriate, the massage intensity given to the user does not become the massage intensity set for the user. Also, even if the posture is appropriate at the start, if the posture of the user changes during the massage operation, the massage intensity given to the user will not be the massage intensity set for the user. In this regard, by controlling the massage unit so that the massage strength given to the user by the control unit is a strength corresponding to the user strength determined based on the user information, the massage strength set at the start of the massage operation is reduced. It will be maintained during the massage operation.

(2) Preferably, the control unit obtains a target detection value from the set massage strength based on the user information, and controls the massage unit such that an error between the detection value and the target detection value is reduced. The target detection value suitable for the user can be set by obtaining the target detection value from the massage strength based on the user information.

(3) Preferably, the control unit obtains a target detection value from the set massage intensity based on the user information and the massage target site. The massage target site is, for example, a shoulder, a waist, an arm, a fingertip, and the like. By obtaining the target detection value from the massage strength based on the user information and the massage target site, a target detection value suitable for the massage site can be set.

(4) Preferably, the control unit obtains a target detection value from the set massage intensity based on the user information and the type of the massage operation. The type of massage operation includes, for example, kneading and tapping. The massage unit is controlled such that the error between the detection value and the target detection value is reduced for each type of massage operation, so that the set massage intensity is maintained during the massage operation for each type of massage operation. Become like

(5) Preferably, the control unit sets the massage intensity based on the user information so that an error between the detected value and the target detected value previously associated with the set massage intensity is reduced. To control the massage part. By setting the massage intensity based on the user information, the massage intensity suitable for the user can be set. By controlling the massage unit so that the error between the detected value and the target detected value is reduced, the set massage intensity is maintained even during the massage operation.

  Preferably, the control unit sets the massage intensity based on the user information and the massage target site. By setting the massage intensity based on the user information and the massage target site, the massage intensity suitable for the massage site can be set.

  Preferably, the control unit sets the massage intensity based on the user information and the type of the massage operation. When the massage is performed in a course, the massage strength is set for each massage operation. Thus, the set massage intensity is maintained for each type of massage operation even during the massage operation.

(6) Preferably, the control unit converts the detection value into a massage intensity based on the user information to obtain a conversion level, and controls the massage unit such that an error between the conversion level and the set massage intensity is reduced. I do. The detected value is converted to the massage intensity based on the user information and the massage unit is controlled so that the error with the set massage intensity is reduced, so that the set massage intensity is maintained during the massage operation. Become like

  Preferably, the control unit converts the detection value into a massage intensity based on the user information and the massage target site. Thereby, the massage intensity set for each massage site can be maintained.

  Preferably, the control unit converts the detected value into a massage intensity based on the user information and the type of the massage operation. Thereby, the set massage intensity can be maintained for each type of massage operation.

(7) Preferably, the massage unit includes a plurality of massage members used for the same target portion, and the control of the massage unit by the control unit includes selecting a massage member to be operated from the plurality of massage members. Thereby, the massage intensity set during the massage operation using the massage member can be maintained.

(8) Preferably, the massage unit includes a movable massage member, and control of the massage unit by the control unit includes determining a position of the massage member. This makes it possible to adjust the position of the massage member and maintain the massage strength set during the massage operation.

(9) Preferably, the detection unit includes a plurality of sensors respectively corresponding to the plurality of massage units, and the control unit uses the detection value of the sensor corresponding to the massage unit to be controlled among the plurality of sensors. Control the unit.

(10) The massage machine included in the present embodiment has one or more massage units, and mounts the massage intensity adjusting device according to any one of (1) to (9). Since this massage machine is equipped with the massage strength adjusting device according to any one of (1) to (9), it has the same effect as these massage strength adjusting devices.

[2. Example of massage intensity adjustment device and massage machine]
[First Embodiment]
1 to 8 show a massage machine 1 according to the present embodiment. The concept of the direction used in the following description is assumed to be the same as the concept of the direction as viewed from the user sitting on the massage machine 1 shown in FIG. 1, and in other cases, the concept will be appropriately described. In addition, the definition of the front and back of the body will be described with the chest side of the user standing up as “front” and the back side as “back”.

<Overall configuration of massage machine>
The massage machine 1 shown in FIGS. 1 to 4 mainly includes a seat portion 2 on which a user sits, a backrest portion 3 provided on the rear portion of the seat portion 2 so as to be reclined, and against which the user can rest. A footrest 4 provided on the upper part of the backrest portion 3 for supporting the user's head and / or neck, and a pillow portion 5 supporting the user's head and / or neck; An armrest 6 is provided on both left and right sides, and side walls 7 are provided on both left and right sides of the backrest 3. The seat portion 2, the backrest portion 3, the footrest 4, the pillow portion 5, the armrest portion 6, and the side wall portion 7 function as a body supporting portion for supporting the user's body.

  In each part of the body supporting units 2 to 7, an air cell 20 described later for performing massage on the body of the user and a massage unit 15 formed by a vibrator 21 described later are provided. In addition, the massage machine 1 includes a massage unit 8 as a massage unit 15 that performs a massaging operation and / or a hitting operation on the backrest unit 3 described below, a control unit 9 that controls each operation of the massage machine 1, and a user described below. And a controller 10 for performing various operations.

  As shown in FIGS. 1, 3, and 4, the backrest portion 3 is configured to be able to recline back and forth with respect to the seat portion 2 by a first actuator 11 (see FIG. 3) provided below the seat portion 2. The posture can be changed from the standing posture shown in FIG. 1 to a reclining posture (see FIG. 4) in which the backrest surface is substantially horizontal. The armrest 6 is configured to move rearward in conjunction with the reclining of the backrest 3 and move forward in conjunction with the standing of the backrest 3. The footrest 4 is configured to be able to swing up and down with respect to the seat 2 by a second actuator 12 (see FIG. 3) provided below the seat 2, and to lift the knee from the hanging posture shown in FIG. 1. It can be changed to a raised posture (see FIG. 4) in which the lower leg and the foot are supported in the extended state.

