JP4648088B2 - Massage machine - Google Patents

Massage machine Download PDF

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Publication number
JP4648088B2
JP4648088B2 JP2005154715A JP2005154715A JP4648088B2 JP 4648088 B2 JP4648088 B2 JP 4648088B2 JP 2005154715 A JP2005154715 A JP 2005154715A JP 2005154715 A JP2005154715 A JP 2005154715A JP 4648088 B2 JP4648088 B2 JP 4648088B2
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Prior art keywords
massage
shoulder
shoulder position
treatment element
load
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JP2006326000A (en
Inventor
孝欣 谷澤
大輔 塚田
昌通 宮口
文宏 西尾
裕一 西堀
聡 梶山
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Panasonic Corp
Panasonic Electric Works Co Ltd
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Panasonic Corp
Matsushita Electric Works Ltd
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Priority to JP2005154715A priority Critical patent/JP4648088B2/en
Priority to KR1020060046433A priority patent/KR100767496B1/en
Priority to TW095118603A priority patent/TWI297268B/en
Priority to CN2006100899126A priority patent/CN1868437B/en
Priority to CNU200620112251XU priority patent/CN201030021Y/en
Publication of JP2006326000A publication Critical patent/JP2006326000A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
    • A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/006—Percussion or tapping massage
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
    • A61H7/007—Kneading
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0138—Support for the device incorporated in furniture
    • A61H2201/0149—Seat or chair
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1664—Movement of interface, i.e. force application means linear
    • A61H2201/1669—Movement of interface, i.e. force application means linear moving along the body in a reciprocating manner
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/062—Shoulders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/80—Weight
    • A61H2230/805—Weight used as a control parameter for the apparatus
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/85—Contour of the body
    • A61H2230/855—Contour of the body used as a control parameter for the apparatus

Description

本発明は、マッサージ機、殊に人体の肩位置を検出する機能を備えているマッサージ機に関するものである。   The present invention relates to a massage machine, and more particularly to a massage machine having a function of detecting the shoulder position of a human body.

人体の個人差（体格差）に応じた補正を行うために、人体の肩位置検出機能を備えたマッサージ機が特許第３０７５７７９号公報等で知られている。このものでは予めプログラムされた自動コースマッサージを開始するにあたり、上記肩位置検出を行ってから、マッサージを開始するために、マッサージ、殊に肩付近に対するマッサージを行う時、使用者の肩位置に応じたマッサージを行うことができる。   In order to perform correction according to individual differences (physical differences) in the human body, a massage machine having a human body shoulder position detection function is known from Japanese Patent No. 3075779. In this case, in order to start the pre-programmed automatic course massage, the shoulder position is detected and then the massage is started. You can do a massage.

しかし、椅子式マッサージ機などでは、マッサージ中に使用者が腰の位置をずらしたりすることで、肩の位置がずれてしまい、肩付近に対するマッサージが適切になされない事態が生じることがある。   However, in a chair-type massage machine or the like, the user may shift the position of the waist during massage, so that the position of the shoulder is shifted, and a situation where massage around the shoulder is not appropriately performed may occur.

このために、特開平２００３−７０８５７号公報には、プログラムされたマッサージ動作の中で、初期に行う肩位置検知動作と同じ動き、つまり施療子を背もたれに沿って上下に移動させる動きを行うマッサージ（ローリングマッサージ）中に肩位置検出動作を再度行うことで、使用者の姿勢変化に対応させるようにしたものが示されている。   For this purpose, Japanese Patent Laid-Open No. 2003-70857 discloses a massage that performs the same movement as the shoulder position detection operation performed in the initial stage in the programmed massage operation, that is, a movement that moves the treatment element up and down along the backrest. It is shown that the shoulder position detection operation is performed again during (rolling massage) so as to correspond to the posture change of the user.

