JP5417400B2 - Massage machine - Google Patents

Description

    The present invention includes a treatment element for massaging the user's body, an operation unit for the user to specify the operation of the treatment element, and a control unit for controlling the operation of the treatment element in accordance with the operation of the operation unit. It relates to a massage machine.

  The massage machine of patent document 1 has an operation part which instruct | indicates operation | movement of a treatment element. The operation unit includes a pressed surface to which a user presses a finger to apply a force, and sensor means for detecting a force or a moment generated by the force applied to the pressed surface. A control part controls the drive part which drives a treatment element according to the force or moment detected by the sensor means. For this reason, the user can instruct | indicate operation | movement of a treatment element by changing the force added to a to-be-pressed surface.

Patent No. 4062241

  When the user wants to fine-tune the operation of the treatment element, for example, when the position of the treatment element relative to the body is to be moved slightly from the current position, the force generated on the pressed surface so that the treatment element moves to the desired position. Or it is necessary to change the moment. However, it is difficult to intuitively understand the relationship between the force or moment generated on the pressed surface and the operation of the treatment element. For this reason, it is difficult to move the treatment element as required.

An object of the present invention is to provide a massage machine that allows a user to intuitively fine-tune the operation of a treatment element .

  [1] An independent form of the massage machine has the following matters. The massage machine includes a treatment element, a drive unit, an operation unit, and a control unit, and the treatment element is coupled to the drive unit and operates based on an output of the drive unit, whereby the drive unit The treatment element position, which is the position of the treatment element with respect to, and the pressing force, which is the force by which the treatment element pushes the body, are changed, the operation part has a sensor part, and the sensor part is external A detection signal that changes in accordance with at least one of the magnitude of the operating force that acts on the operating unit from and the operating direction that is the direction of change in the position on which the operating force acts is output to the control unit. The drive unit outputs a driving force for driving the treatment element based on a control signal output by the control unit, and the control unit performs a treatment element position relative adjustment control and a pressing force relative adjustment control. Run at least one The treatment element position relative adjustment control outputs a control signal for changing the treatment element position on the basis of the treatment element position before the operation part is operated to the drive part based on the detection signal, In the pressing force relative adjustment control, a control signal for changing the pressing force based on the pressing force before the operation unit is operated is output to the drive unit based on the detection signal.
  [2] Another independent form of the massage machine has the following matters. The massage machine includes a treatment element, a drive unit, an operation unit, a control unit, and an adjustment limit notification unit, and the treatment element is coupled to the drive unit and operates based on an output of the drive unit. By changing at least one of the treatment element position that is the position of the treatment element with respect to the drive unit and the pressing force that is the force by which the treatment element pushes the body, the operation unit has a sensor unit, The sensor unit outputs a detection signal that changes in accordance with at least one of a magnitude of an operating force that acts on the operating unit from the outside and an operating direction that is a change direction of a position on which the operating force acts. Output to the control unit, the drive unit outputs a driving force for driving the treatment element based on a control signal output from the control unit, and the control unit performs treatment element position relative adjustment control and pressing Less relative force adjustment control On the other hand, the notification unit control is executed, and the treatment element relative adjustment control outputs a control signal for relatively adjusting the treatment element position to the driving unit based on the detection signal, and the pressing The force relative adjustment control outputs a control signal for relatively adjusting the pressing force to the drive unit based on the detection signal, and the notification unit control is performed when at least one of the treatment element position and the pressing force is Based on the detection signal suggesting that the limit of the relative adjustable range has been reached, the adjustment limit notification unit outputs a notification signal, and the adjustment limit notification unit uses a visual method. At least one of the visual notification information based on the information and the auditory notification information based on the auditory method is output based on the notification signal.
  [3] One form subordinate to the massage machine has the following matters. The treatment element relative adjustment control is configured to send a control signal for relatively adjusting the treatment element position to the drive unit based on the fact that the detection signal indicates that the operation of tracing the operation unit has been performed. And the control signal for adjusting the pressing force relative to the driving unit based on the fact that the detection signal indicates that the operation of tracing the operation unit has been performed. Output to.
  [4] One form subordinate to the massage machine has the following matters. The therapeutic element position relative adjustment control is based on the fact that the detection signal suggests that an operation of tracing the operation unit in the vertical direction is performed, and the therapeutic element position is relative to the massage machine in the vertical direction. A control signal to be adjusted to the drive unit, and the pressing force relative adjustment control is based on the fact that the detection signal indicates that the operation unit is moved in the vertical direction. A control signal for relatively adjusting the pressing force acting in the vertical direction of the machine is output to the drive unit.
  [5] One form subordinate to the massage machine has the following matters. The therapeutic element position relative adjustment control is based on the fact that the detection signal indicates that an operation of tracing the operation unit in the horizontal direction is performed. A control signal to be adjusted to the drive unit, and the pressing force relative adjustment control is based on the fact that the detection signal indicates that the operation unit is moved in the horizontal direction. A control signal for relatively adjusting the pressing force acting in the left-right direction of the machine is output to the drive unit.
  [6] One form subordinate to the massage machine has the following matters. In the treatment element relative adjustment control, a control signal for relatively adjusting the treatment element position is supplied to the drive unit based on the fact that the detection signal indicates that the operation of hitting the operation unit has been performed. Output the control signal for adjusting the pressing force relative to the driving unit based on the fact that the detection signal indicates that the operation of hitting the operation unit is performed. Output to.
  [7] One form dependent on the massage machine has the following matters. The treatment element relative adjustment control relatively adjusts the treatment element position in the front-rear direction of the massage machine based on the fact that the detection signal indicates that the operation unit has been hit. The control signal is output to the drive unit, and the pressing force relative adjustment control acts in the front-rear direction of the massage machine based on the fact that the detection signal indicates that the operation unit has been hit. A control signal for relatively adjusting the pressing force is output to the driving unit.
  [8] One form dependent on the massage machine has the following matters. The treatment element relative adjustment control is configured to send a control signal for relatively adjusting the treatment element position based on the fact that the detection signal indicates that the operation unit has been pushed for a long time. The pressing force relative adjustment control outputs a control signal for relatively adjusting the pressing force based on the fact that the detection signal indicates that an operation of pressing the operation unit for a long time has been performed. Output to the drive unit.
  [9] One form subordinate to the massage machine has the following matters. The treatment element relative adjustment control relatively adjusts the treatment element position in the front-rear direction of the massage machine based on the fact that the detection signal indicates that the operation unit has been pushed long. A control signal to be output to the drive unit, and the pressing force relative adjustment control is based on the fact that the detection signal indicates that the operation unit has been pushed for a long time, A control signal for relatively adjusting the pressing force acting on is output to the drive unit.
  [10] One form subordinate to the massage machine has the following matters. The treatment element relative adjustment control relatively adjusts the treatment element position based on the fact that the detection signal suggests that the operation unit has been hit several times within a predetermined time. The control signal is output to the drive unit, and the pressing force relative adjustment control is based on the fact that the detection signal indicates that the operation unit has been hit several times within a predetermined time. A control signal for relatively adjusting the pressing force is output to the drive unit.
  [11] One form subordinate to the massage machine has the following matters. The massage machine includes a detection result notification unit, and the detection result notification unit outputs at least one of visual notification information based on a visual method and auditory notification information based on an auditory method. Based on the detection signal, at least one of the visual notification information and the auditory notification information is output to the detection result notification unit.
  [12] One form subordinate to the massage machine has the following matters. The shape of the operation unit is a shape simulating a human body, a shape simulating an animal body, or a shape simulating a part where the treatment element is arranged in the massage machine.

