JP7070889B2 - Massage machine - Google Patents

Description

The present invention relates to a massage machine.

Conventionally, a change in the operating speed of the driving means of the treatment child affected by the load related to the treatment is detected, and the driving means is adjusted and controlled to a more appropriate operating state based on this change, which is a burden on the body of the treated person. A massage machine that can efficiently perform treatment with a small amount of treatment has been proposed. (See, for example, Patent Document 1.)

Japanese Unexamined Patent Publication No. 2014-180509

The massage machine disclosed in Patent Document 1 monitors the operating speed of the driving means of the treating child affected by the load related to the treatment, controls the operating speed to match a predetermined target speed, and controls the body of the person to be treated. We are performing treatment with less burden on the patient. However, there is a problem that it is not possible to change to an effective and focused massage operation for the load related to the treatment, that is, the hard part (stiff part) of the user's body. Therefore, the present invention has been made to solve the above-mentioned problems, and is a massage capable of performing an effective and focused massage on a hard part (stiff part) of the user's body. The purpose is to provide an opportunity.

The present invention includes a massage unit that massages the user, a sensor that directly or indirectly detects the hardness of the body for each body part of the user, and the massage unit based on the detection result of the sensor. It has a control unit that controls the massage operation, and the control unit controls to increase the number of times of the massage operation with respect to the body part of the user who has detected the body hardness of a predetermined value or more by the sensor. It is characterized in that at least one of a control for increasing the intensity of the massage operation and a control for changing the procedure of the massage operation is performed.
With such a configuration, it is possible to perform an effective and intensive massage on a hard part (stiff part) of the user's body.

Further, the sensor has a storage unit for storing a body part of the user who has detected a body hardness of a predetermined value or more, and the control unit has a body hardness of a predetermined value or more stored in the storage unit. At least one of a control that increases the number of times of the massage operation, a control that increases the intensity of the massage operation, and a control that changes the procedure of the massage operation when massaging the detected body part of the user. It is preferable to perform control.
With such a configuration, it is possible to perform an effective and intensive massage on the hard part (stiff part) of the user's body when the next massage is performed.

Further, the storage unit has a massage course based on a predetermined program, and the control unit detects the hardness of the body equal to or higher than the predetermined value stored in the storage unit after the massage course is completed. It is preferable to newly perform the massage operation on the body part of the person.
With such a configuration, after the massage course is completed, it is possible to additionally massage the hard part (stiff part) of the user's body.

Further, the storage unit has a massage course based on a predetermined program, and the control unit detects a body hardness of a predetermined value or more by the sensor in the massage course performed in the past. For the body part, the massage information of the control performed out of the control of increasing the number of times of the massage operation, the control of increasing the intensity of the massage operation, and the control of changing the technique of the massage operation is stored in the storage unit. It is preferable that the control unit performs a massage operation that reflects the massage information when performing the massage course.
With such a configuration, the massage information for the hard part (stiff part) of the user's body is memorized in the past massage course, and the massage information is reflected in the next massage course, which is effective and effective. Intensive massage can be performed.

Further, it is preferable that the notification unit has a notification unit, and the control unit notifies the body part of the user who has detected the hardness of the body equal to or higher than a predetermined value by the notification unit.
With such a configuration, it is possible to notify the hard part (stiff part) of the user's body.

Further, it is preferable that the massage operation of the massage unit is a tapping operation or a kneading operation.
With such a configuration, it is possible to perform a tapping massage and a kneading massage.

Further, it is preferable that the massage portion has an air cell.
With such a configuration, massage by an air cell can be performed.

Further, the sensor has a storage unit for storing a body part of the user who has detected a body hardness equal to or higher than a predetermined value, and the control unit uses the sensor for the body part of the user stored in the storage unit. When the detected body hardness is less than a predetermined value, it is preferable to set the control for the user's body part stored in the storage unit to the initial state.
With such a configuration, the massage operation of the massage portion can be returned to the initial state for the body portion where the hardness of the body has returned.

Further, the massage unit is connected to the treatment child, an arm that supports the treatment child, a kneading shaft that is connected to the arm and causes the treatment child to approach and separate, and is connected to the arm, and the treatment child is used alternately. It has a tapping shaft that advances and retreats to the user side, and a motor that rotationally drives the kneading shaft and the tapping shaft, and the sensor detects the hardness of the user's body by detecting the rotational speed of the motor. It is preferable to do so.
With such a configuration, the change in the hardness of the user's body can be indirectly detected by the change in the rotation speed of the motor.

Further, the sensor is a pressure sensor, and it is preferable that the pressure sensor detects the hardness of the user's body by detecting the pressure applied to the massage portion from the user side.
With such a configuration, the change in the hardness of the user's body can be directly detected by the change in the pressure applied to the massage portion from the user side.

The present invention includes a massage unit that massages the user, a sensor that directly or indirectly detects the hardness of the body for each body part of the user, and the massage unit based on the detection result of the sensor. It has a control unit that controls the massage operation, and the control unit controls to reduce the number of times of the massage operation with respect to the body part of the user who has detected the body hardness of a predetermined value or less by the sensor. It is characterized in that at least one of a control for reducing the intensity of the massage operation and a control for changing the procedure of the massage operation is performed.
With such a configuration, it is possible to perform an effective massage on a non-rigid part (a non-stiff part) of the user's body.

According to the present invention, it is possible to perform an effective and intensive massage on a hard part (stiff part) of the user's body.

It is a front perspective view of the massage machine which concerns on 1st Embodiment of this invention. It is a schematic diagram of the massage machine which concerns on 1st Embodiment of this invention. It is a functional block diagram of a massage machine. It is a side view explaining the posture of a massage machine. It is a front view of a massage unit. It is the figure which looked at the motor from the direction of an output shaft. It is a figure explaining the control which changes to the massage operation according to the detection result of a sensor. It is a figure explaining the control which changes to the massage operation according to the detection result of a sensor. It is a flow chart which shows the control of a massage machine. It is a flow chart which shows the control of a massage machine. It is a flow chart which shows the control of a massage machine. It is a flow chart which shows the control of a massage machine. It is a flow chart which shows the control of a massage machine. It is a flow chart which shows the control of a massage machine. It is a figure explaining the control which changes to the massage operation according to the detection result of a sensor. It is a flow chart which shows the control of a massage machine.