  As shown in FIGS. 1 to 3, wall portions 22 are provided on both left and right sides of the seat portion 2 so as to face the outer surfaces of the buttocks and / or thighs of the user. The wall portion 22 is provided upright on the side of the seat portion. And the buttocks massage part a4 which massages the buttocks and / or the outer surface of a thigh is provided in the inner surface of the wall part 22. The inner walls of the armrests 6 on the left and right sides of the seat 2 may be used as the wall 22, and the buttocks massage part a4 may be provided on the inner wall of the armrest 6. The seat 2 may be provided with a buttocks massage part a5 for massaging the buttocks and / or thighs of the user from below (back). The buttocks massage parts a4 and a5 are configured by air cells 20 that expand and contract due to air supply and exhaust. Thus, the buttocks massage part a4 forms a massage part group A4 by making a pair on the left and right, and the buttocks massage part a5 forms a massage part group A5 by making a pair on the left and right.

(Configuration of backrest part)
As shown in FIGS. 1 to 3, the backrest 3 includes a rigid back frame 3 a, a guide rail 18 that guides the ascent and descent of the massage unit 8, which is a massage unit 15 assembled to the back frame 3 a, and a back frame 3 a. And a cover member 3c that covers the The back frame 3a is configured by a metal member and / or a resin member. The back frame 3a has an opening 3b formed at the center in the left and right direction and opening in the front-rear direction, and has a substantially gate shape in a front view. The cover member 3c covers the opening 3b from the front. The treatment element 62 (see FIG. 5) of the massage unit 8 projects forward from the opening 3b, so that the body of the user can be massaged from behind via the cover member 3c.

(Composition of massage unit)
Hereinafter, the configuration of the massage unit 8 will be described. As shown in FIGS. 1 to 3, 5, and 6, the backrest portion 3 is provided with a massage unit 8 that massages the upper body of the user from the rear (back). The massage unit 8 is a movable massage member.

  A plurality (one in the present embodiment) of the massage unit 8 may be provided along the height direction. The massage unit 8 includes an arm 61 that makes a pair on the left and right, and a treatment element 62 provided at both upper and lower ends of the arm 61. The left and right treatment elements 62 are driven by the massage motors M1 and M2. It is possible to perform a kneading operation of approaching / separating and a tapping operation in which the left and right treatment elements 62 alternately advance and retreat to the user side. In addition, the massage unit 8 can be moved upward or downward along the height direction by driving the elevating motor M3 to change the position with respect to the body or to perform rolling massage. The back frame 3a is provided with a pair of left and right guide rails 18 extending in the height direction, and the massage unit 8 moves along the guide rails 18. Since the massage unit 8 is movable in the height direction, the massage from the neck to the waist of the user can be massaged by the treatment element 62.

  As shown in FIG. 5, the massage unit 8 has a base frame 60a and a movable frame 60b supported by the base frame 60a. The base frame 60a has guide rollers 63 fitted on the guide rails 18 on both left and right sides thereof. Then, it can be moved along the height direction by an elevating mechanism (not shown) composed of a rack and pinion or the like. The movable frame 60b is supported by the base frame 60a via a swing shaft 64 in the left-right direction.

  An advance / retreat drive unit 65 is provided between the base frame 60a and the movable frame 60b. As shown in FIG. 6, the forward / backward drive unit 65 includes, for example, an air cell 65A and an elastic body such as a spring 65B. As shown in FIG. 6B, when the air cell 65A expands, the movable frame 60b moves forward from the normal state of FIG. The contraction of the air cell 65A causes the movable frame 60b to retreat backward from the forward state of FIG. 6B around the swing shaft 64 by the elastic force of the spring 65B, and return to the normal state of FIG. 6A. Return. The structure for moving the movable frame 60b forward and backward may not be used, and a structure for providing the forward and backward driving unit 65 on the arm 61 and moving only the arm 61 forward and backward may be used.

  The arm 61 is connected to a kneading shaft 66 and a hitting shaft 67 extending in the left-right direction. On both left and right sides of the massaging shaft 66, an inclined cam 66a having an inclined shaft portion 66b is provided, and the arm 61 is attached to the inclined cam 66a. The left and right inclined shaft portions 66b are inclined with respect to the axis of the kneading shaft 66 so as to have a substantially U shape in a front view. An eccentric cam 67a having an eccentric shaft portion 67b eccentric to the axis of the hitting shaft 67 is provided on both left and right sides of the hitting shaft 67, and the arm 61 is attached to the eccentric cam 67a via a connecting rod 68. ing. The left and right eccentric shaft portions 67b differ from each other in phase with respect to the axis of the hitting shaft 67, specifically, by 180 degrees. The massaging shaft 66 and the hitting shaft 67 are rotated by driving the massage motors M1 and M2, respectively. The treatment element 62 performs the kneading operation by the rotation of the kneading shaft 66, and can perform the kneading massage for the user. In addition, the treatment element 62 performs a beating operation by the rotation of the beating shaft 67, and can perform a beating massage for the user. In addition, the treatment element 62 performs a kneading and hitting operation by rotating the kneading shaft 66 and the hitting shaft 67, and can perform a kneading and hitting massage for the user. By combining the kneading operation and the driving of the advance / retreat driving unit 65, Shiatsu operation can also be performed to perform shiatsu massage to the user. The arm 61 provided with the treatment element 62, the kneading shaft 66, and the hitting shaft 67 are supported by the movable frame 60b. Therefore, the treatment element 62 can move forward and backward with respect to the user through the movement of the movable frame 60b.