  ADVANTAGE OF THE INVENTION According to this invention, the massage machine which a user can finely adjust operation | movement of a treatment element intuitively can be provided.

The perspective view of the massage machine of embodiment. The block diagram of the massage machine of embodiment. (A) The schematic diagram which shows the operation | movement which the treatment element of embodiment moves upwards. (B) Treatment child The schematic diagram which shows the operation | movement which moves below. (A) The schematic diagram which shows the operation | movement which the treatment element of embodiment moves to the right. (B) Treatment child The schematic diagram which shows the operation | movement which moves to the left. (A) The schematic diagram which shows the operation | movement which the treatment element of embodiment rotates ahead. (B) Treatment child The schematic diagram which shows the operation | movement which rotates backward. The side view of the operating device of embodiment. (A) The side view of the sensor part of embodiment. (B) The top view of a sensor part. The schematic diagram which shows the operation | movement which traces the sensor part of embodiment to a vertical direction. The schematic diagram which shows the operation | movement which traces the sensor part of embodiment to a horizontal direction. The schematic diagram which shows the operation | movement which pushes the sensor part of embodiment long, and the operation | movement which strikes. The side view of the backrest of other embodiment. The front view of the alerting | reporting part of other embodiment. The top view of the sensor part of other embodiments. (A) The top view of the sensor part of other embodiment. (B) Another embodiment The top view of the sensor part of a state. (A) The perspective view of the massage machine of other embodiment. (B) Another other fruit The perspective view of the massage machine of embodiment.

An embodiment of the present invention will be described with reference to FIGS.
As shown in FIG. 1, the chair type massage machine 1 includes a seat 11 on which a user sits, a backrest 12 on which the user's back is held, and armrests 13A and 13B on which the user's elbow is held. Are provided with a chair 10.

  Hereinafter, the direction in which the backrest 12 extends along the back of the user is defined as the vertical direction. The direction in which the seating portion 11 extends from the lower end portion of the backrest 12 is the front in the front-rear direction. Further, a direction perpendicular to the up-down direction and the front-rear direction is defined as the left-right direction.

  The backrest 12 stands upward from the rear end portion of the seating portion 11. The right armrest 13 </ b> A and the left armrest 13 </ b> B are provided with an interval in the left-right direction across the seating portion 11. When the user sits on the seat 11 with the backrest 12 on the back, the user's right elbow is hung on the right armrest 13A, and the left elbow is hung on the left armrest 13B.

  The chair type massage machine 1 includes a massage mechanism 20 having a kneading ball 24, a control unit 31 that controls the massage mechanism 20, and a doll-type operation device 40 that operates a massage operation by the massage mechanism 20.

  The massage mechanism 20 provided inside the backrest 12 has a moving body 25 that can move in the vertical direction. The moving body 25 is provided with a pair of kneading balls 24 spaced apart in the left-right direction. The kneading balls 24 are configured to be movable in the front-rear direction and the left-right direction.

  The pair of kneading balls 24 grab the user's body by repeating the action of increasing and decreasing the distance between them. In other words, the kneading balls 24 correspond to treatment elements that massage the user's body.

  The operating device 40 is configured as a separate body from the chair 10. That is, although the operating device 40 is provided on the right armrest 13A in FIG. 1, the operating device 40 can be lifted from the right armrest 13A and used. The operating device 40 is connected to the chair 10 via the cord 14. The operation device 40 corresponds to an operation unit for designating the massage operation of the kneading balls 24.

  As shown in FIG. 2, the chair 10 of the chair type massage machine 1 is provided with a massage mechanism 20 including drive mechanisms 21 to 23, a control unit 31, and a notification unit 32 configured by a speaker. . Each drive mechanism 21 to 23 operates based on a signal input from the control unit 31.

  The first drive mechanism 21 includes a guide rail 21 </ b> A (see FIG. 3) that extends along the vertical direction and an electric motor (not shown) that drives the moving body 25. The first drive mechanism 21 adjusts the vertical position of the kneading balls 24 by moving the moving body 25 in the vertical direction.

The second drive mechanism 22 has an electric motor (not shown) that drives the kneading balls 24. The second drive mechanism 22 adjusts the position of the kneading balls 24 in the left-right direction.
The third drive mechanism 23 includes an arm 26 (see FIG. 3) provided with a kneading ball 24 at the tip, and an electric motor (not shown) that rotates the arm 26 about an axis A parallel to the left-right direction. The third drive mechanism 23 adjusts the position of the kneading balls 24 in the front-rear direction.

  When the operation device 40 is operated by the user of the chair type massage machine 1 as a user, the control unit 31 controls the drive mechanisms 21 to 23 based on a signal input from the operation device 40 via the cord 14. Control. By controlling the drive mechanisms 21 to 23, the position of the kneading balls 24 and the pressing force, which is the force for pressing the user's body, are adjusted. That is, the control unit 31 controls the massage operation of the kneading balls 24 according to the operation of the operating device 40.

  The control unit 31 causes the notification unit 32 to perform a notification operation when controlling the drive mechanisms 21 to 23 based on a signal input from the operating device 40. That is, the notification unit 32 generates a sound or a sound when the position of the kneading balls 24 is adjusted. Therefore, the notification unit 32 corresponds to a detection result notification unit that notifies the detection result of the sensor unit 50 by an auditory method.