[Structure of massage machine according to the first embodiment]
Hereinafter, the overall configuration of the massage machine 1 according to the first embodiment of the present invention will be described. FIG. 1 is a front perspective view of the massage machine 1 according to the first embodiment of the present invention. FIG. 2 is a schematic view of the massage machine 1 according to the first embodiment of the present invention. FIG. 3 is a functional block diagram of the massage machine 1. FIG. 4 is a side view illustrating the posture of the massage machine 1. FIG. 5 is a front view of the massage unit 8. FIG. 6 is a view of the massage motor M1 as viewed from the output shaft direction.
In addition, the concept of the direction used in the following description shall be consistent with the concept of the direction when viewed from the user sitting on the massage machine 1 shown in FIG. 1, and in other cases, it shall be described as appropriate. In addition, the definition of the front and back of the body will be described with the chest side of the standing user as the "front side" and the back side as the "back side".

[Overall configuration of massage machine]
As shown in FIGS. 1 to 4, the massage machine 1 according to the first embodiment of the present invention mainly includes a seat 2 on which the user sits and a user provided on the rear portion of the seat 2 so as to be reclining. A backrest portion 3 that leans back, a footrest 4 that supports the user's lower limbs that can swing up and down in the front part of the seat portion 2, and a user's head and a user's head that is provided in front of the upper part of the backrest portion 3. / Or a pillow portion 5 that supports the neck, armrest portions 6 on the left and right sides of the seat portion 2, and side wall portions 7 on the left and right sides of the backrest portion 3. The seat portion 2, the backrest portion 3, the footrest 4, the pillow portion 5, the armrest portion 6, and the side wall portion 7 function as a body support portion that supports the user's body. Each part of the body support portions 2 to 7 is provided with an air cell 20 described later for massaging the user's body and a massage portion 15 with a vibrator 21 described later. Further, the massage machine 1 includes a massage unit 8 as a massage unit 15 that performs a kneading operation and / or a tapping operation on the backrest portion 3, a control unit 9 that controls each operation of the massage machine 1, and a use described later. It has a controller 10 that allows a person to perform various operations.

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

As shown in FIGS. 1 to 3, wall portions 22 provided on both the left and right sides of the seat portion 2 facing the outer surface of the user's buttocks and / or thighs are provided. The wall portion 22 is erected upward on the side of the seat portion. The inner surface of the wall 22 is provided with a buttock massage section a4 that massages the buttock and / or the outer surface of the thigh. The inner side walls of the armrests 6 on the left and right sides of the seat 2 may be used as the wall 22, and the buttocks massage part a4 may be provided on the inner side wall of the armrests 6. Further, the seat portion 2 may be provided with a buttocks massage portion a5 that massages the user's buttocks and / or thighs from below (back surface). The buttocks massage portions a4 and a5 are composed of air cells 20 that expand and contract by supplying and exhausting air. As described above, the buttocks massage section a4 is paired on the left and right to form the massage section group A4, and the buttocks massage section a5 is paired on the left and right to form the massage section group A5.

[Composition of backrest]
As shown in FIGS. 1 to 3, the backrest portion 3 includes a rigid back frame 3a, a guide rail 18 for guiding the elevating and lowering of the massage unit 8 which is a massage unit 15 assembled to the back frame 3a, and the back frame 3a. It is composed of a cover member 3c for covering the above. The back frame 3a is made of a metal member and / or a resin member. Further, the back frame 3a has an opening 3b formed in the center of the left and right, which opens in the front-rear direction, and has a substantially gate shape when viewed from the front. Further, the cover member 3c covers the opening 3b from the front. The treatment element 62 (see FIG. 5) of the massage unit 8 projects forward from the opening 3b so that the user's torso can be massaged from the rear via the cover member 3c.

[Massage unit configuration]
Hereinafter, the configuration of the massage unit 8 will be described.
As shown in FIGS. 1 to 3 and 5, the backrest portion 3 is provided with a massage unit 8 that massages the upper body of the user from the rear (rear surface). A plurality (one in this embodiment) of the massage units 8 may be provided along the height direction. The massage unit 8 is composed of an arm 61 paired on the left and right and a treatment element 62 provided at both upper and lower ends of the arm 61, and the left and right treatment elements 62 are driven by the massage motors M1 and M2. It is possible to perform a kneading operation in which the treatment elements are close to each other and a tapping operation in which the left and right treatment elements 62 alternately advance and retreat to the user side. Further, the massage unit 8 can be moved upward or downward along the height direction by driving the elevating motor M3 to change the position with respect to the body or perform rolling massage. The back frame 3a is provided with a pair of left and right guide rails 18 extending in the height direction, and the massage unit 8 moves along the guide rails 18. Since the massage unit 8 is movable in the height direction, it is possible to massage between the user's neck and waist with the treatment child 62.

As shown in FIG. 5, the massage unit 8 has a base frame 60a and a movable frame 60b supported by the base frame 60a. The base frame 60a has guide rollers 63 fitted to the guide rails 18 on both the left and right sides thereof. Then, it can be moved along the height direction by an elevating mechanism (not shown) made of a rack and pinion or the like. The movable frame 60b is supported by the base frame 60a via a swing shaft 64 in the left-right direction. An advancing / retreating drive unit 65 made of an air cell or the like is provided between the base frame 60a and the movable frame 60b. By driving the advancing / retreating drive unit 65, the movable frame 60b can advance / retreat in the front-rear direction about the swing shaft 64. It is not necessary to have a structure for advancing and retreating the movable frame 60b, and a structure may be provided in which an advancing / retreating driving unit 65 is provided on the arm 61 to advance / retreat only the arm 61.