  As shown in FIGS. 3 and 5, the massage unit 8 has a sensor 69 for detecting physical information of the user. The sensor 69 can obtain physical information by detecting that the arm 61 has reached a predetermined swing position. More specifically, in the process of raising the massage unit 8 along the height direction, when the upper treatment element 62 reaches above the shoulder, the load acting on the treatment element 62 is released, and the arm 61 is moved forward. It swings to a predetermined swing position. The sensor 69 detects that the arm 61 has reached the predetermined swing position, and detects the position of the shoulder based on the vertical position of the massage unit 8 at that time. Based on the position of the shoulder, the positions of other parts (neck, back, waist, etc.) are obtained by calculation. The detected physical information is stored in the storage unit 50 described later.

  As shown in FIGS. 3, 5, and 6, the massage unit 8 has a pressure sensor 70. The pressure sensor 70 is provided between the movable frame 60b and the air cell 65A. The pressure sensor 70 detects the pressure applied by the air cell 65 </ b> A to determine the pressure applied to the massage unit 8 as the massage unit 15 from the user side, that is, the massage intensity received at a position of the massage unit 8 on the back of the user. To detect. This is because the massage intensity received by the user's body appears as pressure applied to the massage unit 15.

  The massage unit 8 may include a rotation detection sensor (not shown) that detects the rotation speed of the massage motors M1 and M2, instead of the pressure sensor 70. The rotation detection sensor may be, for example, an optical sensor, a magnetic sensor, or the like. The rotation detection sensor detects the rotation speed of the motors M1 and M2, thereby indirectly detecting the massage intensity received at a certain position of the massage unit 8 on the back of the user. This is because the massage strength received by the user's body appears as the rotation speed of the massage motors M1 and M2.

(Configuration of side wall)
As shown in FIGS. 1 to 3, side wall portions 7 are provided on both left and right sides of the back frame 3 a (backrest portion 3) so as to face the outer surface of the shoulder or upper arm of the user. The side wall portion 7 is erected forward on the side of the backrest portion 3. A shoulder-side massage part a2 for massaging the shoulder or the outer surface of the upper arm is provided on the inner surface of the side wall part 7. The shoulder-side massage part a2 is configured by an air cell 20 that expands and contracts due to air supply and exhaust. As described above, the shoulder-side massage unit a2 forms a pair of massage units A2 on the left and right.

(Structure of pillow)
As shown in FIGS. 1 to 3, a pillow portion 5 that supports the user's head and / or neck is provided on the upper front surface of the backrest portion 3. On the front surface of the pillow portion 5, a pair of left and right head massage portions a1 provided opposite to the back surface of the head and / or the neck is provided. The head massage part a1 is configured by an air cell 20 that expands and contracts by air supply and exhaust. Thus, the head massage part a1 forms a massage part group A1 by making a pair on the left and right. This head massage part a1 may be provided facing the outer surface of the head and / or neck. In this case, it may be provided on the inner side surface of a wall (not shown) that stands upright. Further, the head massage part a1 may be provided directly on the upper front surface of the backrest part 3, instead of being provided on the pillow part 5.

(Configuration of armrests)
As shown in FIG. 1 to FIG. 3, FIG. 7, and FIG. 8, armrests 6 that support the user's hand and forearm are provided on both left and right sides of the seat 2. The right armrest 6 is located at the position of the hand and the forearm, and is disposed inside the armrest frame 6A including at least the upper wall 6A-1, the lower wall 6A-2, and the outer wall 6A-3, and the inside of the armrest frame 6A. Arm massage part a3. The arm massage part a3 is configured by an air cell 20 that expands and contracts by air supply and exhaust. The arm massage part a3 forms a pair of massage parts A3 on the left and right. Note that the left armrest 6 has a symmetrical configuration to the right armrest 6 shown in FIGS.

  As shown in FIG. 2, FIG. 3, FIG. 7, and FIG. 8, the arm massage part a3 includes a massage part a3-1 for a large arm and a massage part a3-2 for a thin arm, which are a plurality of massage members. The arm massage part a3 is configured by superposing the massage part a3-1 for the thick arm and the massage part a3-2 for the thin arm. The massage part a3-1 for the thick arm is arranged along each of the upper wall part 6A-1 and the lower wall part 6A-2 of the armrest frame 6A, and the massage part a3-2 for the thin arm from the massage part a3-1 for the thick arm. It is located inside. The massage part a3-2 for the thin arm is smaller than the massage part a3-1 for the thick arm.

  As shown in FIG. 7, when the user has the thin arm AR <b> 1, the massage section a <b> 3-1 for the large arm does not expand and only the massage section a <b> 3-2 for the thin arm expands when the hand and forearm are massaged. As shown in FIG. 8, when the user is the thick arm AR2, the massage part a3-2 for the thin arm is not expanded and only the massage part a3-1 for the thick arm is expanded at the time of massaging the hand and forearm. In the case of a thicker arm, both the massage parts a3-1 and a3-2 may be expanded. Thereby, even when the thickness of the user's arm is different, it is possible to provide a massage having the set massage strength.

  The armrest 6 is provided between the upper wall 6A-1 of the armrest frame 6A and the massage part a3-1 for the large arm, and between the lower wall 6A-2 and the massage part a3-1 for the large arm. , And pressure sensors 71 and 72. The pressure sensor 71 is in contact with the position of the massage part a3-1 for the thick arm that does not overlap with the massage part a3-2 for the thin arm. The pressure sensor 72 is in contact with the position of the thick arm massage section a3-1 that overlaps the thin arm massage section a3-2.

  The pressure sensor 71 detects the pressure applied by the thick-arm massage unit a3-1 to detect the massage intensity received by the arm of the thick-arm user. The pressure sensor 72 detects the pressure applied by the massage part a3-2 for the thin arm via the massage part a3-1 for the thick arm, thereby detecting the massage intensity received by the arm of the user having the thin arm.

