JP2023130080A - Massage device and method executed by controller of massage device - Google Patents

Abstract

To execute a massage course while coping even with a case where operation of the massage course does not partially match preferences of a person to be treated.SOLUTION: A massage device includes: a massage unit for executing operation for a person to be treated; a controller for executing a sequence in which a series of operation for a massage course is set and controlling the operation of the massage unit according to the operation set in the sequence; and a first operation device that allows the person to be treated to execute interruption operation for interrupting progress of the sequence and an adjustment operation for adjusting the operation of the massage unit while the sequence is executed. The controller is configured so as to interrupt the progress of the sequence when the interruption operation is executed, and shift to a manual mode, and resume the progress of the sequence when the manual mode is finished. The manual mode is a mode by which the controller controls the operation of the massage unit according to the adjustment operation.SELECTED DRAWING: Figure 8

Description

The present disclosure relates to a massage device and a method performed by a controller of the massage device.

According to the present disclosure, Patent Document 1 discloses a massage machine that can perform a plurality of types of massage courses in which a massage section that performs a massage operation on a user's treated area operates according to a predetermined procedure.

JP2014-204930A

When a user of the massage device selects a desired massage course, the user is subjected to an operation according to the settings of the massage course. However, even if a massage course desired by the user is selected, the operation of the massage course may not partially match the user's preferences.

For example, it is possible that the massage position set in the sequence of the massage course is shifted from the position that the recipient desires to be massaged. Furthermore, the massage intensity set in the sequence of the massage course may be different from the intensity desired by the recipient. Furthermore, for a certain massage position, the massage time of a certain massage operation set in the sequence of the massage course may be shorter than the time desired by the user.

In this way, the operation of the massage course may not partially match the preferences of the recipient. Therefore, it is desirable to be able to perform a massage course while dealing with the case where the operation of the massage course does not partially match the preferences of the user.

One aspect of the present disclosure is a massage device. The disclosed massage device includes a massage section that operates on a user, executes a sequence in which a series of operations for a massage course is set, and controls the operation of the massage section according to the operations set in the sequence. A first operating device that allows the user to perform an interrupt operation that interrupts the progress of the sequence while the sequence is being executed, and an adjustment operation that adjusts the operation of the massage section. , the controller is configured to interrupt the progression of the sequence and enter a manual mode when the interrupting operation is performed, and restart the progression of the sequence when the manual mode ends, and the manual mode is configured to This is a mode in which the controller controls the operation of the massager according to an operation.

Another aspect of the disclosure is a method. The disclosed method is a method executed by a controller of a massage device including a massage unit that operates on a user, the operation of the massage unit being performed in accordance with a series of operations set in a sequence for a massage course. and when the patient performs an interruption operation to interrupt the progress of the sequence while the sequence is being executed, the progress of the sequence is interrupted and the mode is shifted to manual mode, and when the manual mode ends, The manual mode is a mode in which, when the user performs an adjustment operation to adjust the operation of the massage unit, the operation of the massage unit is controlled in accordance with the adjustment operation. It is.

Further details are described in the embodiments below.

FIG. 1 is a perspective view of the massage device. FIG. 2 is a block diagram of the massage device. FIG. 3 is a schematic side view of the first massage section. FIG. 4 is a sequence diagram of a massage course. FIG. 5 is a diagram showing operations set in the massage course sequence. FIG. 6 is a diagram showing the main operating device and the sub operating device. FIG. 7 is a flowchart showing processing for executing a massage course. FIG. 8 is a flowchart showing transition from the massage course sequence to manual mode and return. FIG. 9 is a diagram illustrating an example in which the program is not forcibly terminated.

<1. Overview of the method performed by the massage device and controller>

(1) The massage device according to the embodiment includes a massage section that performs an operation on a person to be treated, and a massage section that executes a sequence in which a series of operations for a massage course is set, and according to the operation set in the sequence. a controller that controls the operation of the massager; a first operation that allows the user to perform an interrupt operation that interrupts the progress of the sequence during execution of the sequence; and an adjustment operation that adjusts the operation of the massage section; A device may be provided. The controller may be configured to interrupt progress of the sequence and enter a manual mode when the interrupt operation is performed, and resume progress of the sequence when the manual mode ends. The manual mode may be a mode in which the controller controls the operation of the massager according to the adjustment operation. In this case, the user can perform adjustment operations according to his/her preference in the manual mode in which the sequence is interrupted.

(2) Preferably, the massage device according to the embodiment further includes a second operating device that allows the user to perform a start operation that causes the controller to start executing the sequence. The second operating device may be a separate operating device separated from the first operating device. In this case, the first operating device and the second operating device can be used selectively.

(3) When the controller interrupts the progression of the sequence and shifts to the manual mode, at least part of the operation of the massage section immediately before interrupting the progression of the sequence continues in the manual mode. Preferably, the massager is configured to control the massager so as to perform the massage. In this case, even if the sequence is interrupted, the operation of the massage section can be continued.

(4) Preferably, the controller is capable of adjusting the operation of the massage section using a first adjustment element and a second adjustment element. The first adjustment element may be adjustable by the adjustment operation in the manual mode. The second adjustment element may be non-adjustable in the manual mode. Preferably, the operation of the second adjustment element in the manual mode is a continuation of the operation of the massage section immediately before the progression of the sequence is interrupted. In this case, the operation of the non-adjustable second adjustment element is the same as the operation of the massaging section immediately before the progression of the sequence is interrupted.