The arm 61 is connected to a kneading shaft 66 and a tapping shaft 67 extending in the left-right direction. An inclined cam 66a having an inclined shaft portion 66b is provided on both left and right sides of the kneading shaft 66, and an arm 61 is attached to the inclined cam 66a. The left and right inclined shaft portions 66b are inclined with respect to the axis of the kneading shaft 66 so as to have a substantially C shape when viewed from the front. An eccentric cam 67a having an eccentric shaft portion 67b eccentric with respect to the axis of the tapping shaft 67 is provided on both the left and right sides of the tapping shaft 67, and an arm 61 is attached to the eccentric cam 67a via a conrod 68. ing. The left and right eccentric shaft portions 67b have different phases with respect to the axial center of the tapping shaft 67, and specifically, they differ by 180 degrees. The kneading shaft 66 and the tapping shaft 67 are rotated by being driven by the massage motors M1 and M2, respectively. The treatment child 62 performs a kneading operation by rotating the kneading shaft 66, and can perform a kneading massage to the user. Further, the treatment child 62 performs a tapping operation by rotating the tapping shaft 67, and can perform a tapping massage to the user. In addition, the treatment child 62 can perform a kneading and tapping operation by rotating the kneading shaft 66 and the tapping shaft 67, and can perform a kneading and tapping massage to the user. It is also possible to perform acupressure operation with and perform acupressure massage to the user. The arm 61 provided with the treatment element 62, the kneading shaft 66, and the tapping shaft 67 are supported by the movable frame 60b. Therefore, the treatment child 62 can move forward and backward with respect to the user through the movement of the movable frame 60b.

The arm 61 is swingable in the front-rear direction, and is urged by an urging means (not shown) made of a spring or the like so that the upper treatment element 62 projects forward. Further, the massage unit 8 has a sensor 69 for detecting the physical information of the user. The sensor 69 can obtain physical information by detecting that the arm 61 has reached a predetermined swing position. Specifically, when the upper treatment child 62 reaches the upper part of the shoulder in the process of raising the massage unit 8 along the height direction, the load acting on the treatment child 62 is released and the arm 61 moves forward. It swings to a predetermined swing position. The sensor 69 detects that the arm 61 has reached a predetermined swing position, and detects the position of the shoulder based on the vertical position of the massage unit 8 at that time. Based on the position of the shoulders, the positions of other parts (neck, back, hips, etc.) are calculated. The detected physical information is stored in the storage unit 50, which will be described later.

[Structure of side wall]
As shown in FIGS. 1 to 3, side wall portions 7 provided facing the outer surface of the user's shoulder or upper arm are provided on the left and right sides of the back frame 3a (backrest portion 3). The side wall portion 7 is erected forward on the side of the backrest portion 3. A shoulder side massage portion a2 for massaging the outer surface of the shoulder or upper arm is provided on the inner surface of the side wall portion 7. The shoulder massage portion a2 is composed of an air cell 20 that expands and contracts due to the supply and exhaust of air. In this way, the shoulder side massage portions a2 are paired on the left and right to form the massage portion group A2.

[Pillow structure]
As shown in FIGS. 1 to 3, a pillow portion 5 that supports the user's head and / or neck is provided on the upper front surface of the backrest portion 3. On the front surface of the pillow portion 5, a pair of left and right head massage portions a1 provided facing the rear surface of the head and / or the neck are provided. The head massage portion a1 is composed of an air cell 20 that expands and contracts due to air supply and exhaust. As described above, the head massage unit a1 is paired on the left and right sides to form the massage unit group A1. The head massage portion a1 may be provided so as to face the outer surface of the head and / or the neck. In this case, it may be provided on the inner surface of the wall portion (not shown) erected forward. Further, the head massage portion a1 may be provided directly on the upper front surface of the backrest portion 3 instead of being provided on the pillow portion 5.

[Structure of armrest]
As shown in FIGS. 1 to 3, armrests 6 for supporting the user's hand and forearm are provided on both the left and right sides of the seat 2. Arm massage portions a3 are provided in the vertical direction of the hand and forearm of the armrest portion 6. The arm massage unit a3 is composed of an air cell 20 that expands and contracts due to air supply and exhaust. In this way, the arm massage units a3 form a pair on the left and right sides to form the massage unit group A3.

[Footrest configuration]
As shown in FIGS. 1 to 3, the footrest 4 has a pair of left and right leg support portions 40 that support the lower leg of the user, and a pair of left and right foot support portions 41 that support the foot portion of the user. There is. The leg support portion 40 is provided from the bottom wall 40a provided facing the back surface of the lower leg of the user, the side wall 40b standing forward from the left and right ends of the bottom wall 40a, and the left and right center of the bottom wall 40a. It has a central wall 40c erected toward the front.

A leg massage portion a6 for massaging the outer surface of the lower leg is provided on the inner surface of the side wall 40b. On both outer surfaces of the central wall 40c, leg massage portions a6 for massaging the inner surface of the lower leg are provided. Further, the bottom wall 40a is provided with a leg massage portion a7 for massaging from the back surface of the lower leg of the user. The leg massage portions a6 and a7 are composed of air cells 20 that expand and contract by supplying and exhausting air. The leg massage unit a6 is paired on the left and right by the leg massage unit a6 facing the inner surface of the lower leg and the leg massage unit a6 facing the outer surface of the lower leg to form a massage unit group A6. The leg massage section a7 is paired left and right by a leg massage section a7 facing the back of the left lower leg across the central wall 40c and a leg massage section a7 facing the back of the right lower leg across the central wall 40c. The massage group A7 is formed.

The foot support portion 41 is provided with a bottom wall 41a on which the sole of the user is placed, a side wall 41b erected upward from both left and right ends of the bottom wall 41a, and an erection upward from the center of the left and right sides of the bottom wall 41a. It has a central wall 41c and a rear wall 41d facing the back surface (near the heel) of the foot erected upward from the rear of the bottom wall 41a. A recess 42 having an opening above and in front of each of the walls 41a to 41d is formed so that the foot can be accommodated in the recess 42.

A foot massage section a8 for massaging the user's foot is provided on each of the walls 41a to 41c, and the left and right sides are paired to form a massage group A8. The foot massage portion a8 is composed of an air cell 20 that expands and contracts due to air supply and exhaust.

[Controller configuration]
As shown in FIGS. 1 to 4, a controller 10 is provided on the upper part of the armrest portion 6 and can be operated while the user is seated. The controller 10 has a screen 10a that can be visually confirmed by the user, and a touch panel 10b that the user operates on the screen 10a with a fingertip. By operating the controller 10, the posture of the backrest portion 3 can be changed by reclining, and the posture of the footrest 4 can be changed by swinging up and down. Further, the massage unit 8 to be operated and the massage units a1 to a8 can be selected, and the operation (procedure or strength, etc.) of the massage unit 8 and the massage units a1 to a8 can be changed. The selection unit 30 is displayed on the screen 10a of the controller 10, and the user can select a massage course based on a predetermined program by operating the touch panel 10b. Instead of the operation by the touch panel 10b, only the operation by the voice recognition unit 32 using only the physical button 31 arranged in the controller 10 or the microphone (not shown) installed in the controller 10 may be used. By doing so, the user can easily select. The microphone (not shown), which is the voice recognition unit 32, may be installed not in the controller 10 but in the upper part of the backrest portion 3 or the pillow portion 5. By doing so, the user can make a selection in the voice recognition unit 32 while leaning on the backrest unit 3 without having to bother to change the posture. Further, the controller 10 has a notification unit 33. The notification unit 33 may be the screen 10a described above, or may be a speaker installed in the controller 10 (not shown).
May be. By doing so, it is possible to notify the user of the body part of the user who has detected the hardness of the body, which will be described later, and the user can know the hard part of his / her own body.