  In addition, when the position of the kneading balls 24 cannot be adjusted based on a signal input from the operating device 40, the control unit 31 generates a different sound or sound than when the position of the kneading balls 24 is adjusted. That is, the notification unit 32 corresponds to an adjustment limit notification unit that notifies by an auditory method that at least one of the position of the kneading balls 24 and the pressing force has reached the limit of the relative adjustable range.

  With reference to FIG. 3, the position adjustment of the kneading balls 24 by the first drive mechanism 21 of FIG. 2 will be described. 3 (a) and 3 (b), the kneading balls 24 indicated by solid lines indicate positions before position adjustment is performed in the vertical direction. Further, the kneading balls 24 indicated by the two-dot chain line indicate the positions after the position adjustment is performed in the vertical direction.

  When a signal for moving the kneading balls 24 upward is input from the control unit 31 (see FIG. 2), the first drive mechanism 21 uses an electric motor to guide the guide rail 21A as shown in FIG. The moving body 25 is moved upward along. When a signal for moving the kneading balls 24 downward is input from the control unit 31, as shown in FIG. 3B, the moving body 25 is moved downward along the guide rails 21A using an electric motor. . In this way, the first drive mechanism 21 changes the position of the kneading balls 24 in the vertical direction. Further, the amount of change by which the first drive mechanism 21 changes the position of the kneading balls 24 is determined. That is, when a signal for moving the kneading balls 24 is input from the control unit 31 to the first drive mechanism 21, the position of the kneading balls 24 changes by one step. Therefore, when the signal for moving the kneading balls 24 is repeatedly input from the control unit 31 to the first drive mechanism 21, the position of the kneading balls 24 changes in multiple stages.

  With reference to FIG. 4, the position adjustment of the kneading balls 24 by the second drive mechanism 22 of FIG. 2 will be described. 4 (a) and 4 (b), the kneading balls 24 indicated by solid lines indicate positions before the position adjustment is performed in the left-right direction. Moreover, the kneading balls 24 indicated by a two-dot chain line indicate positions after the position adjustment is performed in the left-right direction.

  When a signal for moving the kneading balls 24 to the right is input from the control unit 31 (see FIG. 2), the second drive mechanism 22 uses the electric motor to turn the backrest 12 as shown in FIG. The kneading balls 24 are moved to the right. When a signal for moving the kneading balls 24 to the left is input from the control unit 31, the kneading balls 24 are moved to the left in the backrest 12 using an electric motor as shown in FIG. 4B. Thus, the 2nd drive mechanism 22 changes the position of the kneading ball 24 in the left-right direction. Further, the amount of change by which the second drive mechanism 22 changes the position of the kneading balls 24 is determined. That is, when a signal for moving the kneading balls 24 is input from the control unit 31 to the second drive mechanism 22, the position of the kneading balls 24 changes by one step. Therefore, the position of the kneading balls 24 changes in multiple stages by repeatedly inputting a signal for moving the kneading balls 24 from the control unit 31 to the second drive mechanism 22.

  With reference to FIG. 5, the position adjustment of the kneading balls 24 by the third drive mechanism 23 of FIG. 2 will be described. 5 (a) and 5 (b), the kneading balls 24 indicated by solid lines indicate positions before position adjustment is performed in the front-rear direction. Moreover, the kneading balls 24 indicated by a two-dot chain line indicate the positions after the position adjustment is performed in the front-rear direction.

  When a signal for moving the kneading balls 24 forward is input from the control unit 31 (see FIG. 2), the third drive mechanism 23 moves the arm 26 forward using an electric motor as shown in FIG. Rotate toward When a signal for moving the kneading balls 24 backward is input from the control unit 31, as shown in FIG. 5B, the arm 26 is rotated backward using an electric motor. Thus, the 3rd drive mechanism 23 changes the position of the kneading ball 24 in the front-back direction. Further, the amount of change by which the third drive mechanism 23 changes the position of the kneading balls 24 is determined. That is, when a signal for moving the kneading balls 24 is input from the control unit 31 to the third drive mechanism 23, the position of the kneading balls 24 changes by one step. Therefore, when the signal for moving the kneading balls 24 is repeatedly input from the control unit 31 to the third drive mechanism 23, the position of the kneading balls 24 changes in multiple stages.

  Further, the protrusion amount P1 of the kneading balls 24 indicated by the two-dot chain line in FIG. 5A is larger than the protrusion amount P2 of the kneading balls 24 indicated by the solid line in FIG. Further, the protruding amount P3 of the kneading balls 24 indicated by the two-dot chain line in FIG. 5B is smaller than the protruding amount P2 of the kneading balls 24 indicated by the solid line of FIG. The protruding amounts P1, P2, and P3 are distances from the axis A that is the rotation center of the arm 26 to the tip of the kneading balls 24 in a direction perpendicular to the vertical direction. That is, the degree to which the kneading balls 24 protrude forward in a direction perpendicular to the vertical direction is shown. The more the kneading balls 24 project forward in the direction perpendicular to the vertical direction, the greater the pressing force, which is the force with which the kneading balls 24 push the user's body when the user is held on the backrest 12. Therefore, the third drive mechanism 23 changes the pressing force of the kneading balls 24 by changing the position of the kneading balls 24 in the front-rear direction.

The operating device 40 will be described in detail with reference to FIGS. 6 and 7.
As shown in FIG. 6, the operating device 40 has a shape imitating a user's body. That is, the operating device 40 includes a trunk portion 41 that simulates a trunk, and a limb portion 42 and a head portion 43 that protrude from the trunk portion 41.

  The torso portion 41 has a back equivalent portion 41A corresponding to the back of the user to be massaged by the kneading balls 24 of FIG. A flat sensor portion 50 is provided in the back equivalent portion 41A. The sensor unit 50 detects the magnitude of an operating force that is a force acting on the operating device 40 from the outside, and an operating direction that is a change direction of a position where the operating force acts. The sensor unit 50 detects the magnitude of the force acting on the sensor unit 50 as the magnitude of the operating force, and detects the direction of change in the position where the operating force acts on the sensor unit 50 as the operating direction.

  As shown in FIG. 7, the sensor unit 50 includes a sensor substrate 51, a silicon gel 52 provided on the sensor substrate 51, and a number of pressure sensors 53 embedded in the sensor substrate 51. The plurality of pressure sensors 53 arranged in a grid are provided at predetermined intervals in the vertical and horizontal directions perpendicular to each other. The pressure sensor 53 is covered with a sheet-like silicon gel 52.