(5) The controller may be able to adjust the position of the massage section in the longitudinal direction of the user's body, and also be able to adjust the type of massage operation performed on the user. The position may be adjustable by the adjustment operation in the manual mode. The type of massage motion may be non-adjustable in the manual mode. It is preferable that the massage operation in the manual mode continues to be the same type of massage operation as the massage operation immediately before interrupting the progression of the sequence. In this case, the type of massage operation that cannot be adjusted in the manual mode is the same as the type of operation of the massage section immediately before interrupting the progression of the sequence.

(6) The controller may further be able to adjust the intensity of the massage operation. The strength may be adjustable by the adjustment operation in the manual mode. In this case, the user can adjust the intensity of the massage operation in manual mode.

(7) The first operating device may be configured so that the patient can perform a restart operation to restart the progression of the sequence. The controller is configured to end the manual mode in at least one of the following cases: when the restart operation is performed, and when a predetermined period of time has elapsed since the start of the manual mode. preferable.

(8) During execution of the sequence or execution of the manual mode, if the total of the execution time of the sequence and the execution time of the manual mode from the start of the sequence execution exceeds a predetermined time limit, The massager may be configured to forcibly terminate the operation of the massager. Preferably, the forcible termination is one of terminating the sequence that is currently being executed, and terminating the manual mode that is currently being executed and the sequence that has been interrupted.

(9) The controller may restart the progression of the sequence without reflecting the adjustment of the operation of the massage section according to the adjustment operation in the manual mode on the sequence restarted after the end of the manual mode.

(10) The controller may reflect the adjustment of the operation of the massage unit according to the adjustment operation in the manual mode on the sequence restarted after the manual mode ends.

(11) The method according to the embodiment is a method that is executed by a controller of a massage device equipped with a massage unit that performs operations on a person to be treated, and the method includes: When the user performs an interruption operation that controls the operation of the massage section and interrupts the progression of the sequence while the sequence is being executed, the progression of the sequence is interrupted and the mode shifts to manual mode, and the manual mode is activated. Upon termination of the mode, it may be provided to resume progression of the sequence. The manual mode may be a mode in which, when the user performs an adjustment operation to adjust the operation of the massager, the operation of the massager is controlled in accordance with the adjustment operation.

<2. Examples of methods performed by a massage device and a controller of the massage device>

FIG. 1 shows a massage device 10. As shown in FIG. The massage device 10 includes a device main body 11. The device main body 11 is configured in a chair shape, for example. The device main body 11 supports the body of the user of the massage device 10 . The device main body 11 includes, for example, a seat portion 13, a backrest 15, and a footrest 17. The seat portion 13 can support the buttocks of the user.

The backrest 15 shown in FIG. 1 is provided at the rear of the seat portion 13 so as to be reclinable. The backrest 15 can support the back of the user. The backrest 15 may also support the head of the recipient. The reclining of the backrest 15 may be driven by a reclining actuator 21 (see FIG. 2). The reclining actuator 21 is, for example, an electric cylinder or a pneumatic cylinder.

The footrest 17 shown in FIG. 1 is provided in the front part of the seat part 13 so as to be able to swing up and down. The footrest 17 can support the legs of the user. Swinging of the footrest 17 may be driven by a swinging actuator 23. The swing actuator 23 is, for example, an electric cylinder or a pneumatic cylinder.

The massage device 10 includes a massage section that operates on a user. For example, the backrest 15 may include the first massage section 100 therein. The first massage section 100 mainly massages the upper body of the user, such as the back or neck of the user. The first massage section 100 may be configured to also massage the lower body.

FIG. 3 shows an example of a schematic configuration of the first massage section 100. The first massage section 100 is provided inside the backrest 15 so as to be movable in the longitudinal direction Y of the body of the user 1 . The first massage section 100 shown in FIG. 3 is provided so as to be movable in the longitudinal direction of the backrest 15. As shown in FIG. The first massage section 100 may be movable within the seat section 13 in order to perform a massage operation on the lower body.

The massage device 10 shown in FIG. 3 includes a movement mechanism 160 for moving the first massage section 100. The moving mechanism 160 includes, for example, a linear actuator 162 for moving the first massage section 100 within the backrest 15. The linear actuator 162 is configured by, for example, a ball screw actuator, and is driven by the lifting motor 161. The first massage section 100 can be moved in the body longitudinal direction Y by rotation of the lifting motor 161. The first massage section 100 can perform a massage operation on the user 1 while moving in the body longitudinal direction Y, or can stop at any position in the body longitudinal direction Y and perform a massage operation on the user 1.

The first massage section 100 may include a treatment element 150 that applies a massage operation to the person to be treated 1 . The first massage section 100 shown in FIG. 3 is provided with a treatment element 150 movable in the front-rear direction X. As shown in FIG. That is, the first massage section 100 shown in FIG. 3 is provided with a treatment element 150 that can be moved forward and backward with respect to the person to be treated 1. Since the treatment element 150 is movable in the direction X, the strength of the massage operation can be adjusted. That is, when the treatment element 150 is moved forward, which is a direction approaching the person to be treated 1, a strong massage action is obtained, and when the treatment element 150 is moved backward, which is a direction away from the person to be treated 1, a weak massage action is obtained. is obtained.