As shown in FIGS. 2 and 3, below the seat portion 2, an air supply / exhaust device 13 having a pump 13a and a valve 13b for supplying / exhausting air to each of the massage portions a1 to a8 composed of air cells 20 and described above. A control unit 9 is provided. A vibrator 21 driven by a motor may be provided at the same place as each massage unit a1 to a8. The air cell 20 can press the user by supplying and exhausting air. The vibrator 21 can give vibration to the user by rotating the eccentric weight. The control unit 9 has a programmable microcomputer or the like, and drives and controls the actuators 11 and 12, the massage unit 15, and the air supply / exhaust device 13. A controller 10 and a storage unit 50 are electrically connected to the control unit 9. The massage machine 1 operates according to a predetermined program (massage course) stored in the storage unit 50, and also operates according to an instruction from the controller 10 by the user. Further, sensors 70 and 71 for directly or indirectly detecting the hardness of the body for each body part of the user are provided. In the present embodiment, two types of sensors 70 and 71 are provided, but at least one of them may be provided. The first sensor 70 indirectly detects the hardness of the body by detecting the rotation speeds of the massage motors M1 and M2. Changes in the hardness of the user's body appear as changes in the rotational speeds of the massage motors M1 and M2. That is, the rotation speeds of the massage motors M1 and M2 are controlled to match the target rotation speeds when the kneading shaft 66 and the tapping shaft 67 rotate to perform a kneading operation or a tapping operation on the user's body part. In a part where the body is hard, the rotation speeds of the massage motors M1 and M2 do not reach the target rotation speed and become slower than the target rotation speed. If the rotation speed of the massage motors M1 and M2 matches the target rotation speed, it is considered to be a predetermined value in the hardness of the body, but if the rotation speed of the massage motors M1 and M2 is equal to or less than the target rotation speed, the hardness of the body In the meantime, the body hardness is equal to or higher than the predetermined value. Therefore, the hardness of the body can be detected from the change in the rotation speed.

FIG. 6 is a view of the massage motor M1 as viewed from the output shaft direction. Since the configurations of the massage motor M1 and the first sensor 70 described below and the configurations of the massage motor M2 are the same, the massage motor M1 will be described below as an example.
As shown in FIG. 6, the first sensor 70 includes a plurality of (five in this embodiment) non-contact detection units 70a provided around the output shaft M1a of the massage motor M1 and the output shaft of the massage motor M1. It has a detected unit 70b made of a magnet or the like whose presence or absence is detected by the detection unit 70a provided on the M1a. The detection unit 70a can detect the rotational position of the output shaft M1a having the detected unit 70b. More specifically, it is possible to grasp the rotation positions of the output shaft M1a at a plurality of locations (five in this embodiment). Then, the first sensor 70 detects the rotation speed of the massage motor M1 from the amount of change in the rotation position of the output shaft M1a within a predetermined time.

As shown in FIG. 5, the second sensor 71 is provided in the massage unit 8. Specifically, the second sensor 71 is provided between the movable frame 60b and the advancing / retreating driving unit 65 including an air cell or the like. The second sensor 71 is composed of a pressure sensor that directly detects the pressure applied to the massage unit 8 which is the massage unit 15 from the user side. The change in the hardness of the user's body appears as a change in the pressure applied to the massage unit 15. That is, by driving the advancing / retreating driving unit 65, the movable frame 60b is advanced / retracted in the front-rear direction to increase or decrease the pressure so as to reach the target pressure. When performing massage, a load is applied from the user side to the treatment child 62 that comes into contact with the user in a portion where the body is hard, and a pressure equal to or higher than the target pressure is detected. Therefore, the pressure detected by the second sensor 71 is large in the part where the body is hard (the part where the load from the user side is large). When the pressure is equal to or higher than the target pressure, it means that the hardness of the body is equal to or higher than a predetermined value. Therefore, the hardness of the body can be detected from the change in pressure.

Hereinafter, the case where the operation control of the massage unit 8 is performed based on the first sensor 70 that detects the rotation speed of the massage motor M1 will be described with reference to FIGS. 7 and 9. FIG. 7 is a diagram illustrating a control for increasing the number of massage operations, a control for increasing the intensity of the massage operation, and a control for changing the procedure of the massage operation according to the detection result of the first sensor 70. FIG. 9 is a control flow diagram for changing the massage operation according to the detection result of the first sensor 70.
The first sensor 70 provides a plurality of levels for the rotational speed of the massage motor M1. Specifically, the rotation speed of the massage motor M1 by the first sensor 70 is set to five levels. As the level increases, the rotation speed of the massage motor M1 is set higher. The storage unit 50 stores the target rotation speed of the massage motor M1 corresponding to each level. The control unit 9 controls the massage motor M1 so that the rotation speed of the massage motor M1 matches the target rotation speed of the set level when performing massage, but the body part of the user has a hard body. When the rotation speed of the massage motor M1 is equal to or less than the target rotation speed of the set level, the hardness of the body of the user's body part is regarded as the hardness of the predetermined value or more, and the massage operation is changed to correspond to the level. Give a massage. By doing so, it is possible to perform effective and intensive massage on the hard part of the user's body.

Hereinafter, a specific description will be given with reference to FIGS. 7 and 9. In the process in which the control unit 9 rotates the massage motor M1 with the target rotation speed of level 3 at 23 rotations / sec and performs the kneading motion on the user's shoulder three times, the massage motor M1 is performed in the first kneading motion. When the rotation speed is 23 rotations / sec or less, which is the target rotation speed, the user's shoulder is regarded as having a body hardness of a predetermined value or more, and the kneading operation is performed 3 + c times by increasing the number of kneading massages by c times. .. If the rotation speed of the massage motor M1 exceeds the target rotation speed of 23 rotations / second, the kneading operation is performed three times as it is. By doing so, it is possible to perform an effective and intensive massage on the hard part of the user's body.