  The user operates the operating device 40 shown in FIG. 6 by pressing the sensor unit 50 from above the silicon gel 52 with a finger. When the finger is pressed from above the silicon gel 52, the pressure sensor 53 outputs an electrical signal corresponding to the force with which the finger presses the sensor unit 50 to the control unit 31. Since the force with which the finger presses the sensor unit 50 is dispersed by the silicon gel 52, when an arbitrary part on the silicon gel 52 is pressed with the finger, the pressure sensor 53 provided around the part controls the electrical signal. To 31. Further, a greater electrical signal is output to the control unit 31 as the pressure sensor 53 is provided closer to the portion on the silicon gel 52 pressed by the finger. Therefore, the control unit 31 can estimate the position pressed by the user's finger in the sensor unit 50 of the operating device 40 based on the output of the pressure sensor 53, and the operation direction can be detected by a plurality of pressure sensors. This is performed based on the time-series data of 53 outputs.

The operation detected by the sensor unit 50 will be described with reference to FIGS.
As shown in FIG. 8, the sensor unit 50 detects an operation of tracing the sensor unit 50 of the operating device 40 shown in FIG. 6 in the vertical direction based on the operation direction by the finger. At this time, based on the detection result of the sensor unit 50, the control unit 31 of FIG. 2 detects either the operation of tracing in the A direction or the operation of tracing in the B direction as the operation of tracing the sensor unit 50 in the vertical direction. When the sensor unit 50 is traced in the A direction, the control unit 31 outputs a signal for moving the kneading balls 24 upward to the first drive mechanism 21 shown in FIG. When the sensor unit 50 is traced in the B direction, the control unit 31 outputs a signal for moving the kneading balls 24 downward to the first drive mechanism 21 shown in FIG.

  As illustrated in FIG. 9, the sensor unit 50 detects an operation of tracing the sensor unit 50 of the operating device 40 illustrated in FIG. 6 in the lateral direction based on the operation direction with the finger. At this time, based on the detection result of the sensor unit 50, the control unit 31 of FIG. 2 detects either the operation of tracing in the C direction or the operation of tracing in the D direction as the operation of tracing the sensor unit 50 in the horizontal direction. When the sensor unit 50 is traced in the D direction, the control unit 31 outputs a signal for moving the kneading balls 24 to the right to the second drive mechanism 22 shown in FIG. When the sensor unit 50 is traced in the C direction, the control unit 31 outputs a signal for moving the kneading balls 24 to the left to the second drive mechanism 22 shown in FIG.

  As shown in FIG. 10, the sensor unit 50 detects an operation of pushing and tapping the sensor unit 50 of the operating device 40 for a long time based on a time during which an operation force by a finger acts. The control unit 31 in FIG. 2 determines that an operation of pressing the sensor unit 50 for a long time is detected if the time during which the operating force is applied in the sensor unit 50 is equal to or longer than a predetermined time (for example, 1 second). A signal for moving forward is output to the third drive mechanism 23 shown in FIG. In addition, if the time during which the operating force is applied in the sensor unit 50 is less than a predetermined time (for example, 1 second), the control unit 31 determines that an operation of hitting the sensor unit 50 has been detected and moves the kneading balls 24 backward. The signal to move is output to the 3rd drive mechanism 23 shown in FIG.

Operation | movement of the chair type massage machine 1 by the said structure is demonstrated.
As shown in FIG. 8, when the finger is moved in the A direction while maintaining the state where the sensor unit 50 is pressed with the finger, that is, when the finger is traced in the A direction, as shown in FIG. As shown, the kneading balls 24 move upward. Further, when the finger is moved in the B direction while maintaining the state where the sensor unit 50 is pressed with the finger, that is, when the finger is traced in the B direction, as shown in FIG. 24 moves downward. As described above, the control unit 31 changes the position of the kneading balls 24 in the vertical direction of the chair type massage machine 1 when the sensor unit 50 detects an operation of tracing the operating device 40 in the vertical direction. That is, the control unit 31 changes the position of the kneading balls 24 with respect to the position of the kneading balls 24 before operating the operating device 40, thereby changing the position of the kneading balls 24 in the vertical direction of the chair type massage machine 1. Adjust relatively.

  Further, as shown in FIG. 9, when the finger is moved in the D direction while maintaining the state where the sensor unit 50 is pressed with the finger, that is, when the finger is traced in the D direction, FIG. As shown, the massaging ball 24 moves to the right. Further, when the finger is moved in the C direction while maintaining the state where the sensor unit 50 is pressed with the finger, that is, when the finger is traced in the C direction, as shown in FIG. 24 moves to the left. Thus, the control part 31 changes the position of the kneading balls 24 in the left-right direction of the chair type massage machine 1 when the movement of tracing the operating device 40 in the lateral direction is detected by the sensor part 50. That is, the control unit 31 changes the position of the kneading balls 24 relative to the position of the kneading balls 24 before operating the operating device 40, thereby changing the position of the kneading balls 24 in the left-right direction of the chair type massage machine 1. Adjust relatively.

  In addition, when the finger is traced diagonally with respect to the vertical direction and the horizontal direction, the kneading balls 24 move simultaneously in the vertical direction and the horizontal direction. That is, the controller 31 detects the position of the kneading balls 24 in the vertical and horizontal directions of the chair-type massage machine 1 when the sensor unit 50 detects an operation of tracing the operating device 40 obliquely with respect to the vertical and horizontal directions. At the same time.

  Also, as shown in FIG. 10, when the sensor unit 50 is pushed long with a finger, the kneading balls 24 move forward as shown in FIG. 5 (a). Further, when the sensor unit 50 is tapped with a finger, the kneading balls 24 move backward as shown in FIG. 5B. In this way, the control unit 31 changes the position of the kneading balls 24 in the front-rear direction of the chair type massage machine 1 when an operation of pushing or tapping the operation device 40 for a long time is detected by the sensor unit 50. That is, the control unit 31 changes the position of the kneading balls 24 with respect to the position of the kneading balls 24 before operating the operating device 40, thereby changing the position of the kneading balls 24 in the front-rear direction of the chair type massage machine 1. The pressing force of the kneading balls 24 acting in the front-rear direction is relatively adjusted.