(Composition of footrest)
As shown in FIGS. 1 to 3, the footrest 4 includes a pair of left and right leg support portions 40 that support the user's lower leg and a pair of left and right foot support portions 41 that support the user's foot. The leg support portion 40 includes a bottom wall 40a provided facing the back of the lower leg of the user, a side wall 40b erected from both left and right ends of the bottom wall 40a toward the front, and a front wall from the left and right center of the bottom wall 40a. And a central wall 40c standing upright.

  A leg massage part a6 for massaging the outer surface of the lower leg is provided on the inner surface of the side wall 40b. Leg massage parts a6 for massaging the inner surface of the lower leg are provided on both outer surfaces of the central wall 40c. The bottom wall 40a is provided with a leg massage part a7 for massaging from the back of the lower leg of the user. The leg massage parts a6 and a7 are configured by air cells 20 that expand and contract due to air supply and exhaust. The leg massage part a6 forms a pair of left and right massage parts A6 by the leg massage part a6 facing the inner surface of the lower leg and the leg massage part a6 facing the outer surface of the lower leg. The left and right leg massage parts a7 are opposed to each other by a leg massage part a7 facing the back of the lower leg on the left side of the center wall 40c and a leg massage part a7 facing the back of the right leg on the center wall 40c. To constitute the massage unit group A7.

  The foot supporting portion 41 is provided with a bottom wall 41a on which the sole of the user is placed, a side wall 41b standing upright from both left and right ends of the bottom wall 41a, and a standing wall rising upward from the left-right center of the bottom wall 41a. And a rear wall 41d opposed to the rear surface (near the heel) of the foot standing upright from the rear of the bottom wall 41a. A recess 42 is formed in the upper and front sides of each of the walls 41a to 41d. The recess 42 can accommodate a foot.

  Each of the walls 41a to 41c is provided with a foot massage part a8 for massaging a user's foot, and forms a pair of left and right massage parts A8. The foot massage part a8 is configured by an air cell 20 that expands and contracts by air supply and exhaust.

(Controller configuration)
As shown in FIGS. 1 and 3, a controller 10 is provided on the upper part of the armrest portion 6, and can be operated by a user in a seated state. The controller 10 has a screen 10a that can be visually confirmed by a user, and a touch panel 10b that allows the user to operate a fingertip on the screen 10a. By operating the controller 10, the posture of the backrest portion 3 can be changed by reclining, and the posture of the footrest 4 can be changed by swinging up and down. Further, the massage unit 8 and the massage parts a1 to a8 to be operated can be selected, and the operation (manipulation or strength) of the massage unit 8 and the massage parts a1 to a8 can be changed. The selection unit 30 is displayed on the screen 10a of the controller 10, and the user can select a massage course by operating the touch panel 10b.

  Instead of the operation by the touch panel 10b, only the operation by the voice recognition unit 32 using only the physical button 31 arranged in the controller 10 or the microphone (not shown) installed in the controller 10 may be used. By doing so, the user can easily select. Note that a microphone (not shown) serving as the voice recognition unit 32 may be provided in the upper part of the backrest unit 3 or the pillow unit 5 instead of in the controller 10. In this way, the user can make a selection with the voice recognition unit 32 while leaning on the backrest unit 3 without changing the posture. Further, the controller 10 has a notification unit 33. The notification unit 33 may be the above-described screen 10a or a speaker (not shown) installed in the controller 10.

  As shown in FIGS. 1 and 3, below the seat 2, a supply / exhaust device 13 having a pump 13 a and a valve 13 b for supplying / exhausting air to / from each of the massage units a <b> 1 to a <b> 8 including the air cell 20, as described above. And a control unit 9. A vibrator 21 driven by a motor may be provided at the same location as each of the massage units a1 to a8. The air cell 20 can press the user by supplying and exhausting air. The vibrator 21 can give a vibration to the user by rotating the eccentric weight.

(Configuration of control unit)
The control unit 9 has a processor and the like. The control unit 9 drives and controls each of the actuators 11 and 12, the massage unit 15, and the air supply / exhaust device 13. A controller 10 and a storage unit 50 are electrically connected to the control unit 9. The control unit 9 executes a massage course according to the massage data stored in the storage unit 50. When the control unit 9 executes the massage course, the driving of the massage unit 15 and the like is controlled such that the massage unit 15 and the like perform the massage operation specified in the massage data. Note that the massage machine 1 can also operate according to an instruction from the controller 10 by a user.

  Further, the control unit 9 may be connected to a communication device 90 and can communicate with an external device such as a server 92 via a communication network 91 such as the Internet. The server 92 stores user information and the like to be described later, and the control unit 9 may acquire the user information from the server 92 as necessary in the subsequent processing.

<Description of massage strength adjustment device>
FIG. 9 shows a massage strength adjusting device (hereinafter, adjusting device) 100 according to the present embodiment. The adjustment device 100 is configured by a computer including the control unit 9 and the storage unit 50. The storage unit 50 stores a computer program 400 for causing a computer to function as the adjustment device 100, and user information 500. The processor of the control unit 9 causes the computer to function as the adjustment device 100 by executing the computer program 400.

  The user information 500 is pre-registered user information for each user. The user information is stored in the storage unit 50 in association with user identification information such as name and login information. In the user information, attributes of the user that affect the massage strength of the massage machine 1 are defined, and the attributes of the user include age (age group), gender, body type, and the like.

  The storage unit 50 stores user information 500 for each of a plurality of users. When the control unit 9 is connected to the communication device 90 in addition to the storage unit 50, the user information 500 may be stored in a storage unit of an external device such as the server 92.