In the above description, the control for increasing the number of massages has been described as an example, but the control for increasing the massage intensity may be used.
The control for increasing the massage intensity is a control for increasing the amount of advancement of the treatment element 62 by driving the advancing / retreating driving unit 65 made of the above-mentioned air cell or the like. The control for increasing the advance amount of the treatment element 62 of the present embodiment is the expansion amount of the air cell, which is the time for supplying air to the air cell.
Hereinafter, a specific description will be given with reference to FIGS. 7 and 9. In the process in which the control unit 9 rotates the massage motor M1 with the target rotation speed of level 3 at 23 rotations / sec and performs the kneading motion on the user's shoulder three times, the massage motor M1 is performed in the first kneading motion. When the rotation speed of the user is 23 rotations / sec or less, which is the target rotation speed, the user's shoulder is regarded as having a body hardness of a predetermined value or more, and the advance / retreat drive unit 65 is expanded by C seconds to expand the treatment element 62. Advance. By performing the kneading operation three times with the treatment child 62 advanced by the advancing / retreating driving unit 65, the kneading massage can be performed with the massage intensity increased. If the rotation speed of the massage motor M1 exceeds the target rotation speed of 23 rotations / second, the kneading operation is performed three times as it is. By doing so, it is possible to perform an effective and intensive massage on the hard part of the user's body.

Hereinafter, the control for changing the massage technique will be specifically described with reference to FIGS. 7 and 9. In the process in which the control unit 9 rotates the massage motor M1 with the target rotation speed of level 3 at 23 rotations / sec and performs the kneading motion on the user's shoulder three times, the massage motor M1 is performed in the first kneading motion. If the rotation speed of the user is 23 rotations / sec or less, which is the target rotation speed, the user's shoulder is regarded as having a body hardness of a predetermined value or more, and the current massage massage is stopped and the finger pressure operation is performed three times. Change to massage. If the rotation speed of the massage motor M1 exceeds the target rotation speed of 23 rotations / second, the kneading operation is performed three times as it is. By doing so, it is possible to perform an effective and intensive massage on the hard part of the user's body. In the above, the control of increasing the number of massages, the control of increasing the massage intensity, and the control of changing the massage technique are separately performed as an example, but the control is not limited to these. For example, control to increase the number of massages and control to change the massage technique may be performed at the same time. That is, the massage operation of "massage operation 3 times" may be changed to the massage operation of "massage operation 3 + c times" and "acupressure operation 3 times".

Each level shown in FIG. 7 is a level of the rotational speed of the massage motor M1. At level 1, the target rotation speed is 13 rotations / second, the number of massages is increased by a times, the massage intensity is increased by A seconds to expand, and the massage technique is changed to a tapping motion. At level 2, the target rotation speed is 18 rotations / second, the number of massages is increased by b times, the massage intensity is increased by B seconds to inflate, and the massage technique is changed to a tapping motion. At level 3, the target rotation speed is 23 rotations / second, the number of massages is increased by c times, the massage intensity is increased by C seconds to inflate, and the massage technique is changed to acupressure operation. At level 4, the target rotation speed is 28 rotations / second, the number of massages is increased by d times, the massage intensity is increased by D seconds to inflate, and the massage technique is changed to acupressure operation. At level 5, the target rotation speed is 33 rotations / second, the number of massages is increased by e times, the massage intensity is increased by E seconds to expand, and the massage technique is changed to a kneading and tapping motion. By doing so, it is possible to control to change to the massage operation corresponding to the rotation speed of the massage motor M1 at each level. In the above description, the kneading operation by the massage motor M1 has been described as an example, but the tapping operation by the massage motor M2 can also be controlled to change the massage operation in the same manner.

Hereinafter, a case where the operation control of the massage unit 8 is performed based on the second sensor 71 that detects the pressure applied to the massage unit 8 which is the massage unit 15 from the user side will be described with reference to FIGS. 8 and 10. FIG. 8 is a diagram illustrating a control for increasing the number of massage operations, a control for increasing the intensity of the massage operation, and a control for changing the procedure of the massage operation according to the detection result of the second sensor 71. FIG. 10 is a control flow diagram for changing to a massage operation according to the detection result of the second sensor 71.
FIG. 7 is a diagram illustrating a control for increasing the number of massage operations, a control for increasing the intensity of the massage operation, and a control for changing the procedure of the massage operation according to the detection result of the first sensor 70. FIG. 9 is a control flow diagram for changing the massage operation according to the detection result of the first sensor 70.
The second sensor 71 provides a plurality of levels for the pressure applied to the massage unit 8 from the user side. Specifically, the pressure applied to the massage unit 8 from the user side by the second sensor 71 is set to five levels. As the level increases, the pressure applied to the massage unit 8 from the user side is set higher. The storage unit 50 stores the target pressure of the pressure applied to the massage unit 8 from the user side corresponding to each level. The control unit 9 controls the advance / retreat drive unit 65 so that the pressure applied to the massage unit 8 from the user side during massage matches the target pressure at a set level, but the body part of the user's body is stiff. When the pressure applied to the massage unit 8 from the user side exceeds the set target pressure in the hard part, the body hardness of the user's body part is considered to be the predetermined value or more, and the level is reached. Perform a massage that has been changed to the corresponding massage operation. By doing so, it is possible to perform effective and intensive massage on the hard part of the user's body.

Hereinafter, a specific description will be given with reference to FIGS. 8 and 10. In the process in which the control unit 9 drives the advance / retreat drive unit 65 with the target pressure of level 3 as 36 kpa and performs the kneading operation on the user's waist three times, the massage unit is massaged from the user side in the first kneading operation. When the pressure applied to 8 is 36 kpa or more, which is the target pressure, the waist of the user is regarded as having a body hardness of a predetermined value or more, and the kneading operation is performed 3 + c times by increasing the number of massages of the kneading massage by c times. If the pressure applied to the massage unit 8 from the user side is lower than the target pressure of 36 kpa, the kneading operation is performed three times as it is. By doing so, it is possible to perform an effective and intensive massage on the hard part of the user's body.