  When the position of the kneading balls 24 is relatively adjusted, the notification unit 32 generates a sound or a sound to notify that an operation of tracing the sensor unit 50, a long pressing operation, or a tapping operation is detected. Further, when the position of the kneading balls 24 cannot be adjusted relatively, the notification unit 32 generates a sound or a sound, and at least one of the position of the kneading balls 24 and the pressing force reaches the limit of the relative adjustable range. Notify that

(Effect of embodiment)
According to the chair type massage machine 1, the following effects are obtained.
(1) The chair type massage machine 1 includes a kneading ball 24, an operation device 40, and a control unit 31. The operating device 40 includes a sensor unit 50 that detects at least one of the magnitude of the operating force that is applied to the operating device 40 from the outside and the operating direction that is the direction of change in the position at which the operating force is applied. Then, the control unit 31 relatively adjusts at least one of the position of the kneading balls 24 and the pressing force that is the force with which the kneading balls 24 press the body, based on the time or the operation direction in which the operating force acts. Accordingly, the control unit 31 relatively adjusts at least one of the position and the pressing force of the kneading balls 24 based on one of the magnitude of the operation force detected by the sensor unit 50 and the operation direction, whereby the kneading balls 24. Can be fine-tuned. At this time, fine adjustment of the operation of the kneading balls 24 is performed based on the time or the operation direction in which the operation force is applied. That is, fine adjustment of the operation of the kneading balls 24 is performed based on the time when the force is applied to the operating device 40 from the outside or the direction of change of the position where the external force is applied to the operating device 40. Therefore, the operation of the kneading balls 24 can be finely adjusted by operations such as tracing, tapping, long pressing, and tapping multiple times, and the user of the chair type massage machine 1 can move the kneading balls 24. Intuitive fine adjustment is possible.

  (2) The operating device 40 has a shape imitating a user's body, that is, a human body. For this reason, the user of the chair type massage machine 1 can finely adjust at least one of the position of the kneading balls 24 relative to the body and the pressing force more intuitively.

  (3) The control unit 31 specifies the direction in which the kneading balls 24 are moved by the tracing operation in order to relatively adjust the position of the kneading balls 24 based on the operation of tracing the sensor unit 50 of the operating device 40. Can do. Further, by tracing the sensor unit 50 obliquely with respect to the vertical direction and the horizontal direction of the sensor unit 50, the position of the kneading balls 24 in the vertical direction and the horizontal direction can be adjusted quickly and easily.

  (4) The control unit 31 relatively adjusts the position and the pressing force of the kneading balls 24 based on the operation of hitting the sensor unit 50 of the operating device 40. For this reason, the position of the kneading balls 24 in the front-rear direction and the pressing force acting in the front-rear direction can be easily adjusted by hitting any part of the sensor unit 50.

  (5) The control unit 31 relatively adjusts the position and the pressing force of the kneading balls 24 based on an operation of pressing the sensor unit 50 of the operating device 40 for a long time. For this reason, the position of the kneading balls 24 in the front-rear direction and the pressing force acting in the front-rear direction can be easily adjusted by hitting any part of the sensor unit 50.

  (6) Since the chair type massage machine 1 has the notification unit 32 that notifies the detection result of the sensor unit 50 by an auditory method, the user confirms that the operation of operating the operation device 40 is detected. Can do.

  (7) The chair-type massage machine 1 has a notification unit 32 that notifies by an auditory method that at least one of the position of the kneading balls 24 and the pressing force has reached the limit of the relative adjustable range. For this reason, the user can confirm that the fact that the fine adjustment of the operation of the kneading balls 24 cannot be further performed is not due to a failure.

(Other embodiments)
Note that the embodiments of the present invention are not limited to the above-described embodiments, and can be modified as shown below, for example. Further, the following modified examples are not applied only to the above-described embodiments, and different modified examples can be implemented in combination with each other.

  In the above embodiment, the control unit 31 relatively adjusts the position of the kneading balls 24 when the motion of tracing the operating device 40 in the vertical direction is detected by the sensor unit 50, but instead of this, the vertical direction The pressing force of the kneading balls 24 that act on can also be adjusted relatively. For example, as shown in FIG. 11, in a state where the kneading balls 24 are provided on the shoulder of the user M, the first driving mechanism 21 drives the moving body 25, so that the kneading balls 24 are the user M's. The force F pushing the body can be adjusted relatively. Further, the third drive mechanism 23 rotates the arm 26 forward, so that the force F by which the kneading balls 24 push the body of the user M can be relatively adjusted. Therefore, when the motion of tracing the operating device 40 in the vertical direction is detected by the sensor unit 50, the control unit 31 uses the at least one of the first drive mechanism 21 and the third drive mechanism 23 so that the kneading balls 24 move the body. It is also possible to relatively adjust the pressing force, which is the pressing force.

  In the above embodiment, the control unit 31 relatively adjusts the position of the kneading balls 24 when the operation of tracing the operating device 40 in the horizontal direction is detected by the sensor unit 50, but instead, the control unit 31 performs the horizontal direction The pressing force of the kneading balls 24 that act on can also be adjusted relatively. For example, when a finger is traced in the D direction in the sensor unit 50, an adjustment is made to increase the force with which the kneading balls 24 press the user's body by adopting a configuration in which the distance between the pair of kneading balls 24 is narrowed. It can be carried out. Further, by adopting a configuration in which the distance between the pair of kneading balls 24 is widened when the finger is traced in the C direction in the sensor unit 50, an adjustment is made to reduce the force with which the kneading balls 24 press the user's body. It can also be done. Therefore, when the movement of tracing the operating device 40 in the lateral direction is detected by the sensor unit 50, the control unit 31 can relatively adjust the pressing force that is the force with which the kneading balls 24 press the body.

  -In the said embodiment, although the variation | change_quantity of the position of the kneading ball 24 when the sensor part 50 is traced once is decided, according to the distance which traced the sensor part 50 of the operating device 40 with a finger | toe, a control part 31 can also determine the amount of change in the position of the kneading balls 24. Further, in the configuration in which the control unit 31 relatively adjusts the pressing force, which is the force with which the kneading balls 24 press the body, the control unit 31 squeezes according to the distance that the sensor unit 50 of the operating device 40 is traced with a finger. The pressing force of the ball 24 can also be determined. That is, the control unit 31 relatively adjusts at least one of the position of the kneading balls 24 and the pressing force based on the amount of change (operation amount) of the position where the operating force that is an external force acts on the operating device 40. can do.