しかし、上記のような肩位置再検出は、上述のように施療子を背もたれに沿って上下に移動させる動きを行うマッサージ中に行うものであり、このために肩位置再検出動作で肩位置補正を行っても、検出した肩位置に応じて肩付近にもみマッサージなどを行うまでに使用者の姿勢が再度変化してしまったならば、ずれた位置でのマッサージがなされてしまうものであり、根本的な解決にはいたっていない。
特許第３０７５７７９号公報 特開平２００３−７０８５７号公報 However, shoulder position re-detection as described above is performed during massage that moves the treatment element up and down along the backrest as described above. For this reason, shoulder position correction is performed by shoulder position re-detection operation. Even if it is done, if the user's posture changes again before performing massage etc. near the shoulder according to the detected shoulder position, massage at a shifted position will be done, There is no fundamental solution.
Japanese Patent No. 3075779 JP-A-2003-70857

本発明は上記の従来の問題点に鑑みて発明したものであって、肩付近に対するマッサージを使用者の肩位置に応じた状態で確実に行うことができるマッサージ機を提供することを課題とするものである。   This invention is invented in view of said conventional problem, Comprising: It aims at providing the massage machine which can perform reliably the massage with respect to shoulder vicinity in the state according to the user's shoulder position. Is.

上記課題を解決するために本発明に係るマッサージ機は、背もたれに沿って施療子を上下に移動自在としたマッサージ機構と、施療子の上下位置を検出する位置検出部と、施療子に人体側からかかる荷重を検出する荷重検出部とを備えるとともに、位置検出部と荷重検出部との出力から人体の肩位置を検出する肩位置検出機能を有する制御部を備えているマッサージ機において、上記制御部は、検出された肩位置を基にした肩付近に対するマッサージであって施療子を上下に動かさないマッサージを含むマッサージ動作の実行中に上記位置検出部と荷重検出部との出力から肩位置にずれがあるかどうかを検出して、ずれがない場合は上記マッサージ動作を継続し、ずれがある場合は新たな肩位置を求めた後に上記マッサージ動作を継続するものであることに特徴を有している。肩位置付近のマッサージを行う時に使用者の姿勢のずれがあればこれが修正された状態でマッサージがなされるようにしたものである。 In order to solve the above-described problems, a massage machine according to the present invention includes a massage mechanism that allows a treatment element to move up and down along the backrest, a position detection unit that detects the vertical position of the treatment element, and the treatment element on the human body side. together and a load detection unit for detecting such a load from, the massage machine has a control unit having a shoulder position detecting function of detecting a human body shoulder position from the output of the position detecting unit and the load detection unit, the control The unit is a massage for the vicinity of the shoulder based on the detected shoulder position , and the shoulder position is determined from the output of the position detection unit and the load detection unit during the execution of the massage operation including the massage that does not move the treatment element up and down. If there is no deviation, the massage operation is continued. If there is a deviation, the massage operation is continued after obtaining a new shoulder position. Particular has features is. If there is a deviation in the posture of the user when performing massage near the shoulder position, the massage is performed with this being corrected.

この時、上記制御部は、新たな肩位置を求めるにあたり、上記マッサージ動作中にそれまで肩位置としていたところを含む範囲内で施療子を上方から下方に動かす動作を行わせて、この動作中に位置検出部と荷重検出部との出力から人体の肩位置を検出し、その後、上記マッサージ動作に復帰させるものであるものであると、新たな肩位置の決定をより正確に行うことができる。 At this time, when determining the new shoulder position, the control unit moves the treatment element from the upper side to the lower side within the range including the position of the shoulder position during the massage operation. If the shoulder position of the human body is detected from the outputs of the position detection unit and the load detection unit and then returned to the massage operation , a new shoulder position can be determined more accurately. .