In the above description, the control for increasing the number of massages has been described as an example, but the control for increasing the massage intensity may be used.
The control for increasing the massage intensity is a control for increasing the amount of advancement of the treatment element 62 by driving the advancing / retreating driving unit 65 made of the above-mentioned air cell or the like. The control for increasing the advance amount of the treatment element 62 of the present embodiment is the expansion amount of the air cell, which is the time for supplying air to the air cell.
Hereinafter, a specific description will be given with reference to FIGS. 8 and 10. In the process in which the control unit 9 drives the advance / retreat drive unit 65 with the target pressure of level 3 as 36 kpa and performs the kneading operation on the user's waist three times, the massage unit is massaged from the user side in the first kneading operation. When the pressure applied to 8 is 36 kpa or more, which is the target pressure, the waist of the user is regarded as having a body hardness of a predetermined value or more, and the advance / retreat drive unit 65 is expanded by C seconds to advance the treatment child 62. By performing the kneading operation three times with the treatment child 62 advanced by the advancing / retreating driving unit 65, the kneading massage can be performed with the massage intensity increased. If the pressure applied to the massage unit 8 from the user side is lower than the target pressure of 36 kpa, the kneading operation is performed three times as it is. By doing so, it is possible to perform an effective and intensive massage on the hard part of the user's body.

Hereinafter, the control for changing the massage technique will be specifically described with reference to FIGS. 8 and 10. In the process in which the control unit 9 drives the advance / retreat drive unit 65 with the target pressure of level 3 as 36 kpa and performs the kneading operation on the user's waist three times, the massage unit is massaged from the user side in the first kneading operation. If the pressure applied to 8 is 36 kpa or more, which is the target pressure, the user's waist is regarded as having a body hardness of a predetermined value or more, and the current kneading massage is stopped and the acupressure massage is changed to acupressure massage performed three times. do. If the pressure applied to the massage unit 8 from the user side is lower than the target pressure of 36 kpa, the kneading operation is performed three times as it is. By doing so, it is possible to perform an effective and intensive massage on the hard part of the user's body. In the above, the control of increasing the number of massages, the control of increasing the massage intensity, and the control of changing the massage technique are separately performed as an example, but the control is not limited to these. For example, control to increase the number of massages and control to change the massage technique may be performed at the same time. That is, the massage operation of "massage operation 3 times" may be changed to the massage operation of "massage operation 3 + c times" and "acupressure operation 3 times".

Each level shown in FIG. 8 is the level of advance strength of the treatment element 62 by the advance / retreat drive unit 65. At level 1, the target pressure is 32 kpa, the number of massages is increased a times, the massage intensity is increased by A seconds to inflate, and the massage technique is changed to a tapping motion. At level 2, the target pressure is 34 kpa, the number of massages is increased b times, the massage intensity is increased by B seconds to inflate, and the massage technique is changed to a tapping motion. At level 3, the target pressure is 36 kpa, the number of massages is increased by c times, the massage intensity is increased by C seconds to inflate, and the massage procedure is changed to acupressure operation. At level 4, the target pressure is 38 kpa, the number of massages is increased d times, the massage intensity is increased by D seconds to inflate, and the massage procedure is changed to acupressure operation. At level 5, the target pressure is 40 kpa, the number of massages is increased by e times, the massage intensity is increased by E seconds to inflate, and the massage technique is changed to a kneading and tapping motion. By doing so, it is possible to control the massage operation to be changed according to the advance strength of the treatment element 62 by the advance / retreat drive unit 65 at each level.

Hereinafter, the case where the operation control of the massage unit 8 is performed based on the first sensor 70 that detects the rotation speed of the massage motor M1 will be described with reference to FIGS. 11, 12, 13, and 14. FIG. 11 is a control flow diagram for changing the massage operation according to the detection result of the first sensor 70 when the next massage is performed. FIG. 12 is a control flow diagram for changing the massage operation according to the detection result of the first sensor 70 after the massage course is completed. FIG. 13 is a control flow diagram in which the massage information changed to the massage operation according to the detection result of the first sensor 70 in the past massage course is reflected in the next massage course. FIG. 14 is a control flow diagram for performing a massage operation according to the detection result of the first sensor 70 in the past massage course.

[Reflecting the massage action when performing the next massage]
Hereinafter, a specific description will be given with reference to FIGS. 7 and 11. In the process in which the control unit 9 rotates the massage motor M1 with the target rotation speed of level 3 at 23 rotations / sec and performs the kneading motion on the user's shoulder three times, the massage motor M1 is performed in the first kneading motion. When the rotation speed of is 23 rotations / sec or less, which is the target rotation speed, the user's shoulder is regarded as having a body hardness of a predetermined value or more, and the number of massages of the kneading massage is increased by c times to 3 + c times of kneading motion information. Is stored in the storage unit 50. The storage unit 50 stores information on the body part that the part where the hardness of the body is hard is the shoulder, and massage information that the kneading motion is performed 3 + c times on the shoulder. After that, a series of massages are performed on other body parts, and when the shoulders, which are hard parts of the body, are massaged again, the kneading operation memorized by the storage unit 50 is performed 3 + c times. If the rotation speed of the massage motor M1 exceeds the target rotation speed of 23 rotations / second in the previous time, the kneading operation is performed three times. By doing so, it is possible to perform an effective and intensive massage on the hard part of the user's body the next time the massage is performed.

[Addition of massage operation after the massage course is completed]
Hereinafter, a specific description will be given with reference to FIGS. 7 and 12. The control unit 9 starts a massage course based on a predetermined program stored in the storage unit 50. In the process of rotating the massage motor M1 with the target rotation speed of level 3 at 23 rotations / second and performing the kneading operation against the user's shoulder three times, the rotation speed of the massage motor M1 is the target in the first kneading operation. When the rotation speed is 23 rotations / sec or less, the user's shoulder is regarded as having a body hardness of a predetermined value or more, and the information of the kneading motion of 3 + c times, which is the number of times of kneading massage increased by c times, is stored in the storage unit 50. Remember. The storage unit 50 stores information on the body part that the part where the hardness of the body is hard is the shoulder, and massage information that the kneading motion is performed 3 + c times on the shoulder. Then, after completing a series of massage courses, a new kneading operation of 3 + c times memorized by the storage unit 50 is performed on the shoulder, which is a part where the hardness of the body is hard. If the rotation speed of the massage motor M1 exceeds the target rotation speed of 23 rotations / second last time, no new massage is performed. By doing so, after the massage course is completed, additional massage can be performed on the hard part of the user's body.