  In the above embodiment, the amount of change in the position of the kneading balls 24 when the operation of pressing the sensor unit 50 for a long time is detected is determined, but depending on the time when the sensor unit 50 of the operating device 40 is pressed with a finger The control unit 31 can also determine the amount of change in the position of the kneading balls 24 and the pressing force. According to such a configuration, the position and pressing force of the kneading balls 24 can be changed only while the sensor unit 50 of the operating device 40 is continuously pressed with a finger, and the operation of the kneading balls 24 can be further improved. Fine adjustment can be made more intuitively.

  -In the said embodiment, although the variation | change_quantity of the position of the kneading ball 24 when the operation | movement which pushes the sensor part 50 long or the operation | movement which hits is detected is decided, according to the magnitude | size of operation force, the control part 31 is The amount of change in the position of the kneading balls 24 and the pressing force can also be determined. Further, the moving speed of the kneading balls 24, that is, the adjustment speed of the position of the kneading balls 24 can be changed according to the magnitude of the operating force. For example, when the magnitude of the operating force is greater than or equal to a predetermined value, the speed of adjusting the position of the kneading balls 24 is increased, and when the magnitude of the operating force is less than the predetermined speed, the speed of adjusting the position of the kneading balls 24 is decreased. You can also

  In the above embodiment, the kneading balls 24 move in the vertical direction when the sensor unit 50 is traced in the vertical direction. For example, a configuration is adopted in which the kneading balls 24 are moved in the vertical direction by tracing the sensor unit 50 in the horizontal direction. You can also According to such a configuration, since the kneading balls 24 move in the vertical direction when the sensor unit 50 is traced in either the vertical direction or the horizontal direction, two types of adjustments are performed for adjusting the position of the kneading balls 24 in the vertical direction. You can set the method. Therefore, it is possible to improve the usability of the operating device 40 when adjusting the position of the kneading balls 24 in the vertical direction. Further, the amount by which the massaging balls 24 are moved in the vertical direction when the sensor unit 50 is traced in the vertical direction is different from the amount by which the massaging balls 24 are moved in the vertical direction when the sensor unit 50 is traced in the horizontal direction. You can also Further, in the configuration in which the pressing force of the kneading balls 24 is relatively adjusted by tracing the sensor unit 50 of the operating device 40 with a finger, the kneading balls 24 acting in the vertical direction by tracing the sensor unit 50 in the horizontal direction. A configuration in which the pressing force is relatively adjusted may be employed. According to such a configuration, it is possible to improve the usability of the operating device 40 when adjusting the position of the kneading balls 24 in the vertical direction and the pressing force of the kneading balls 24 acting in the vertical direction.

  In the above embodiment, the kneading balls 24 move in the left-right direction when the sensor unit 50 is traced in the horizontal direction. For example, a configuration is adopted in which the kneading balls 24 are moved in the left-right direction by tracing the sensor unit 50 in the vertical direction. You can also According to such a configuration, since the kneading balls 24 move in the left-right direction when the sensor unit 50 is traced in either the vertical direction or the horizontal direction, two types of adjustments are performed for adjusting the position of the kneading balls 24 in the left-right direction. You can set the method. Therefore, the usability of the operating device 40 when adjusting the position of the kneading balls 24 in the left-right direction can be improved. Further, the amount by which the massaging balls 24 are moved in the left-right direction when the sensor unit 50 is traced in the vertical direction is different from the amount by which the massaging balls 24 are moved in the left-right direction when the sensor unit 50 is traced in the horizontal direction. You can also In the configuration in which the pressing force of the kneading balls 24 is relatively adjusted by tracing the sensor unit 50 of the operating device 40 with a finger, the kneading balls 24 acting in the left-right direction by tracing the sensor unit 50 in the vertical direction. A configuration in which the pressing force is relatively adjusted may be employed. According to such a configuration, it is possible to improve the usability of the operating device 40 when adjusting the position of the kneading balls 24 in the left-right direction and the pressing force of the kneading balls 24 acting in the left-right direction.

  In the above embodiment, the kneading balls 24 move in the vertical direction when the sensor unit 50 is traced, but instead, a configuration in which the kneading balls 24 are moved in the front-rear direction when the sensor unit 50 is traced is adopted. You can also.

  In the above embodiment, the kneading balls 24 move in the left-right direction when the sensor unit 50 is traced, but instead, a configuration is adopted in which the kneading balls 24 are moved in the front-rear direction when the sensor unit 50 is traced. You can also.

  In the above embodiment, the sensor unit 50 detects an operation of tracing the operation device 40, a tapping operation, and a long pressing operation. However, the sensor unit 50 of the operation device 40 is moved a plurality of times based on the time when the operation force is applied. It is also possible to detect a hitting operation. In the above embodiment, the kneading balls 24 move forward when the sensor unit 50 is pushed long with a finger. Instead, the kneading balls 24 are moved when the sensor unit 50 is struck multiple times. It is also possible to adopt a configuration in which the is moved forward. That is, for example, when the operation force is applied to the sensor unit 50 a predetermined number of times during a predetermined time, the control unit 31 determines that the operation of hitting the sensor unit 50 a plurality of times is detected, and moves the kneading balls 24 forward. A signal can also be output to the third drive mechanism 23. Moreover, the structure which adjusts the position of the kneading ball 24 according to the frequency | count of hitting the sensor part 50 in predetermined time is also employable. For example, when the motion of hitting twice in a predetermined time (for example, 1 second) is detected, the grind ball 24 is moved upward, and when the motion of hitting in a predetermined time (for example, 1 second) is detected, A configuration in which the kneading balls 24 are moved downward can also be adopted. Moreover, the structure which adjusts the position of the kneading ball 24 according to the space | interval of the operation | movement which hits in multiple times is also employable.

  In the above-described embodiment, the position of the kneading balls 24 in the vertical direction is adjusted based on the operation of tracing the operating device 40, but the kneading balls in the vertical direction based on the hitting operation, the long pressing operation, or the hitting operation multiple times. The position of 24 can also be adjusted. Further, the pressing force of the kneading balls 24 acting in the vertical direction can be adjusted based on a hitting operation, a long pressing operation, or a hitting operation multiple times.

  In the above-described embodiment, the position of the kneading balls 24 in the left-right direction is adjusted based on the operation of tracing the operating device 40. However, the kneading balls in the left-right direction based on the hitting operation, the long pressing operation, or the tapping operation multiple times. The position of 24 can also be adjusted. Also, the pressing force of the kneading balls 24 acting in the left-right direction can be adjusted based on a hitting operation, a long pressing operation, or a hitting operation multiple times.