本発明は、肩位置付近のマッサージを行う時に使用者の姿勢のずれがあればこれが修正された状態でマッサージがなされることから、肩位置がずれたままの状態で肩位置付近のマッサージ動作がなされることがないものである。   In the present invention, when a massage near the shoulder position is performed, if there is a deviation of the posture of the user, the massage is performed in a corrected state. Therefore, the massage operation near the shoulder position can be performed with the shoulder position shifted. There is nothing that can be done.

以下、本発明を添付図面に示す実施形態に基いて説明すると、マッサージ機としては、図２に示すように、椅子の背もたれ内にマッサージ機構１を上下移動自在に配設したものにおいて、たとえば施療子２にかかる荷重を検出することができる荷重検出部３を備えたものであればよく、この施療子２にマッサージ動作を行わせるための機構に関してはどのようなものであってもよい。   Hereinafter, the present invention will be described based on an embodiment shown in the accompanying drawings. As a massage machine, as shown in FIG. 2, a massage mechanism 1 is arranged in a chair backrest so as to be movable up and down. What is necessary is just to provide the load detection part 3 which can detect the load concerning the child 2, and what kind of thing may be sufficient about the mechanism for making this treatment element 2 perform a massaging operation | movement.

また初期に行う肩位置検出は、前記従来例に記載されたものと同様に、施療子２を背もたれに沿って上下動させて、この際の荷重検出部３で検出される荷重の変化と、施療子２の上下位置及び強弱位置を検出するセンサー６を用いて行うものとすることができる。図５中の５はこのマッサージ機の動作を制御する制御部であり、操作器７が接続されている。   Further, the shoulder position detection performed in the initial stage is similar to the one described in the above-mentioned conventional example, the treatment element 2 is moved up and down along the backrest, and the load change detected by the load detection unit 3 at this time, It can be performed using the sensor 6 that detects the vertical position and strength position of the treatment element 2. 5 in FIG. 5 is a control part which controls operation | movement of this massage machine, and the operating device 7 is connected.

そして本発明に係る肩位置の再検出動作は、たとえば予めプログラムされた自動コースマッサージが図３に示すように、背中に対するローリング動作、腰に対する揉み動作、肩上に対する指圧動作・・・・を順次実行していくものである場合、施療対象が肩付近となるマッサージ動作（正確な肩位置が必要となるマッサージ動作）、図３に示すものでは肩上に対する指圧動作に移行した際、そのマッサージ動作の初期に肩位置再検出動作を行うのである。   The shoulder position re-detection operation according to the present invention includes, for example, a pre-programmed automatic course massage, as shown in FIG. 3, a rolling operation on the back, a rubbing operation on the waist, an acupressure operation on the shoulder,. If the action is to be performed, the massage operation will be performed near the shoulder (massage operation that requires an accurate shoulder position). In the case shown in FIG. The shoulder position re-detection operation is performed in the initial stage.

この時の肩位置再検出動作は、初期に行う肩位置検出動作のように施療子２を背もたれに沿って上下動させることで行うのではなく、そのマッサージ動作中（図示例では指圧動作中）に行う。   The shoulder position redetection operation at this time is not performed by moving the treatment element 2 up and down along the backrest as in the initial shoulder position detection operation, but during the massage operation (in the illustrated example, during the acupressure operation) To do.

図４にこの再検出動作のフローを示す。施療子２を上下に移動させたり突出させたりすることで上記マッサージ動作を行うにあたり、制御部５は上記荷重検出部３で検出される荷重の監視と、施療子２の位置の取り込みとを行って、初期の肩位置検出動作で得られた肩位置に施療子２が位置した時点で上記荷重検出部３で検出された荷重値が、初期の肩位置検出時に肩位置と判定したところで得られた荷重値（もしくは肩位置と判断するために予め設定した荷重値）と同じであれば、使用者の姿勢に変化は無いと判断してそのままマッサージ動作を続行する。   FIG. 4 shows a flow of this re-detection operation. In performing the massage operation by moving the treatment element 2 up and down or projecting it, the control unit 5 monitors the load detected by the load detection unit 3 and takes in the position of the treatment element 2. The load value detected by the load detection unit 3 when the treatment element 2 is positioned at the shoulder position obtained by the initial shoulder position detection operation is obtained when the shoulder position is determined at the time of initial shoulder position detection. If it is the same as the load value (or a load value set in advance to determine the shoulder position), it is determined that there is no change in the posture of the user and the massage operation is continued.