[Addition of massage operation after the massage course is completed]
Hereinafter, a specific description will be given with reference to FIGS. 7 and 13. The control unit 9 starts a massage course based on a predetermined program stored in the storage unit 50. In the process of rotating the massage motor M1 with the target rotation speed of level 3 at 23 rotations / second and performing the kneading operation against the user's shoulder three times, the rotation speed of the massage motor M1 is the target in the first kneading operation. When the rotation speed is 23 rotations / sec or less, the user's shoulder is regarded as having a body hardness of a predetermined value or more, and the information of the kneading motion of 3 + c times, which is the number of times of kneading massage increased by c times, is stored in the storage unit 50. Remember. The storage unit 50 stores information that the part where the body is stiff is the shoulder and massage information that the kneading motion is performed 3 + c times with respect to the shoulder. If the rotation speed of the massage motor M1 exceeds the target rotation speed of 23 rotations / second, the massage information is not stored in the storage unit 50. After that, a series of massage operations are performed, and the massage course is completed. After the massage course is completed, the user leaves the massage machine 1, time elapses (for example, the next day), and then sits on the massage machine 1 again to start the massage course. When the massage course starts, a series of massage movements are performed, and the shoulders are massaged, the information that the part where the body hardness is hard, which was memorized by the memory unit 50 last time, is the shoulders, and the rubbing movements 3 + c times against the shoulders. Information is reflected in the massage operation. By doing so, it is possible to memorize the massage information for the hard part of the user's body in the past massage course, reflect the massage information in the next massage course, and perform effective and focused massage. Can be done.

Hereinafter, a specific description will be given with reference to FIGS. 7 and 14. The control unit 9 starts a massage course based on a predetermined program stored in the storage unit 50. In the process of rotating the massage motor M1 with the target rotation speed of level 3 at 23 rotations / second and performing the kneading operation against the user's shoulder three times, the rotation speed of the massage motor M1 is the target in the first kneading operation. When the rotation speed is 23 rotations / sec or less, the user's shoulder is regarded as having a body hardness of a predetermined value or more, and the information of the kneading motion of 3 + c times, which is the number of times of kneading massage increased by c times, is stored in the storage unit 50. Remember. The storage unit 50 stores information that the part where the body is stiff is the shoulder and massage information that the kneading motion is performed 3 + c times with respect to the shoulder. If the rotation speed of the massage motor M1 exceeds the target rotation speed of 23 rotations / second, the massage information is not stored in the storage unit 50. After that, a series of massage operations are performed, and the massage course is completed. After the massage course is completed, the user leaves the massage machine 1, and after a lapse of time, sits on the massage machine 1 again and starts the massage course. When performing a series of massage movements and massaging the shoulders, the information that the part where the body hardness is hard, which was memorized by the memory unit 50 last time, is the shoulders and the information of the rubbing movements 3 + c times against the shoulders are used as the massage movements. In the process of reflecting, when the rotation speed of the massage motor M1 exceeds the target rotation speed of 23 rotations / second in the first kneading operation, the shoulder hardness of the user becomes less than the predetermined value, that is, the user. It is considered that the hardness of the shoulder has become softer, and the user's shoulder is rubbed 3 + c times and the initial state is performed 3 times. By doing so, the massage operation of the massage unit 15 can be returned to the initial state for the body portion where the hardness of the body has become soft.

Hereinafter, the case where the operation control of the massage unit 8 is performed based on the first sensor 70 that detects the rotation speed of the massage motor M1 will be described with reference to FIGS. 15 and 16. FIG. 15 is a diagram illustrating a control for reducing the number of massage operations, a control for reducing the intensity of the massage operation, and a control for changing the procedure of the massage operation according to the detection result of the first sensor 70. FIG. 16 is a control flow diagram for changing to a massage operation according to the detection result of the first sensor 70.
The first sensor 70 provides a plurality of levels for the rotational speed of the massage motor M1. Specifically, the rotation speed of the massage motor M1 by the first sensor 70 is set to five levels. As the level increases, the rotation speed of the massage motor M1 is set higher. The storage unit 50 stores the target rotation speed of the massage motor M1 corresponding to each level. The control unit 9 controls the massage motor M1 so that the rotation speed of the massage motor M1 matches the target rotation speed of the set level when performing massage, but the body part of the user's body part is not stiff. When the rotation speed of the massage motor M1 exceeds the set target rotation speed in the part (non-stiff part), the body hardness of the user's body part is regarded as the hardness of the predetermined value or less, and the level is reached. Perform a massage that has been changed to the corresponding massage motion. By doing so, it is possible to perform an effective massage on a non-rigid part (a non-stiff part) of the user's body.

Hereinafter, a specific description will be given with reference to FIGS. 15 and 16. In the process in which the control unit 9 rotates the massage motor M1 with the target rotation speed of level 3 at 23 rotations / sec and performs the kneading motion on the user's shoulder three times, the massage motor M1 is performed in the first kneading motion. When the rotation speed of is 23 rotations / sec or more, which is the target rotation speed, the user's shoulder is regarded as having a body hardness of less than a predetermined value, and the number of massages of the kneading massage is reduced by c times to perform a 3-c kneading operation. I do. By doing so, it is possible to effectively massage the non-rigid part (non-stiff part) of the user's body.

In the above, the control for reducing the number of massages has been described as an example, but the control for reducing the massage intensity may be used. The control for reducing the massage intensity is a control for reducing the amount of advancement of the treatment element 62 by driving the advancing / retreating driving unit 65 made of the above-mentioned air cell or the like. The control for reducing the advance amount of the treatment element 62 of the present embodiment adjusts the expansion amount of the air cell.
Hereinafter, a specific description will be given with reference to FIGS. 15 and 16. In the process in which the control unit 9 rotates the massage motor M1 with the target rotation speed of level 3 at 23 rotations / sec and performs the kneading motion on the user's shoulder three times, the massage motor M1 is performed in the first kneading motion. When the rotation speed of is 23 rotations / sec or more, which is the target rotation speed, the user's shoulder is regarded as having a body hardness of a predetermined value or less, and the advance / retreat drive unit 65 is reduced by C seconds to inflate, and the treatment child 62 is operated. Advance. By performing the kneading operation three times with the treatment child 62 advanced by the advancing / retreating driving unit 65, the kneading massage can be performed with the massage intensity reduced. By doing so, it is possible to perform an effective massage on a non-rigid part (a non-stiff part) of the user's body.