  In the above-described embodiment, the position of the kneading balls 24 in the front-rear direction is adjusted based on the operation of hitting the operation device 40 and the operation of pushing the operation device 40, but the kneading balls 24 in the front-rear direction are adjusted based on the tracing operation or the operation of tapping multiple times. The position and the pressing force can be adjusted.

  In the above embodiment, adjustment is made to reduce the pressing force of the kneading balls 24 when an operation of hitting the operating device 40 is detected. However, when an operation of pushing for a long time or hitting a plurality of times is detected, the kneading balls 24 It is also possible to employ a configuration that performs adjustment to reduce the pressing force.

  In the above embodiment, adjustment is performed to increase the pressing force of the kneading balls 24 when an operation of pressing the operation device 40 for a long time is detected. However, when a tapping operation or a tapping operation is detected a plurality of times, the kneading balls 24 It is also possible to adopt a configuration that performs adjustment to increase the pressing force.

  -In above-mentioned embodiment, although the alerting | reporting part 32 is provided in the chair 10, the alerting | reporting part 32 can also be provided in the operating device 40. FIG. For example, in the doll-shaped operating device 40, the notification unit 32 may be provided on the head 43 including a portion corresponding to the mouth.

  -In above-mentioned embodiment, although the alerting | reporting part 32 alert | reports the detection result of the sensor part 50 by an auditory method, for example, as FIG. 12 shows, the alerting | reporting part 32 is comprised by LED (Light Emitting Diode) 32A, 32B. You can also LED32A, 32B is provided in the right armrest 13A of the chair 10, for example. The LED 32A lights up when the kneading balls 24 are moved upward. The LED 32B lights up when the kneading balls 24 are moved downward. That is, even if the notification unit 32 is configured to notify the detection result of the sensor unit 50 by a visual method, the effect described in (6) above can be obtained. In addition, LED32A, 32B can also be provided in addition to the chair 10. That is, the notification unit 32 can be provided, for example, in the operating device 40 or a conventional operating device (not shown) provided with a push button. Moreover, a detection result alerting | reporting part can also be comprised with the combination of a speaker and LED.

  In the above embodiment, the notification unit 32 notifies by an auditory method that at least one of the position of the kneading balls 24 and the pressing force has reached the limit of the relative adjustable range. Similarly, the notification part 32 can also be comprised with LED. That is, even if the notification unit 32 notifies the fact that at least one of the position of the kneading balls 24 and the pressing force has reached the limit of the relative adjustable range by a visual method, it is described in (7) above. The effect of can be obtained. The adjustment limit notification unit can also be configured by a combination of a speaker and an LED.

  In the above embodiment, the pressure sensors 53 are provided in a lattice shape, but the arrangement and number of the pressure sensors 53 can be changed as appropriate. For example, as shown in FIG. 13, a configuration in which pressure sensors 53 are provided at the four corners of the sensor substrate 51 may be employed. According to such a configuration, the cost can be reduced by reducing the number of pressure sensors 53 as compared with the sensor unit 50 shown in FIG.

  In the above embodiment, the position of the kneading balls 24 in the up-down direction, the left-right direction, and the front-rear direction can be adjusted, but the position of the kneading balls 24 in any one of the up-down direction, the left-right direction, and the front-rear direction can be adjusted. A configuration to be adjusted can also be adopted. Moreover, the structure which adjusts the position of the kneading ball 24 in any two directions of the up-down direction, the left-right direction, and the front-back direction is also employable.

  In the above embodiment, the sensor unit 50 detects the motion of tracing the operating device 40 in the vertical direction and the horizontal direction, but may adopt a configuration in which only the motion of tracing in the vertical direction or the motion of tracing in the horizontal direction is detected. it can. For example, as shown in FIG. 14A, by arranging two pressure sensors 53 in the vertical direction, it is possible to cause the sensor unit 50 to detect only the movement in the vertical direction. Further, as shown in FIG. 14B, by arranging the two pressure sensors 53 in the horizontal direction, it is possible to cause the sensor unit 50 to detect only the movement operation in the horizontal direction. According to such a configuration, the cost can be reduced by reducing the number of pressure sensors 53 compared to the sensor unit 50 shown in FIGS. 7B and 13.

  In the above embodiment, the operating device 40 has a shape that imitates a human body, but for example, an operating device that has a shape imitating the body of an animal or other shapes may be employed. For example, as illustrated in FIG. 15A, the operation unit can be configured by an operation device 60 having a shape imitating a portion where the kneading balls 24 are provided in the chair type massage machine 1. The operation device 60 that imitates the chair type massage machine 1 has a backrest equivalent portion 61. The backrest equivalent portion 61 is formed by imitating the backrest 12 that is a part where the kneading balls 24 are provided. Even in such a configuration, by providing the sensor portion 50 in the backrest equivalent portion 61, the effect according to the above (2) can be obtained. In addition, the sensor part 50 can be comprised so that the force which acts from the front in Fig.15 (a) may be detected. Moreover, the sensor part 50 can also be comprised so that the force which acts from back in Fig.15 (a) may be detected.

  In the above embodiment, the operating device 40 has a three-dimensional shape that imitates the body. For example, the operation device 40 imitates a shape imitating a human or animal body, or a portion where the kneading balls 24 are provided in the chair type massage machine 1. It is also possible to show the shape as a plane on the operating device. For example, as illustrated in FIG. 15B, the operation unit can be configured by an operation device 70 in which a shape imitating a human body is drawn. Even in such a configuration, the effect according to the above (2) can be obtained by providing the sensor unit 50 in the operating device 70 in which the shape imitating the body is drawn.

  -In above-mentioned embodiment, although the sensor part 50 is comprised by the pressure sensor 53, a sensor part can also be comprised by another sensor. Moreover, a sensor part can also be comprised with general touch panels, such as a resistive film system or an electrostatic capacitance system.

  In the above embodiment, the present invention is applied to the chair type massage machine 1 on which the user sits, but the present invention can also be applied to other massage machines. For example, the present invention can be applied to a foot massage machine for massaging legs.

  In the above embodiment, the treatment element is the kneading balls 24, but a treatment element other than the kneading balls 24 can be adopted. For example, an acupressure stick or the like on which a protrusion is formed can be used as the treatment element.

  DESCRIPTION OF SYMBOLS 1 ... Chair type massage machine (massage machine), 24 ... Massage ball (treatment element), 31 ... Control part, 32 ... Notification part (detection result notification part, adjustment limit notification part), 40 ... Operation apparatus (operation part), 50 ... sensor unit, 60, 70 ... operating device (operation unit).