しかし、初期の肩位置検出時に肩位置と判定したところで得られた荷重値と同じ荷重値が得られた時の施療子２の位置が、初期の肩位置検出時に得られた位置と異なっていたり、初期の肩位置検出で肩位置と判定されたところに施療子２が位置する時に検出される荷重値が、初期の肩位置と判定したところで得られた荷重値と異なっていれば、制御部５は使用者の姿勢が変化したと判断して、使用者に肩位置がずれたことをアナウンスするとともに、初期の肩位置検出時に肩位置と判定したところで得られた荷重値と同じ荷重値が得られた時の施療子２の位置を新たな肩位置としたり、初期の肩位置検出時と同じ位置に施療子２が位置する時の荷重値と、初期の肩位置検出で肩位置と判定されたところに施療子２が位置する時に検出される荷重値との差の値を基に新たな肩位置を算出し、この新たな肩位置に対応させた状態で上記マッサージ動作を継続するのである。   However, the position of the treatment element 2 when the same load value as that obtained when the shoulder position is determined at the time of initial shoulder position detection is different from the position obtained at the time of initial shoulder position detection. If the load value detected when the treatment element 2 is positioned at the position determined as the shoulder position in the initial shoulder position detection is different from the load value obtained when the initial shoulder position is determined, 5 determines that the posture of the user has changed, and announces to the user that the shoulder position has shifted, and the same load value as the load value obtained when the shoulder position is determined when the initial shoulder position is detected. The position of the treatment element 2 when obtained is set as a new shoulder position, the load value when the treatment element 2 is located at the same position as the initial shoulder position detection, and the shoulder position determined by the initial shoulder position detection The load that is detected when the treatment element 2 is positioned Calculating a new shoulder position based on the value of the difference between the value is to continue the massage operation in a state of being associated to the new shoulder positions.

この時、新たな肩位置の決定は、そのマッサージ動作中に得られる荷重の変化に基づいて行うことになるが、実行中のマッサージ動作の種類によっては荷重の変化が激しくて新たな肩位置の決定が困難となることから、この場合は、実行中のマッサージ動作中に、新たな肩位置決定を容易とする動きを施療子２に行わせて、この動きの中での荷重変化から新たな肩位置を決定すればよい。この動きとしては、それまで肩位置としていたところを含む狭い範囲内で図４に示すように施療子２を背もたれに沿って下方に移動させる動きが好適である。もちろん、この動きの中で新たな肩位置が決定されれば、その時点で元のマッサージ動作に復帰する。   At this time, the determination of the new shoulder position is performed based on the change in the load obtained during the massage operation. However, depending on the type of the massage operation being performed, the change in the load is so intense that the new shoulder position is determined. Since it becomes difficult to determine, in this case, during the massage operation being performed, the treatment element 2 is caused to perform a movement that facilitates the determination of a new shoulder position, and a new change is made from the load change in this movement. What is necessary is just to determine a shoulder position. As this movement, as shown in FIG. 4, the movement of moving the treatment element 2 downward along the backrest within a narrow range including the shoulder position is suitable. Of course, if a new shoulder position is determined in this movement, it will return to the original massage operation at that time.

また、ここでは初期の肩位置検出時で得られた肩位置に対する補正で説明をしたが、肩位置の再検出動作は、施療対象が肩付近となるマッサージ動作がなされるたびに行われることから、２度目以降の肩位置再検出及び補正動作は、前回の再検出及び補正動作で決定された肩位置とその位置での荷重値を基に行う。   Also, here, the correction for the shoulder position obtained at the time of initial shoulder position detection has been described, but the shoulder position re-detection operation is performed every time a massage operation is performed in which the treatment target is near the shoulder. The second and subsequent shoulder position re-detection and correction operations are performed based on the shoulder position determined in the previous re-detection and correction operation and the load value at that position.