  The adjusting device 100 determines the massage intensity given to the user based on the detected value of the massage intensity given to the user, based on the user information 500 corresponding to the user of the massage machine 1 among the plurality of user information 500. An intensity adjustment process for controlling the massage unit 15 so as to have an intensity corresponding to the determined user intensity is executed. The user strength is equivalent to the massage feeling received by the user, and indicates the strength of the massage that differs depending on the user's attributes such as the user's sex, body type, and physique.

  In the intensity adjustment processing according to the first embodiment, a target detection value of the pressure sensor is obtained based on the user information from the set massage intensity, and an error between the detection value of the pressure sensor and the target detection value is reduced. This is the process of controlling as follows.

  In order to execute the intensity adjustment processing according to the first embodiment, the control unit 9 executes a first setting processing S10. The first setting process S10 is a process of receiving an input of the set massage intensity, converting the input massage intensity to a target detection value based on the user information, and setting the target detected value. The setting of the massage intensity may be performed by the user operating the controller 10, or when the massage is performed in a course configured to sequentially execute a plurality of massage operations, the operation of the controller 10, etc. May be determined in advance in the course selected.

  The massage intensity is, for example, a level, such as levels 1 to 4. As an example, the smaller the number of levels, the lower the massage strength, and the larger the number of levels, the higher the massage strength. The target detection value indicates a target detection value of the massage intensity given to the user's body by the massage unit 15, and indicates a target detection value of the detection value of the pressure sensor. The target detection value is represented by, for example, a pressure value.

  In order to execute the first setting process S10, the storage unit 50 stores setting information SI1. The setting information SI1 is information that defines the relationship between the massage intensity (massage level) and the target detection value according to the attribute of the user defined in the user information, and is in a table format, for example. The storage unit 50 stores the setting information SI1 for each part to be massaged. Note that the setting information SI1 may be stored in an external device such as the server 92, and the control unit 9 may read out the information from the server 92 and temporarily store it in the storage unit 50. This is the same in a second embodiment and a third embodiment described later.

  As shown in FIG. 10, the setting information SI1 is information that defines the relationship between the massage intensity (massage level) and the target detection value for each age (age group), gender, and body type, which are user attribute information. It is. For example, for males of teenage age, four strength levels (levels 1 to 4) prepared in advance for four body types of “thin type”, “middle height”, “obese type”, and “muscular” ), Target values of detection values of the pressure sensors 71 and 72 (hereinafter, target detection values) are defined. For example, for the “thin type” body, the target detection values are defined as p111 to p114 for each of the massage intensity levels 1 to 4. p111 to p114 are pressure values detected by the pressure sensor. Note that the age group and the body type are merely examples, and may be classified differently from this example.

  As shown in FIG. 9, the storage unit 50 stores setting information SI1 for each of the plurality of massage target parts. Therefore, different target detection values can be set for the same massage intensity level depending on the massage target site. For example, even at the same level 3, the massage strength of the fingertip can be stronger than the massage strength of the arm.

  The control unit 9 selects the user information 500 corresponding to the user from the plurality of pieces of user information 500 in the first setting process S10. The user of the massage machine 1 may be selected, for example, by a user operation on the controller 10, or may be specified by a user authentication process or the like. The control unit 9 reads, from the setting information SI1, a target detection value corresponding to the massage intensity corresponding to the attribute indicated in the selected user information 500.

  To execute the intensity adjustment processing according to the first embodiment, the control unit 9 further executes a control processing S50. The control processing S50 is performed on each of the massage units 15 so that an error between the massage strength detected by the pressure sensor and the target detection value set in the first setting processing S10 is reduced. This is a process for controlling the driving of the massage unit 15 (hereinafter, also referred to as a target massage unit) to be processed.

  For this process, the control unit 9 selects a pressure sensor (hereinafter, also referred to as a target sensor) arranged at a position targeted for the control process S50 from a plurality of pressure sensors (for example, the pressure sensors 71 and 72). Then, the detection value from the target sensor is used. Selecting a target sensor from a plurality of pressure sensors in the control process and using a detection value from the target sensor is the same in the second embodiment and the third embodiment described later.

  As shown in FIG. 11A, in the control processing according to the first embodiment, when the massage intensity is set, target detection corresponding to the set massage intensity is performed based on user information 500 corresponding to the user. The value is read from the setting information SI1 and passed to the control unit 9. In this example, the target detection value is a pressure value. The read target detection values are in accordance with user attributes such as gender, age, and body type. For users having different attributes, the target detection values read from the setting information SI1 even when the same massage intensity is set. Values may be different.

  The control unit 9 controls the massage unit 15 so that the passed target detection value becomes the massage intensity given to the user. The massage intensity given to the user by the massage unit 15, that is, the user intensity is detected by the target sensor. The target sensors are the pressure sensors 70, 71, 72, and the like. In this example, the value detected by the target sensor is a pressure value.

  The target detection value is corrected so that an error from the detection value is reduced, and the corrected target detection value is passed to the control unit 9. The control unit 9 controls the massage unit 15 so that the passed target detection value becomes the massage intensity given to the user. The correction of the target detection value passed to the control unit 9 is repeated.

  As shown in FIG. 11B, in the control process S50, the control unit 9 controls the drive to operate the target massage unit with the control amount stored in advance for the massage intensity set in the first setting process S10. (Step S101).

  The driving control in step S101 includes, for example, driving the target massage unit, driving the air supply / exhaust device 13 for supplying / exhausting air to / from the air cell 20 included in the target massage unit, and the like. More specifically, changing the rotation speed and rotation time of the motor included in the target massage unit, changing the air supply / exhaust time of the air supply / exhaust device 13, and the like are described.