In order to make the treatment element 150 freely movable in the direction X, the first massage section 100 shown in FIG. obtain. The base unit 120 is provided movably in the direction Y by a moving mechanism 160. The advancing/retracting unit 130 is provided movably in the direction X with respect to the base unit 120.

The forward/backward movement unit 130 is driven to move in the direction X by, for example, a strength adjustment motor 121 provided in the base unit 120 or the forward/backward movement unit 130. The forward/backward movement unit 130 may be driven to move in the direction X by an air cell provided between the base unit 120 and the forward/backward movement unit 130. The air cell is configured to expand and contract by intake and exhaust. When the air cell expands, the advancing/retracting unit 130 can move forward, and when the air cell contracts, the advancing/retracting unit 130 can move backward.

The first massage section 100 includes a massage mechanism that causes the treatment element 150 to perform a massage operation on the person to be treated 1 . The massage mechanism, for example, converts the rotation of the kneading motor 131 and the beating motor 132 (see FIG. 2) into a massage motion by a mechanical mechanism having gears, and transmits the massage motion to the treatment element 150 via the arm 140. . Note that the massage mechanism may be one that performs a massage operation by the expansion and contraction operation of the air cell, or one that converts the expansion and contraction operation of the air cell into a massage operation, for example. In addition, in FIGS. 2 and 3, a kneading motor 131 for kneading action and a beating motor 132 for kneading action are provided, but the kneading action and the beating action may be performed by one motor. For example, the massage mechanism may be configured so that a kneading action is performed when the motor rotates in a certain direction, and a tapping action is performed when the motor rotates in the opposite direction.

The massage mechanism is configured, for example, to cause the treatment element 150 to perform a kneading motion and a tapping motion. The kneading motion is, for example, a motion in which a pair of treatment elements 150 repeatedly move toward and away from each other. The tapping motion is, for example, a motion in which the treatment element 150 alternately repeats the paired treatment 150 on the treated person 1. The massage mechanism according to the embodiment is configured to perform both a kneading action and a tapping action, and can selectively perform either the kneading action or the hitting action. Further, the massage mechanism may be configured to perform a kneading and tapping operation in which a kneading operation and a tapping operation are performed. Note that by moving the first massage section 100 in the direction Y while applying the treatment element 150 to the person to be treated 1, a rolling massage operation can be performed on the person to be treated 1. Further, by pressing the treatment element 150 against the person to be treated 1 without moving the motors 131 and 132, acupressure operation can be performed. In this way, the first massage unit 100 according to the embodiment can perform multiple types of massage operations.

As shown in FIG. 1, the massage device 10 may include a second massage section 200 as a massage section other than the first massage section 100. The second massage section 200 includes, for example, an air cell 201, and performs a massage operation on the user 1 by expanding and contracting the air cell 201. The air cell 201 is placed, for example, on the footrest 17 and massages the legs of the user 1 . The air cell 201 may be placed in other locations of the device body 11, such as the seat portion 13 or the backrest 15.

As shown in FIG. 2, the massage device 10 may include an air circuit 203 for air intake and exhaust to the air cell 201. The air circuit 203 may include an air pressure source such as a pump, a hose for flowing air, a solenoid valve for switching the flow of air, and the like.

As shown in FIG. 2, the massage device 10 may include a controller 30. The controller 30 can control the operations of the first massage section 100 and the second massage section 200. The controller 30 may also control the reclining of the backrest 15 and the rocking of the footrest 17. In order to control these operations, the controller 30 is connected to various motors 131, 132, 161, and 121. Further, the controller 30 is also connected to other actuators 21 and 23 and an air circuit 203.

The controller 30 is connected to various sensors 40. Massage device 10 may include various sensors for controlling operation. For example, the massage device 10 can include a position sensor that detects the position of the first massage section 100 in the Y direction. Furthermore, the massage device 10 can include a position sensor that detects the position of the advancing/retracting unit 130 in the direction X. Furthermore, the massage device 10 can include a sensor that detects the pressing force of the treatment element 150 on the user 1 .

As shown in FIG. 2, the controller 30 may be configured by a computer including a processor 30A and a storage device 30B. Processor 30A is connected to storage device 30B. Processor 30A can read and execute computer program 30C stored in storage device 30B. Computer program 30C may include program code indicating instructions for controlling massage device 10.

The storage device 30B can store one or more massage course data 31, 32. The massage course data 31 and 32 are data in which a series of operations for a massage course is set. The processor 30A reads, for example, one massage course data selected from the plurality of massage course data 31, 32 by the operation of the user 1 from the storage device 30B, and executes the data.

A series of operations set in each of the massage course data 31 and 32 is a sequence for a massage course. The sequence for the massage course is configured such that the controller 30 executes a plurality of preset operations in a predetermined order.

The controller 30 executes a sequence for a massage course according to the massage course data 31 and 32, and controls the operations of the massage sections 100 and 200, etc. according to the operations set in the sequence.

FIG. 4 shows an example of a sequence for a massage course. FIG. 4 is shown as an example of a sequence according to the first massage course data 31 shown in FIG. The sequence shown in FIG. 4 is composed of a plurality of actions such as a first action S1, a second action S2, a third action S3,..., an Nth action SN (N is an arbitrary integer) arranged in a predetermined order. There is.