Hereinafter, the control for changing the massage technique will be specifically described with reference to FIGS. 15 and 16. In the process in which the control unit 9 rotates the massage motor M1 with the target rotation speed of level 3 at 23 rotations / sec and performs the kneading motion against the user's shoulder three times, the massage motor M1 is performed in the first kneading motion. If the rotation speed of the user is 23 rotations / sec or more, which is the target rotation speed, the user's shoulder is regarded as having a body hardness of less than a predetermined value, and the current massaging massage is stopped and the tapping motion is performed three times. Change to massage. By doing so, it is possible to perform an effective massage on a non-rigid part (a non-stiff part) of the user's body. In the above, the control for reducing the number of massages, the control for reducing the massage intensity, and the control for changing the massage technique are separately performed as an example, but the control is not limited to these. For example, control to reduce the number of massages and control to change the massage technique may be performed at the same time. That is, the massage operation of "massage operation 3 times" may be changed to the massage operation of "massage operation 3-c times" and "tapping operation 1 time".

Each level shown in FIG. 15 is the level of the rotational speed of the massage motor M1. At level 1, the target rotation speed is 13 rotations / second, the number of massages is reduced by a times, the massage intensity is reduced by A seconds to inflate, and the massage technique is changed to no movement. At level 2, the target rotation speed is 18 rotations / second, the number of massages is reduced by b times, the massage intensity is reduced by B seconds to inflate, and the massage technique is changed to no movement. At level 3, the target rotation speed is 23 rotations / second, the number of massages is reduced by c times, the massage intensity is reduced by C seconds to inflate, and the massage technique is changed to a tapping motion. At level 4, the target rotation speed is 28 rotations / second, the number of massages is reduced by d times, the massage intensity is reduced by D seconds to inflate, and the massage technique is changed to a tapping motion. At level 5, the target rotation speed is 33 rotations / second, the number of massages is reduced by e times, the massage intensity is reduced by E seconds to inflate, and the massage technique is changed to a tapping motion. By doing so, it is possible to control to change to the massage operation corresponding to the rotation speed of the massage motor M1 at each level. In the above description, the kneading operation by the massage motor M1 has been described as an example, but the tapping operation by the massage motor M2 can also be controlled to change the massage operation in the same manner.

[Other embodiments]
Further, the massage machine 1 of the present invention is not limited to the illustrated form, and may be another form within the scope of the present invention.
For example, in the above-described embodiment, the massage unit 8 is taken as an example, but the massage units a1 to a8 configured by the air cell 20 may be used. For example, in the arm massage section a3 provided on the armrest portion 6, when massaging the user's hand or forearm, the hardness of the user's hand or forearm is detected, and the hardness of a predetermined value or more is detected. It can be controlled to increase the intensity of the massage operation. By doing so, an effective and intensive massage can be performed on the user's hands and forearms.

The present invention can be applied to a massage machine capable of performing effective and intensive massage on a hard part (stiff part) of the user's body.

1 Massage machine 8 Massage unit (massage section)
9 Control unit 15 Massage unit 20 Air cell (massage unit)
21 Vibrator (massage part)
33 Notification unit 50 Storage unit 70 First sensor (sensor)
71 Second sensor (sensor)

Claims (10)

A massage unit that massages the user and
A sensor that indirectly detects the hardness of the body for each body part of the user,
A control unit that controls the massage operation of the massage unit based on the detection result of the sensor,
It has a storage unit that stores the body part of the user who has detected the hardness of the body equal to or higher than a predetermined value by the sensor.
The sensor detects the hardness of the body by detecting the rotation speed of the massage motor of the massage unit.
The storage unit is
A massage course based on a predetermined program and
The massage information about the massage operation of the massage unit by the control unit is stored.
The control unit controls to increase the number of times of the massage operation and the massage operation with respect to the body part of the user who has detected the body hardness of a predetermined value or more by the sensor in the massage course performed in the past. A massage machine characterized in that at least one of a control for increasing the intensity and a control for changing the technique of the massage operation is performed, and the massage operation reflecting the massage information is performed when the massage course is performed. .. The control unit controls to increase the number of times of the massage operation and the intensity of the massage operation when massaging the body part of the user who has detected the hardness of the body equal to or higher than the predetermined value stored in the storage unit. The massage machine according to claim 1, wherein at least one of a control for increasing the number of massages and a control for changing the procedure of the massage operation is performed. The control unit is characterized in that after the massage course is completed, the massage operation is newly performed on the body part of the user who has detected the hardness of the body equal to or higher than the predetermined value stored in the storage unit. The massage machine according to claim 1 or 2. Has a notification unit
The massage machine according to any one of claims 1 to 3, wherein the control unit notifies the body portion of the user who has detected the hardness of the body equal to or higher than a predetermined value by the notification unit. The massage machine according to any one of claims 1 to 4, wherein the massage operation of the massage unit is a tapping operation or a rubbing operation. The massage machine according to any one of claims 1 to 5, wherein the massage unit has an air cell. When the hardness of the body detected by the sensor with respect to the body part of the user stored in the storage unit is less than a predetermined value, the control unit initially performs the control on the body part of the user stored in the storage unit. The massage machine according to any one of claims 1 to 6, characterized in that. The massage unit is
With the treatment child,
An arm that supports the treatment child and
A kneading shaft that is connected to the arm and causes the treatment child to approach and separate.
It has a tapping shaft that is connected to the arm and alternately advances and retreats the treatment element toward the user.
The massage machine according to any one of claims 1 to 7, wherein the massage motor is rotationally driven by a kneading shaft and a tapping shaft . It has a pressure sensor that directly detects the hardness of the body for each body part of the user ,
The massage machine according to any one of claims 1 to 8, wherein the pressure sensor detects the hardness of the user's body by detecting the pressure applied to the massage unit from the user side. The control unit controls to reduce the number of times of the massage operation and the control to reduce the intensity of the massage operation with respect to the body part of the user who has detected the body hardness of a predetermined value or less by the sensor or the pressure sensor . The massage machine according to any one of claims 1 to 9, wherein at least one of the controls for changing the massage operation technique is controlled.

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