Claims (12)

  A massage machine,
  The massage machine has a treatment element, a drive unit, an operation unit, and a control unit,
  The treatment element is coupled to the drive unit and operates based on the output of the drive unit, whereby the treatment element position that is the position of the treatment element with respect to the drive unit and the force with which the treatment element pushes the body Changing at least one of the pressing forces,
  The operation unit has a sensor unit,
  The sensor unit receives a detection signal that changes in accordance with at least one of a magnitude of an operating force that acts on the operating unit from the outside and an operating direction that is a change direction of a position on which the operating force acts. Output to the control unit,
  The driving unit outputs a driving force for driving the treatment element based on a control signal output by the control unit,
  The control unit executes at least one of treatment element position relative adjustment control and pressing force relative adjustment control,
  The treatment element relative adjustment control outputs a control signal for changing the treatment element position on the basis of the treatment element position before the operation unit is operated to the drive unit based on the detection signal,
  In the pressing force relative adjustment control, a control signal for changing the pressing force based on the pressing force before the operation unit is operated is output to the drive unit based on the detection signal.
  Massage machine.   A massage machine,
  The massage machine has a treatment element, a drive unit, an operation unit, a control unit, and an adjustment limit notification unit,
  The treatment element is coupled to the drive unit and operates based on the output of the drive unit, whereby the treatment element position that is the position of the treatment element with respect to the drive unit and the force with which the treatment element pushes the body Changing at least one of the pressing forces,
  The operation unit has a sensor unit,
  The sensor unit receives a detection signal that changes in accordance with at least one of a magnitude of an operating force that acts on the operating unit from the outside and an operating direction that is a change direction of a position on which the operating force acts. Output to the control unit,
  The driving unit outputs a driving force for driving the treatment element based on a control signal output by the control unit,
  The control unit performs at least one of treatment element position relative adjustment control and pressing force relative adjustment control, and notification unit control,
  The treatment element relative adjustment control outputs a control signal for relatively adjusting the treatment element position to the drive unit based on the detection signal,
  The pressing force relative adjustment control outputs a control signal for relatively adjusting the pressing force to the drive unit based on the detection signal,
  The notification unit control is based on the fact that the detection signal indicates that at least one of the treatment element position and the pressing force has reached the limit of a relative adjustable range. Output a notification signal to
  The adjustment limit notification unit outputs at least one of visual notification information based on a visual method and auditory notification information based on an auditory method based on the notification signal.
  Massage machine.   The treatment element relative adjustment control is configured to send a control signal for relatively adjusting the treatment element position to the drive unit based on the fact that the detection signal indicates that the operation of tracing the operation unit has been performed. Output,
  In the pressing force relative adjustment control, a control signal for relatively adjusting the pressing force is output to the drive unit based on the fact that the detection signal indicates that the operation of tracing the operation unit has been performed.
  The massage machine according to claim 1 or 2.   The therapeutic element position relative adjustment control is based on the fact that the detection signal suggests that an operation of tracing the operation unit in the vertical direction is performed, and the therapeutic element position is relative to the massage machine in the vertical direction. A control signal to be adjusted to the drive unit,
  The relative adjustment of the pressing force is based on the fact that the detection signal indicates that an operation of tracing the operation unit in the vertical direction is performed, and the pressing force acting in the vertical direction of the massage machine is relative. A control signal to be adjusted is output to the drive unit
  The massage machine according to claim 3.   The therapeutic element position relative adjustment control is based on the fact that the detection signal indicates that an operation of tracing the operation unit in the horizontal direction is performed. A control signal to be adjusted to the drive unit,
  The relative adjustment of the pressing force is based on the fact that the detection signal indicates that an operation of tracing the operation unit in the lateral direction is performed, and the pressing force acting in the lateral direction of the massage machine is relative. A control signal to be adjusted is output to the drive unit
  The massage machine according to claim 3 or 4.   In the treatment element relative adjustment control, a control signal for relatively adjusting the treatment element position is supplied to the drive unit based on the fact that the detection signal indicates that the operation of hitting the operation unit has been performed. Output,
  The pressing force relative adjustment control outputs a control signal for relatively adjusting the pressing force to the driving unit based on the fact that the detection signal indicates that the operation of hitting the operation unit has been performed.
  The massage machine as described in any one of Claims 1-5.   The treatment element relative adjustment control relatively adjusts the treatment element position in the front-rear direction of the massage machine based on the fact that the detection signal indicates that the operation unit has been hit. Outputting a control signal to the drive unit;
  The pressing force relative adjustment control relatively adjusts the pressing force acting in the front-rear direction of the massage machine based on the fact that the detection signal indicates that the operation of hitting the operation unit has been performed. Output a control signal to the drive unit
  The massage machine according to claim 6.   The treatment element relative adjustment control is configured to send a control signal for relatively adjusting the treatment element position based on the fact that the detection signal indicates that the operation unit has been pushed for a long time. Output to
  In the pressing force relative adjustment control, a control signal for relatively adjusting the pressing force is output to the drive unit based on the fact that the detection signal indicates that the operation unit has been pressed for a long time. Do
  The massage machine as described in any one of Claims 1-7.   The treatment element relative adjustment control relatively adjusts the treatment element position in the front-rear direction of the massage machine based on the fact that the detection signal indicates that the operation unit has been pushed long. Output a control signal to the drive unit,
  The pressing force relative adjustment control relatively adjusts the pressing force acting in the front-rear direction of the massage machine based on the fact that the detection signal indicates that the operation unit has been pressed for a long time. Output a control signal to the drive unit
  The massage machine according to claim 8.   The treatment element relative adjustment control relatively adjusts the treatment element position based on the fact that the detection signal suggests that the operation unit has been hit several times within a predetermined time. Outputting a control signal to the drive unit;
  The pressing force relative adjustment control is a control signal that relatively adjusts the pressing force based on the fact that the detection signal indicates that the operation unit has been hit several times within a predetermined time. Is output to the drive unit
  The massage machine as described in any one of Claims 1-9.   The massage machine has a detection result notification unit,
  The detection result notification unit outputs at least one of visual notification information based on a visual method and auditory notification information based on an auditory method,
  The control unit causes the detection result notification unit to output at least one of the visual notification information and the auditory notification information based on the detection signal.
  The massage machine as described in any one of Claims 1-10.   The shape of the operation unit is a shape simulating a human body, a shape simulating an animal body, or a shape simulating a part where the treatment element is arranged in the massage machine.
  The massage machine as described in any one of Claims 1-11.

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