The first operation S1 is, for example, a shoulder position detection operation. The shoulder position detection operation (step S1) may include, for example, a substep S1-1 in which the first massage section 100 moves up from the initial position toward the shoulder position 1A, as shown in FIG. The initial position in step S1-1 is, for example, the lowest position in the Y direction. In step S1-1, when the treatment element 150 is raised while applying it to the back of the person to be treated 1, the load that the treatment element 150 receives from the person to be treated 1 becomes smaller when the treatment element 150 reaches the shoulder position 1A. The controller 30 can detect the position of the massage part 100 when the sensor detects that the load has become smaller as the shoulder position 1A. The controller 30 can determine different physiques and massage positions (for example, shoulder range or waist range) for each treatment recipient 1 based on the detected shoulder position 1A.

In the shoulder position detection operation (step S1), as shown in FIG. 5, in order to accept a position adjustment operation for the detected shoulder position 1A, a massaging motion is performed at the detected shoulder position with a "medium" strength. The method may include step S1-2 for performing the following steps. The user 1 can perform an operation to finely adjust the detected shoulder position 1A during the kneading motion in step S1-2.

The second motion S2 is, for example, a shoulder tapping motion. As shown in FIG. 5, the shoulder tapping motion (step S2) may be performed, for example, in substep S2-(M-1) in which the shoulder region is reciprocated while hitting at a "medium" strength, or at a "medium" strength. It may include a plurality of sub-steps such as sub-step S2-M in which the patient moves to the upper part of the waist while performing a tapping motion. That is, in the second motion S2, a motion of reciprocating up and down a plurality of times while hitting the shoulder area is performed. Here, the shoulder range is a predetermined range in the Y direction that includes, for example, the shoulder position detected in step S1-1 or the shoulder position adjusted in step S1-2.

The third motion S3 is, for example, a lower back massaging motion. For example, as shown in FIG. 5, the lower back massaging action (step S3) includes steps S3-1 and S3-3 in which the lower back area is reciprocated while massaging at a "medium" strength, and steps S3-3 at a "low" strength. It may include steps S3-2 and S3-4 of reciprocating the waist area while performing a massaging motion. That is, in the third action S3, the user moves back and forth up and down a plurality of times while massaging the waist area, and the strength of the massage changes each time the user moves back and forth. Here, the waist range is, for example, a range below the shoulder range, and is determined by the shoulder position detected in step S1-1 or the shoulder position adjusted in step S1-2.

Note that the first operation S1, second operation S2, third operation S3, etc. set in the sequence may include the operation of the air cell 201.

Returning to FIG. 2, the massage device 10 according to the embodiment may include operating devices 50 and 60 for the user 1 to operate the massage device 10. The massage device 10 may include, as an example, a main operating device 60 and a sub operating device 50. The main operating device 60 is a separate operating device that is separate from the sub operating device 50. Hereinafter, the sub operating device 50 may be referred to as a first operating device 50, and the main operating device 60 may be referred to as a second operating device.

The main operating device 60 and the sub operating device 50 are connected to the controller 30. The connection between the operating devices 50, 60 and the controller 30 may be a wired connection or a wireless connection.

FIG. 6 shows an example of the main operating device 60 and the sub operating device 50. The main operating device 60 includes various operating buttons provided on the main body 61 of the device. For example, the main operating device 60 includes selection buttons 62 for a plurality of massage courses. For example, the massage courses are given course names such as "Full Body," "Foot Reflex," "Neck/Shoulder," "Posture Stretch," "Body Defense," and "Body Activation," and the selection button 62 displays these names. It is attached.

When one of the selection buttons 62 is selectively operated by the user, the controller 30 reads the massage course data 31, 32 associated with the selected button 62, and selects one of the massage course data 31, 32 according to the read massage course data 31, 32. , start executing the sequence for the massage course. The controller 30 controls the massage units 100, 200, etc. according to operations set in the sequence. In addition, in the massage course data 31 and 32 associated with the button 62, an appropriate series of operations according to the course name attached to the button 62 is set.

As described above, the main operating device 60 can be configured as a second operating device that allows the user to perform a start operation that causes the controller 30 to start executing the sequence of the massage course.

The main operating device 60 may also include buttons for performing other operations on the massage device 10 other than starting the execution of a massage course. For example, the main operating device 60 may include a power button 63 for turning on/off the power of the massage device 10. The main operating device 60 may include a sudden stop button 64 to emergency stop the operation of the massage device 10. The main operating device 60 may include buttons 65A and 65B for reclining the backrest 15. The main operating device 60 may include buttons 66A and 66B for operating the footrest 17.

The main operating device 60 may include a button 67A for starting a massage operation applied to the upper body of the user 1 and for switching the type of the operation. The main operating device 60 may include a button 67B for starting a massage operation applied to the lower body of the user 1 and for switching the type of the operation. The main operating device 60 may include a button 67C for starting the rolling massage given to the user 1 and for switching the range thereof. The main operating device 60 may include a button 67D for starting the massage operation performed on the user 1 by the air cell 201 and for switching the intensity thereof.

The sub-operation device 50 includes various operation buttons provided on the device main body 51. The sub operating device 50 has fewer buttons than the main operating device 60, and is a smaller operating device. The sub-operating device 50 (first operating device 50) allows the patient 1 to perform an operation (interrupting operation/resuming operation) for interrupting or resuming the progression of the sequence of the massage course started by the main operating device 60. It is configured so that it can be done. Further, the sub-operating device 50 (first operating device 50) is configured so that the person to be treated 1 can perform an operation (adjusting operation) for adjusting the operation of the massage section 100 while the progression of the sequence of the massage course is interrupted. has been done.