  Further, as another example, when the target massage unit is the arm massage unit a3, the drive control in step S101 is performed by setting the massage member to be driven to the massage unit a3-1 for the thick arm, the massage unit a3-2 for the thin arm, or the massage unit a3-2. Or determining both. For example, when the user is obese, a predetermined amount of air is supplied to the thick-arm massage unit a3-1 which is the air cell 20, and the massage operation is started. However, there is a case where the user's arm is thinner than the assumed thick arm, a case where the user's posture is not appropriate and the arm does not fit into the expanded thick arm massage part a3-1, and the like. In such a case, in the drive control in step S101, based on the detection value from the pressure sensor 71, the massaging unit to be supplied is changed to the massaging unit a3-2 for the thin arm, or the massaging unit a3-1 for the large arm is used. It may be both the thin-arm massage part a3-2.

  When the target massage unit is the massage unit 8, the drive control in step S101 includes determining the position of the massage unit 8. In this case, the drive control in step S101 includes controlling the drive of the advance / retreat drive unit 65 to set the massage unit 8 to an appropriate position. For example, when the posture of the user is not appropriate and the massage unit 8 does not fit the massage target site, the drive control in step S101 controls the drive of the advance / retreat drive unit 65 so that the detected value of the pressure sensor 70 Based on this, the massage unit 8 may be moved to a position that fits the massage target site.

  The control unit 9 receives an input of a detection value from the target sensor under the drive control of the target massage unit (Step S103). When the target massage unit is the massage unit 8, in step S103, the control unit 9 receives an input of a pressure value, which is a detection value, from the pressure sensor 70 using the pressure sensor 70 as a target sensor.

  The control unit 9 compares the input detection value with the target detection value set in the first setting process S10 (Step S105). If the values are different (NO in step S105), the control unit 9 adjusts the control amount of the target massage unit so as to reduce the error between the detection value and the target detection value (step S107), and again executes step S107. The processing from S103 is repeated. In order to adjust the control amount in step S107, for example, the control unit 9 previously stores an adjustment value corresponding to an error between the detection value and the target detection value. The adjustment value is, for example, a supply / exhaust time of the supply / exhaust device 13 or a rotation speed of the motor.

  The control unit 9 repeats steps S103 to S107 until the massage operation in the target massage unit ends (NO in step S109). For example, when the target massage unit is the massage unit 8, the control unit 9 repeats steps S103 to S107 until the massage operation (for example, the shoulder or waist massage operation) in the massage unit 8 ends. Then, when the massage operation in the target massage unit ends (YES in step S109), the control unit 9 ends a series of control processes.

  As shown in FIG. 9, the storage unit 50 stores setting information SI1 for each of a plurality of parts to be massaged. Therefore, preferably, as shown in FIG. 11A, the control unit 9 selects and uses the setting information SI1 corresponding to the massage target site. This is the same in a second embodiment and a third embodiment described later. For example, the massage strength may differ between the shoulder and the waist depending on the attribute of the user. Thereby, the massage unit 15 can be controlled so as to have the set massage intensity according to the massage target site.

  When the massage is performed in a course configured to sequentially execute a plurality of massage operations, the control unit 9 executes the first setting process S10 and the control process S50 for each massage operation even in the same course. Is also good. In this case, the control unit 9 executes the control process S50 using the detection value from the pressure sensor at the target position when the target massage operation is performed. This is the same in a second embodiment and a third embodiment described later.

  Further, the massage operation may include a plurality of types. The types of the plurality of massage operations include, for example, kneading and tapping. In this case, preferably, the storage unit 50 stores setting information SI1 for each type of massage operation, and the control unit 9 sets the setting information according to the type of massage operation as shown in FIG. 11A. SI1 is selected and used. This is the same in a second embodiment and a third embodiment described later. For example, between rubbing and tapping, the massage strength may differ depending on the attribute of the user. Thereby, the massage unit 15 can be controlled so as to have the set massage intensity according to the type of the massage operation.

<Effects of Embodiment>
In the adjusting device 100 according to the present embodiment, the above-described control processing S50 is executed during the massage operation. Therefore, in the massage machine 1 according to the present embodiment, the massage intensity set according to the user is given to the user. Further, the massage strength given to the user is maintained during the massage operation. For example, even when the posture of the user sitting on the massage machine 1 is not appropriate, the massage intensity given to the user's body during the massage operation is detected by the pressure sensor, and the massage intensity given to the user's body Is adjusted (corrected) so as to have the set massage intensity. In addition, for example, even when the posture of the user changes during the massage operation and the set massage intensity is not given, the massage intensity given to the user's body becomes the set massage intensity. Is adjusted (corrected).

[Second embodiment]
The intensity adjustment processing according to the second embodiment sets a massage intensity based on user information according to a user of the massage machine 1 and a target sensor previously associated with the set massage intensity. This is a process for controlling the error between the target detection value of the (pressure sensor) and the detection value of the pressure sensor to be small. FIG. 12 shows an adjusting device 100 according to the second embodiment. To execute the intensity adjustment process according to the second embodiment, the control unit 9 of the adjustment device 100 executes a second setting process S11. The second setting processing S11 sets the massage strength based on the user information 500 corresponding to the user of the massage machine 1. For example, the target detection value of the pressure sensor is associated in advance with each massage intensity such as levels 1 to 4.

  In order to execute the second setting process S11, the storage unit 50 stores setting information SI2. The setting information SI2 is information that defines the relationship between the user's attribute indicated in the user information 500 and the massage strength, and is in the form of a table, for example. The storage unit 50 stores the setting information SI2 for each massage target site. The storage unit 50 may store the setting information SI2 for each type of massage operation.

  FIG. 13 shows a specific example of the setting information SI2. As shown in FIG. 13, the setting information SI2 is information that defines the massage intensity (massage level) for each age (age group), gender, and body type, which are user attribute information. For example, for men of teenage age, levels 1, 1, 2, and 2 are defined for four body types, namely, "skinned", "middle height", "obese", and "muscular". .