なお、施療対象が肩付近となるマッサージ動作の初期に肩位置再検出動作を行うだけでなく、そのマッサージ動作中に繰り返し行うようにしてもよい。また、肩位置検出（決定）に関するアルゴリズムは種々のものが存在しているが、いずれのアルゴリズムを用いるものについても本発明を適用することができる。   It should be noted that not only the shoulder position re-detection operation is performed at the initial stage of the massage operation in which the treatment target is in the vicinity of the shoulder, but also may be repeatedly performed during the massage operation. Various algorithms relating to shoulder position detection (determination) exist, but the present invention can be applied to any algorithm using any algorithm.

本発明の実施の形態の一例のフローチャートである。It is a flowchart of an example of embodiment of this invention. 同上のマッサージ機の概略断面図である。It is a schematic sectional drawing of a massage machine same as the above. 同上の自動コースマッサージの内容の一例の説明図である。It is explanatory drawing of an example of the content of the automatic course massage same as the above. 同上の動作の説明図である。It is explanatory drawing of operation | movement same as the above. 同上のブロック回路図である。It is a block circuit diagram same as the above.

符号の説明Explanation of symbols

１ マッサージ機構
２ 施療子
３ 荷重検出部 1 Massage mechanism 2 Treatment element 3 Load detector

Claims (2)

背もたれに沿って施療子を上下に移動自在としたマッサージ機構と、施療子の上下位置を検出する位置検出部と、施療子に人体側からかかる荷重を検出する荷重検出部とを備えるとともに、施療子を上下移動させた際の位置検出部と荷重検出部との出力から人体の肩位置を検出する肩位置検出機能を有する制御部を備えているマッサージ機において、
上記制御部は、検出された肩位置を基にした肩付近に対するマッサージであって施療子を上下に動かさないマッサージを含むマッサージ動作の実行中に上記位置検出部と荷重検出部との出力から肩位置にずれがあるかどうかを検出して、ずれがない場合は上記マッサージ動作を継続し、ずれがある場合は新たな肩位置を求めた後に上記マッサージ動作を継続するものであることを特徴とするマッサージ機。 A massage mechanism that allows the treatment element to move up and down along the backrest, a position detection unit that detects the vertical position of the treatment element, and a load detection unit that detects the load applied to the treatment element from the human body side, as well as treatment In the massage machine including a control unit having a shoulder position detection function for detecting the shoulder position of the human body from the output of the position detection unit and the load detection unit when the child is moved up and down ,
The controller controls the shoulder from the output of the position detector and the load detector during a massage operation that includes a massage for the vicinity of the shoulder based on the detected shoulder position and does not move the treatment element up and down. It is characterized by detecting whether or not there is a shift in position, and if there is no shift, the massage operation is continued, and if there is a shift, the massage operation is continued after obtaining a new shoulder position. Massage machine. 上記制御部は、新たな肩位置を求めるにあたり、上記マッサージ動作中にそれまで肩位置としていたところを含む範囲内で施療子を上方から下方に動かす動作を行わせて、この動作中に位置検出部と荷重検出部との出力から新たなな肩位置を検出し、その後、上記マッサージ動作に復帰させるものであることを特徴とする請求項１記載のマッサージ機。 When the controller determines a new shoulder position, it moves the treatment element from the top to the bottom within the range that includes the shoulder position during the massage operation, and detects the position during this operation. The massage machine according to claim 1, wherein a new shoulder position is detected from the outputs of the part and the load detection part, and thereafter, the massage operation is restored .
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CN2006100899126A CN1868437B (en) 2005-05-26 2006-05-26 Massager
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