The sub-operation device 50 is mainly operated during the course of a massage course sequence. That is, the sub-operation device 50 is operated during a massage based on a massage course. Therefore, it is assumed that the sub-operation device 50 is always held by the user 1 during the massage. The fact that the sub-operating device 50 is separate from the main operating device 60 makes it easier for the user 1 to hold the sub-operating device 50 in the hand during a massage.

Although the main operating device 60 is a hand-held operating device, it is required to be able to perform various operations on the massage device 10. Therefore, the main operating device 60 is multifunctional and tends to have a large number of operating buttons. As a result, the main operating device 60 becomes larger. A large-sized operating device may not be suitable for the patient 1 to always hold in hand. In particular, once a massage course is started, a series of operations automatically progresses, so once the massage course is started, the need for various operations on the massage device 10 is reduced. Therefore, from this point of view as well, the main operating device 60 for starting the massage course is not suitable for hand-held use during a massage.

However, in this embodiment, the user 1 may operate during the massage course. Therefore, the sub-operation device 50 is configured to perform only operations that can be performed by the user 1 during the massage course. As a result, the sub-control device 50 has a smaller number of possible operations than the main control device 60, and can be configured as a smaller hand-held control device. The small sub-operation device 50 is suitable for hand-held during massage.

The sub-operation device 50 may include an operation unit 53 for accepting an interrupt operation for interrupting an ongoing massage course sequence. The operation unit 53 is configured as an operation button, for example. The operation unit 53 can also accept a restart operation to restart an interrupted sequence. The operation section 53 functions as an interrupt operation section when operated while the massage course sequence is in progress, and functions as a restart operation section when operated during the interruption of the massage course sequence (during execution of a manual mode described below). do. The controller 30 interrupts the progress of the sequence when the interrupt operation is performed. When the restart operation is performed, the controller 30 restarts the interrupted sequence.

The sub-operation device 50 includes operation sections 55, 57A, and 57B for the user 1 to perform adjustment operations to adjust the operation of the massage section 100. The operating units 55, 57A, and 57B can accept operations for adjusting the operation of the massage unit 100 while the progress of the massage course sequence is interrupted and the manual mode is executed.

Note that the operation units 55, 57A, and 57B can accept operations as valid only while the massage course sequence is interrupted. In this case, the operating units 55, 57A, and 57B are used exclusively for operation in manual mode when the massage course sequence is interrupted. Further, the adjustment operation in the manual mode when the massage course sequence is interrupted may not be performed from the main operating device 60, but may be configured to be performed only from the sub operating device 50.

Furthermore, the operation units 55, 57A, and 57B may accept operations as valid even in manual mode or in other cases other than when the massage course sequence is interrupted.

The operation units 55, 57A, and 57B may include a strength adjustment unit 55 that adjusts the strength of the massage operation by the first massage unit 100. The strength adjustment section 55 is configured as a joystick, for example. The joystick is a device that receives an operation to tilt the lever 55A as a directional input. The strength adjustment section 55 shown in FIG. 6 is configured to be able to tilt the lever 55A in the vertical direction 59 of the sub-operation device 50. As an example, when the lever 55A is tilted upward, the controller 30 moves the first massage section 100 forward to strengthen the massage operation. When the lever 55A is tilted downward, the controller 30 moves the first massage section 100 backward to weaken the massage operation.

The operation parts 55, 57A, 57B may include position adjustment parts 57A, 57B that adjust the position of the first massage part 100 in the Y direction. The position adjustment sections 57A and 57B may include, for example, an operation section 57A that moves the first massage section 100 upward, and an operation section 57B that moves the first massage section 100 downward.

The main operation device 60 shown in FIG. 6 does not include an operation section for selecting the type of massage operation (for example, kneading operation or tapping operation) by the first massage section 100. Therefore, although this is just one example, in the manual mode when the massage course sequence is interrupted, an adjustment operation for changing the type of massage operation cannot be performed.

Note that the sub-operation device 50 may include operation sections other than the operation sections 53, 55, 57A, and 57B shown in FIG. For example, the sub-operation device 50 may include a sudden stop button to emergency stop the operation of the massage device 10. Further, the sub-operation device 50 may include an operation section that adjusts the type of massage operation of the first massage section 100. Furthermore, the sub-operation device 50 may include an operation section that adjusts the strength of the operation of the second massage section 200.

FIG. 7 shows the procedure of processing executed by the controller 30 for a massage course. The process shown in FIG. 7 can be executed by the processor 30A according to the computer program 30C stored in the storage device 30B of the controller 30.

The patient 1 selects and operates one of the selection buttons 62 provided on the main operating device 60 . When the selection button 62 is operated, the controller 30 starts executing the sequence of the massage course corresponding to the selected selection button 62 (step S71). The controller 30 advances the sequence so that a series of operations set in the sequence are sequentially executed. During execution of the massage course sequence, the controller 30 determines whether the elapsed time from the start of the sequence execution has exceeded a predetermined time limit (step S72). The time limit is, for example, 30 minutes. The time limit may be set to prevent the massage to be performed on the user 1 for a long time. If the time limit has elapsed, the sequence ends even if it is in the middle.

Further, the controller 30 determines whether or not an interruption operation to interrupt the progress of the sequence has been performed from the sub-operation device 50 during execution of the sequence of the massage course (step S73). If there is an interruption operation, the controller 30 executes step S75 and subsequent steps.