  A target detection value is associated in advance with each massage intensity (massage level). Preferably, the setting information SI2 also defines a target detection value for each massage level. For example, the target detection value p1 for level 1, the target detection value p2 for level 2, the target detection value p3 for level 3, and the target detection value p4 for level 4 are associated in advance. In the second setting process S11, the control unit 9 reads out the user information 500 corresponding to the user from the storage unit 50, and reads out the massage intensity corresponding to the attribute indicated in the user information 500 from the setting information SI2.

  In order to execute the intensity adjustment processing according to the second embodiment, the control unit 9 further executes a control processing S50. The control process S50 is performed so that the error between the massage intensity given to the user's body and detected by the pressure sensor and the target detection value according to the massage intensity set in the second setting process S11 is reduced. This is processing for controlling the driving of the massage unit.

  As shown in FIG. 14, in the control processing according to the second embodiment, the massage intensity defined for the attribute indicated in the user information 500 of the user of the massage machine 1 is read from the setting information SI2. Done and set. When the massage intensity is set, a target detection value defined in advance for the set massage intensity is read from, for example, the setting information SI2 and passed to the control unit 9. Since the massage intensity is set based on the user information 500 corresponding to the user, the set massage level may be different for users having different attributes.

  The control unit 9 controls the massage unit 15 so that the passed target detection value becomes the massage intensity given to the user. The massage intensity given to the user by the massage unit 15, that is, the user intensity is detected by the target sensor.

  The target detection value is corrected so that an error from the detection value by the pressure sensors 71 and 72 is reduced, and the corrected target detection value is passed to the control unit 9. The control unit 9 controls the massage unit 15 so that the passed target detection value becomes the massage intensity given to the user. The correction of the target detection value passed to the control unit 9 is repeated.

  The control process S50 according to the second embodiment is substantially the same as the control process S50 according to the first embodiment shown in FIG. 11B. That is, the control unit 9 performs drive control to operate the target massage unit with the control amount stored in advance for the massage intensity set in the second setting process S11 (step S101). The control unit 9 receives an input of a detection value from the target sensor under the drive control of the target massage unit (Step S103). The control unit 9 compares the input detection value with the target detection value set in the second setting process S11 (Step S105). If the values are different (NO in step S105), the control unit 9 adjusts the control amount of the target massage unit so as to reduce the error between the detection value and the target detection value (step S107), and again executes step S107. The processing from S103 is repeated. Then, when the massage operation in the target massage unit ends (YES in step S109), the control unit 9 ends a series of control processes.

<Effects of Embodiment>
In the adjusting device 100 according to the present embodiment, the massage intensity is set according to the user information. Then, since the above-described control process S50 is performed during the massage operation, the massage machine 1 according to the present embodiment also provides the user with the massage intensity set according to the user. Further, the massage strength given to the user is maintained during the massage operation.

[Third Embodiment]
In the intensity adjustment processing according to the third embodiment, the detected value from the target sensor (pressure sensor) is converted into a massage intensity based on user information corresponding to the user, and the converted massage intensity (conversion level) This is a process of controlling so that an error between the set massage intensity and the set massage intensity is reduced. FIG. 15 shows an adjusting device 100 according to the third embodiment. To execute the intensity adjustment process according to the third embodiment, the control unit 9 of the adjustment device 100 executes a third setting process S12. The third setting process S12 is a process of receiving an input of the set massage strength and setting the input massage strength.

  In order to execute the intensity adjustment processing according to the third embodiment, the control unit 9 further executes a control processing S50 according to the third embodiment. As shown in FIG. 15, the control processing S50 according to the third embodiment includes a conversion processing S52. The conversion process S52 is a process of converting a detection value obtained from the target sensor into a massage level (hereinafter, also referred to as a conversion level) indicating a massage strength based on an attribute indicated in user information corresponding to the user.

  In order to execute the conversion process S52, the storage unit 50 stores the conversion information CI. The conversion information CI is information that defines the relationship between the detected value of the target sensor and the massage level according to the attribute indicated in the user information, and is in the form of a table, for example. The storage unit 50 stores the conversion information CI for each part to be massaged. The storage unit 50 may store the conversion information CI for each type of massage operation.

  FIG. 16 shows a specific example of the conversion information CI. As shown in FIG. 16, the conversion information CI defines, as user information, a range of a detection value of a detection sensor corresponding to each massage intensity (massage level) for each age (age group), gender, and body type. Information. For example, for males in their teens, detection sensors are used for four different body types, “thin type”, “middle height”, “obese type”, and “muscular”, for massage levels 1, 2, 3, and 4, respectively. Are defined as p111-112, p112-p113, p113-p114, and p114-p115.

  As shown in FIG. 17A, in the control processing according to the third embodiment, when the massage intensity is set, a target detection value defined in advance for the set massage intensity is sent to the control unit 9. Passed. In this example, the same target detection value is set when the same massage intensity is set regardless of the attribute of the user.

  The control unit 9 controls the massage unit 15 so that the passed target detection value becomes the massage intensity given to the user. The massage intensity given to the user by the massage unit 15, that is, the user intensity is detected by the target sensor.

  The value detected by the target sensor is passed to the control unit 9, where a conversion process S51 is performed. In the conversion process S51, the detection value is converted into a massage level based on the attribute indicated in the user information 500 corresponding to the user, and a conversion level is obtained.

  The set massage intensity is corrected so that an error from the conversion level is reduced, and a target detection value corresponding to the corrected massage intensity is passed to the control unit 9. The control unit 9 controls the massage unit 15 so that the passed target detection value becomes the massage intensity given to the user. The correction of the target detection value passed to the control unit 9 is repeated.