If there is no interruption operation during execution of the sequence and the time limit has not been exceeded, the controller 30 sequentially advances the sequence. When all the operations set in the sequence have been executed (step S74), the controller 30 completes the sequence (step S74). This ends the massage course. The controller 30 sequentially executes the operations set in the sequence until the sequence is completed (step S71).

If an interrupting operation is performed during execution of the sequence, the controller 30 interrupts the sequence and shifts to manual mode. Controller 30 resumes progression of the sequence when manual mode ends.

More specifically, when there is an interruption operation, the controller 30 can store interruption information in the storage device 30B (step S75). The interruption information is information about the step or substep of the sequence when the interruption operation was performed, and can be used to restart the sequence.

When there is an interruption operation, the controller 30 shifts to the manual mode and executes the manual mode. The controller 30 controls the operation of the massage section in manual mode (step S76). Operation control in manual mode will be described later.

During execution of the manual mode, the controller 30 determines whether the elapsed time from the start of the sequence execution has exceeded a predetermined time limit (step S77). If the time limit has elapsed, even if the manual mode is in the middle, the manual mode ends and the interrupted sequence ends without restarting.

During execution of the manual mode, the controller 30 sequentially determines whether to end the manual mode (step S78). The manual mode is terminated, for example, when a restart operation for restarting the progression of the sequence is performed from the sub-operation device 50, or when a predetermined period of time has elapsed since the manual mode started. The predetermined time is, for example, one minute. In this case, the maximum time required for one manual mode is one minute.

When the manual mode ends, the controller 30 restarts the interrupted sequence (step S79).

FIG. 8 shows details of the procedure for transitioning from the massage course sequence execution mode to the manual mode and returning from the manual mode to the massage course sequence execution mode.

When an interrupt operation is performed on the sub-operation device 50 while the sequence is in progress (step S81), the controller 30 interrupts the progress of the sequence (step S82). When the controller 30 interrupts the progress of the sequence, the controller 30 saves the information at the time of interruption in preparation for restarting the progress of the sequence (step S83).

The interruption information may include, for example, interruption point information (interruption step information) indicating during which operation set in the sequence the interruption operation was performed. The interruption point information indicates, for example, the step or substep that was being executed at the time when the interruption operation was performed. For example, if an interrupt operation is performed during sub-step S3-3 of the third operation (step S3) shown in FIG. 5, sub-step S3-3 may be stored in the storage device 30B as interrupt point information.

The interruption information may include, for example, the position P1 of the first massage section 100 in the direction Y at the time of interruption (interruption position information). The interruption information may include other information that may be used to perform the same operation upon resuming the sequence as at the interruption.

As will be described later, in the manual mode during a sequence interruption, the position or operation of the massage unit 100 may be adjusted. Therefore, regardless of the adjustment in the manual mode, when the sequence is restarted, the operation and operation will be performed from the same position as at the time of interruption. /or To perform the same operation as at the time of interruption, the information at the time of interruption is useful.

When the interrupt operation is performed, the controller 30 starts executing the manual mode (step S84). In the manual mode, at the position P1 of the first massage section 100 in the direction Y when the sequence is interrupted, the operation of the first massage section 100 immediately before the interruption can be continued.

As an example, if the first massage section 100 is performing a massaging operation at "medium" intensity while moving up and down to the waist area, immediately before the interruption, in accordance with sub-step S3-3 shown in FIG. When the interruption operation is performed, the first massage section 100 stops the vertical movement at the position P1 at the time when the interruption operation was performed, and continues to perform the massaging operation at the "medium" strength at the position P1.

As another example, immediately before the interruption, if the first massage section 100 is moving to the upper part of the waist while performing a hitting motion with a "medium" intensity according to sub-step S2-M shown in FIG. When the operation is performed, the first massage section 100 stops moving up and down at the position P1 at the time when the interruption operation was performed, and continues to perform the tapping operation at the "medium" strength at the position P1.

In this way, the massage operation of the massage section 100 at the beginning of the transition from the massage course sequence to the manual mode (operation at the start of manual mode) is the same type of massage operation as the operation in the massage course sequence immediately before the interruption (operation immediately before interruption). It is. Therefore, even if the massage course sequence is interrupted, the operation of the massage section 100 does not stop. Therefore, even if the massage course sequence is interrupted, the massage operation does not stop, and the user 1 can receive the massage continuously.

Note that during execution of the operation S1, which is the shoulder position detection operation, the controller 30 may treat the interruption operation as an invalid operation without interrupting the progress of the sequence even if an interruption operation is performed. This is because the shoulder position detected by the shoulder position detection operation is used for positioning the massage unit 100 in the massage course, so it is preferable that the shoulder position detection operation is not interrupted.

The controller 30 can receive an adjustment operation from the sub-operation device 50 during execution of the manual mode (step S85). In the manual mode, the controller 30 receives a massage operation strength adjustment operation from the strength adjustment section 55 of the sub operation device 50, and receives a position adjustment operation of the massage section 100 from the position adjustment sections 57A and 57B of the sub operation device 50. I will accept it. The controller 30 controls the massage section 100 and the like based on these operations. Note that in the manual mode, it is not possible to adjust the type of massage operation, such as changing the type of massage operation from a tapping operation to a kneading operation, or from a kneading operation to a tapping operation. Therefore, in the manual mode, the same type of massage operation as the operation in the massage course sequence immediately before interruption (operation immediately before interruption) is continuously performed.

In this way, when the controller 30 according to the embodiment interrupts the progression of the sequence and shifts to the manual mode, at least part of the operation of the massage section immediately before interrupting the progression of the sequence continues in the manual mode. The massager 100 is configured to control the massager 100 so as to perform the following operations. Here, among the operations of the massage section 100 immediately before interrupting the progression of the sequence, the vertical movement (movement in the direction Y) of the massage section 100 is not performed in the manual mode, and the massage operation (kneading motion or tapping motion) by the massage section 100 is not performed. ) continues even in manual mode.

While the massage course sequence is in progress, the user 1 may wish to perform the current massage operation at a position different from the treatment position performed by the massage unit 100. In this case, the user 1 performs an interruption operation using the operation unit 53, and then adjusts the position of the massage unit 100 using the operation units 57A and 57B, so that the user 1 can reach the treatment position desired by the user 1. You can receive a massage. In this case, the type and intensity of the massage operation are inherited from the settings immediately before the interruption in the massage course sequence, so the user 1 does not need to adjust the type or intensity of the massage operation. Intensity may be adjusted.

Furthermore, while the massage course sequence is in progress, the recipient may wish to have the massage stronger or weaker than the massage intensity set in the sequence. In this case, the user 1 performs an interruption operation using the operation unit 53, and then adjusts the strength of the massage unit 100 using the operation unit 55. can receive. In this case, the type of massage operation and the position of the massage part in direction Y are inherited from those immediately before the interruption in the massage course sequence, so the recipient 1 needs to adjust the type of massage operation or the position of the massage part. There is no. The position may be adjusted.

Further, even if the manual mode is once ended, it can be executed again, so that the person to be treated 1 can receive a massage in the manual mode with the desired content multiple times.

Now, to explain the adjustment in the manual mode from a different perspective, the controller 30 of the embodiment can adjust the first adjustment element and cannot adjust the second adjustment element in the manual mode. The first adjustment element here is, for example, the position of the massage section 100 in the direction Y or the position of the massage section 100 in the direction X (strength of the massage operation). Further, the second adjustment element is, for example, the type of massage operation. The operation of the second adjustment element that cannot be adjusted continues to be the operation of the massage unit 100 immediately before the progression of the sequence is interrupted.

Note that the second adjustment element that cannot be adjusted may be, for example, the movement of the massage section 100 in the direction Y (for example, the reciprocating movement of the waist range as in step S3-3). In this case, the first adjustment element that can be adjusted may be, for example, the intensity of the massage operation and the type of the massage operation.

Furthermore, the second adjustment element that cannot be adjusted may be, for example, the intensity of the massage operation. In this case, the adjustable first adjustment element may be, for example, the position of the massage part 100 in the direction Y and the type of massage operation.

The controller 30 ends the manual mode when an operation to restart the progression of the massage course sequence is performed on the operation unit 53 or when a predetermined time (for example, 1 minute) has elapsed since the start of the manual mode (step S86). ).

After ending the manual mode, the controller 30 reads the interruption information stored in the storage device 30B in order to restart the massage course sequence (step S87). For example, when the interruption information includes interruption point information (interruption step information) and interruption position information, the controller 30 moves the massage section 100 to the position indicated by the interruption position information, and the interruption information (interruption step information) Restart the sequence at the indicated step or substep. Note that the step or substep at the time of restart may be the same step or substep as at the time of interruption, the step following the step at the time of interruption, or the substep following the substep at the time of interruption.

No matter what adjustment operation is performed in the manual mode, the controller 30 does not need to reflect the adjustment contents in the massage course sequence after restarting. That is, the controller 30 can restart the progression of the sequence without reflecting the adjustment of the operation of the massage unit 100 according to the adjustment operation in the manual mode on the sequence restarted after the end of the manual mode.

Conversely, the controller 30 may reflect the adjustment operation performed in manual mode on the massage course sequence after restarting. That is, the controller 30 can reflect the adjustment of the operation of the massage unit 100 according to the adjustment operation in the manual mode in the sequence resumed after the end of the manual mode. For example, in the manual mode, if the strength of the massage operation immediately before the interruption of the massage course sequence is "medium" and the massage strength is adjusted to "strong" in the manual mode, the controller 30 restarts the massage operation. The strength of the massage operation in the subsequent massage course may be set to "strong".

FIG. 9 shows an example in which the sequence ends without being forced to end due to the elapse of the time limit in step S72 or S77 in FIG. 7, and an example in which the sequence is forced to end. Here, one massage course is configured by combining a plurality of movements so that the required time is, for example, about 15 minutes. On the other hand, the time limit TL is set, for example, to 30 minutes from the start of sequence execution. Therefore, if the massage course sequence proceeds without interruption, the time limit TL will generally not be exceeded during execution of the sequence.

In FIG. 9, "no manual mode" indicates a case where the massage course sequence progresses without interruption. In this case, the sequence starts at the execution start time TS and ends at the time T1 before the time limit TL is exceeded. In this case, since the sequence does not exceed the time limit TL, the sequence is completed and terminated without being forcibly terminated in the middle of the sequence.

In FIG. 9, "manual mode exists/sequence normally ends" indicates a case where the massage course sequence is interrupted and the manual mode is executed, but the time limit TL is not exceeded. In this case, the sequence starts from the execution start time TS, and the manual mode is executed several times, but ends at the time T2 before the time limit TL is exceeded. In this case, since the sequence does not exceed the time limit TL, the sequence is completed and terminated without being forcibly terminated in the middle of the sequence.