  As shown in FIG. 17B, in the control processing S50 according to the third embodiment, the control unit 9 determines in advance the target detection value set by the third setting processing S12 according to the set massage level. Driving control is performed to operate the target massage unit with the stored control amount (step S301). The control unit 9 receives an input of a detection value from the target sensor under the drive control of the target massage unit (Step S303). The control unit 9 reads the range of the detection value corresponding to the massage level from the conversion information CI according to the attribute defined in the user information 500 corresponding to the user (Step S305). The control unit 9 converts the detection value from the target sensor into a massage level by comparing the read detection value range with the detection value from the target sensor (step S307), and obtains a conversion level.

  The control unit 9 compares the obtained conversion level with the massage level set in the third setting process S12 (Step S309). When those levels are different (NO in step S309), the control unit 9 adjusts the control amount of the target massage unit so as to reduce the error between the conversion level and the set massage level (step S311). The process from step S303 is repeated again. In order to adjust the control amount in step S311, for example, the control unit 9 previously stores an adjustment value corresponding to an error between the conversion level and the set massage level.

  The control unit 9 repeats steps S303 to S311 until the massage operation in the target massage unit ends (NO in step S313). Then, when the massage operation in the target massage unit ends (YES in step S313), the control unit 9 ends a series of control processes.

<Effects of Embodiment>
In adjustment device 100 according to the present embodiment, the value detected by the target sensor is converted into a massage level in accordance with the attribute defined in the user information. Then, since the above-described control process S50 is performed during the massage operation, the massage machine 1 according to the present embodiment also provides the user with the massage intensity set according to the user. Further, the massage strength given to the user is maintained during the massage operation.

  The present invention is not limited to the above embodiments, and various modifications are possible.

1: Massager 2: Seat 3: Backrest 3a: Back frame 3b: Opening 3c: Cover member 4: Footrest 5: Pillow 6: Armrest 6A: Armrest frame 6A-1: Upper wall 6A-2 : Lower wall 6A-3: Outer wall 7: Side wall 11: First actuator 12: Second actuator 13: Supply / exhaust device 13a: Pump 13b: Valve 15: Massager 18: Guide rail 20: Air cell 21: Vibrator 22: wall portion 30: selection portion 31: physical button 32: voice recognition portion 33: notification portion 40: leg support portion 40a: bottom wall 40b: side wall 40c: central wall 41: foot support portion 41a: bottom wall 41b: side wall 41c : Central wall 41d: Wall 42: Recess 50: Storage unit 60a: Base frame 60b: Movable frame 61: Arm 62: Treatment element 63: Guide Roller 64: swing shaft 65: reciprocating drive unit 65A: air cell 65B: spring 66: shaft 66a: inclined cam 66b: inclined shaft 67: shaft 67a: eccentric cam 67b: eccentric shaft 68: connecting rod 69: sensor 70: Pressure sensor 71: Pressure sensor 72: Pressure sensor 90: Communication device 91: Communication network 92: Server 100: Adjusting device 400: Computer program 500: User information A1: Massage unit group A2: Massage unit group A3: Massage unit group A4: Massage part group A5: Massage part group A6: Massage part group A7: Massage part group A8: Massage part group AR1: Thin arm AR2: Thick arm CI: Conversion information M1: Massage motor M2: Massage motor M3: Lifting motor S10: First 1 setting processing S11: second setting processing S12: third setting S50: Control processing S52: Conversion processing SI1: Setting information SI2: Setting information a1: Head massage part a2: Shoulder side massage part a3: Arm massage part a3-1: Massage part a3-2 for large arm: Thin arm Massage part a4 for buttocks massage part a5: Buttocks massage part a6: Leg massage part a7: Leg massage part a8: Foot massage part p1: Target detection value p2: Target detection value p3: Target detection value p4: Target detection value

Claims (10)

An apparatus for adjusting a massage intensity in a massage machine having one or more massage units,
A detection unit that detects massage strength given to the user from the massage unit;
A control unit that controls the massage unit,
The control unit is configured to determine, based on a detection value indicating the massage intensity detected by the detection unit, the massage intensity given to the user from the massage unit, the intensity corresponding to the user intensity determined based on the user information. Massage intensity adjustment device that controls The said control part calculates | requires the target detection value based on the said user information from the set massage intensity, and controls the massage part so that the difference | error of the said detection value and the said target detection value may become small. The massage intensity adjusting device according to the above. The massage intensity adjustment device according to claim 2, wherein the control unit obtains the target detection value from the set massage intensity based on the user information and the massage target site. The massage intensity adjustment device according to claim 2, wherein the control unit obtains the target detection value from the set massage intensity based on the user information and a type of massage operation. The control unit sets the massage intensity based on the user information, so that an error between the detection value and a target detection value previously associated with the set massage intensity is reduced. The massage intensity adjusting device according to claim 1, wherein the massage unit controls the massage unit. The control unit converts the detection value into a massage intensity based on the user information to obtain a conversion level, and controls the massage unit such that an error between the conversion level and the set massage intensity is reduced. The massage intensity adjusting device according to claim 1. The massage unit includes a plurality of massage members used for the same target site,
The massage intensity adjustment device according to any one of claims 1 to 6, wherein the control of the massage unit by the control unit includes selecting a massage member to be operated from the plurality of massage members. The massage unit includes a movable massage member,
The massage intensity adjustment device according to any one of claims 1 to 7, wherein the control of the massage unit by the control unit includes determining a position of the massage member. The detection unit includes a plurality of sensors corresponding to each of the plurality of massage units,
The massage intensity according to any one of claims 1 to 8, wherein the control unit controls the massage unit using the detection value of a sensor corresponding to the massage unit to be controlled among the plurality of sensors. Adjustment device. It has one or more massage units,
A massage machine equipped with the massage strength adjusting device according to any one of claims 1 to 9.

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