In FIG. 9, "manual mode exists/sequence forced termination" indicates a case where the time limit TL has been exceeded because the manual mode has been executed many times. In this case, since the sequence exceeds the time limit TL during its execution, the sequence is forcibly terminated in the middle of the sequence when the time limit TL is exceeded.

In FIG. 9, "manual mode forced termination & termination without restarting the sequence" also indicates a case where the manual mode has been executed many times and the time limit TL has been exceeded. In this case, since the time limit TL is exceeded during execution of the manual mode, the manual mode is forcibly terminated in the middle of the manual mode at the time the time limit TL is exceeded. Furthermore, the interrupted sequence is forcibly terminated without restarting.

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

1: Treated person 1A: Shoulder position 10: Massage device 11: Device main body 13: Seat portion 15: Backrest 17: Footrest 21: Reclining actuator 23: Swing actuator 30: Controller 30A: Processor 30B: Storage device 30C: Computer program 31: First massage course data 32: Second massage course data 40: Sensor 50: Sub operating device (first operating device)
51: Device main body 53: Operating section 55: Operating section 55A: Lever 57A: Operating section 57B: Operating section 59: Vertical direction 60: Main operating device (second operating device)
61: Device body 62: Selection button 63: Power button 64: Quick stop button 65A: Button 65B: Button 66A: Button 66B: Button 67A: Button 67B: Button 67C: Button 67D: Button 100: First massage section 120: Base Unit 121: Motor 130: Advance/retreat unit 131: Motor 132: Motor 140: Arm 150: Treatment element 160: Movement mechanism 161: Motor 162: Direct actuator 200: Second massage section 201: Air cell 203: Air circuit TL: Time limit TS: Execution start point X: Anteroposterior direction Y: Body longitudinal direction

Claims (11)

a massage section that performs movements on the person to be treated;
a controller that executes a sequence in which a series of operations for a massage course is set, and controls the operation of the massage section according to the operations set in the sequence;
a first operating device that allows the user to perform an interrupt operation that interrupts the progress of the sequence during execution of the sequence, and an adjustment operation that adjusts the operation of the massage section;
Equipped with
The controller is configured to interrupt the progression of the sequence and enter a manual mode when the interrupt operation is performed, and restart the progression of the sequence when the manual mode ends,
The manual mode is a mode in which the controller controls the operation of the massage unit according to the adjustment operation. further comprising a second operating device that allows the patient to perform a start operation to cause the controller to start executing the sequence;
The massage device according to claim 1, wherein the second operating device is a separate operating device separated from the first operating device. When the controller interrupts the progression of the sequence and shifts to the manual mode, the controller continues to perform at least part of the operation of the massage section immediately before interrupting the progression of the sequence in the manual mode. The massage device according to claim 1 or 2, wherein the massage device is configured to control the massage section so as to control the massage section. The controller is capable of adjusting the operation of the massage section using a first adjustment element and a second adjustment element,
The first adjustment element is adjustable by the adjustment operation in the manual mode,
the second adjustment element is non-adjustable in the manual mode;
The massage device according to any one of claims 1 to 3, wherein the operation of the second adjustment element in the manual mode is a continuation of the operation of the massage section immediately before the progression of the sequence is interrupted. The controller is capable of adjusting the position of the massage part in the longitudinal direction of the body of the person being treated, and is also capable of adjusting the type of massage operation to be performed on the person being treated,
the position is adjustable by the adjustment operation in the manual mode;
the type of massage motion is not adjustable in the manual mode;
The massage device according to any one of claims 1 to 4, wherein the massage operation in the manual mode continues to be the same type of massage operation as the massage operation immediately before interrupting the progression of the sequence. The controller is further capable of adjusting the intensity of the massage operation,
The massage device according to claim 5, wherein the intensity is adjustable by the adjustment operation in the manual mode. The first operating device is configured so that the person to be treated can perform a restart operation to restart the progression of the sequence,
The controller is configured to end the manual mode in at least one of the following cases: when the restart operation is performed, and when a predetermined period of time has elapsed since the start of the manual mode. The massage device according to any one of claims 1 to 6. During execution of the sequence or execution of the manual mode, if the total of the execution time of the sequence and the execution time of the manual mode from the start of the sequence execution exceeds a predetermined time limit, the controller configured to forcefully terminate the operation of the
The forced termination is
terminating the sequence in progress, and
terminating the running manual mode and the interrupted sequence;
The massage device according to any one of claims 1 to 7. The controller restarts the progression of the sequence without reflecting the adjustment of the operation of the massage unit according to the adjustment operation in the manual mode on the sequence restarted after the end of the manual mode. The massage device according to any one of Item 8. The controller reflects the adjustment of the operation of the massage unit according to the adjustment operation in the manual mode in the sequence resumed after the end of the manual mode. massage device. A method performed by a controller of a massage device including a massage section that operates on a user, the method comprising:
controlling the operation of the massage part according to a series of operations set in a sequence for a massage course;
If the patient performs an interruption operation that interrupts the progression of the sequence while the sequence is being executed, the procedure interrupts the progression of the sequence and shifts to manual mode;
restarting the progression of the sequence when the manual mode ends;
The manual mode is a mode in which, when an adjustment operation for adjusting the operation of the massage section is performed by the user, the operation of the massage section is controlled according to the adjustment operation.

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