JPH08117300A - Massaging machine - Google Patents

Abstract

PURPOSE: To massage a human body comfortably and effectively in such a state as corresponding to the respiration period of the body by forming a detection means to detect the respiration period on the basis of pressing force information detected with a force sensor used for detecting a load acting on an application means to press the human body. CONSTITUTION: A force sensor 3 is fitted to a metallic arm coming to be deflected when a treatment tool 1 is subjected to a load, and information detected with the sensor 3 is sent to the regional measurement instrument 20 of a control circuit C, together with strength and weakness information outputted from a strength and weakness position sensor 5, vertical position information from a vertical position sensor 26 and interval information from a breadth sensor 10. At the same time, the information is as well sent to a respiration period measurement instrument 22. With the treatment tool 1 placed on a shoulder, the pressing force signal of the sensor 3 associated with respiration is read out, thereby determining a respiration period. Also, the circuit C keeps a stimulation period in agreement with the respiration period, and maintains an agreement between respiration and stimulation phases.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a massager for performing a treatment by giving a periodic stimulation to a human body, and more particularly to a massager for performing a treatment operation according to a respiratory cycle of a user.

[0002]

2. Description of the Related Art Various types of massage machines have been provided to give a periodic stimulation to a human body, but the stimulation cycle here is from a mechanical point of view such as the rotation speed and torque of a motor as power. It was set. By the way, it has been found that in giving such a periodic stimulus to the human body, it is possible to obtain a comfortable and effective massage for the user by adjusting it to the respiratory cycle of the user. However, in the conventional one, even if the stimulation cycle does not match the respiratory cycle, and even if it has a stimulation cycle that matches the respiratory cycle, the respiratory cycle varies from person to person and also changes depending on the physical condition. However, it is not always possible to give a comfortable massage, and it is desirable to consider this point.

For this reason, as disclosed in Japanese Patent Application Laid-Open No. 2-215464, a detection means for detecting the respiratory cycle of the person to be treated is provided so that the stimulation cycle corresponds to the detected respiratory cycle. A massage machine that performs a treatment operation has been proposed.

[0004]

However, the breathing cycle detecting means disclosed in the above publication is to detect the respiration from the expansion and contraction of the chest associated with respiration by wrapping the sensor belt around the chest of the user. Therefore, the user to be treated feels a sense of restraint and pressure, and cannot perform the treatment operation in a relaxed state.

Further, in the one disclosed in the above publication, even if the stimulation cycle can be changed by the treatment means, the change pattern of the stimulation is constant, so that there is no feeling of restraint or oppression even if the detection means is used. At the same time, it has not been possible to obtain an effective treatment according to the respiratory cycle of the user. The present invention has been made in view of such a point,
It is an object of the invention to provide a massage machine capable of accurately obtaining a comfortable and effective massage according to a respiratory cycle.

[0006]

SUMMARY OF THE INVENTION However, the present invention provides a treatment means for periodically applying a stimulus to a human body, a detection means for detecting a respiratory cycle of the human body, and a respiratory cycle detected by the detection means. Accordingly, in the massage machine including a control unit that controls stimulation applied to the human body by the treatment unit, the detection unit detects a respiratory cycle from pressing force information by a force sensor that detects a load applied to the treatment unit that presses the human body. It has the main feature that it does.

As the above-mentioned detecting means, one that detects the respiratory cycle from the pressing force information when the treatment means is stopped can be used. At this time, the treatment means is moved along the human body by the treatment element moving means. In addition, the treatment means is free, and the shoulder position of the human body can be estimated by the site estimation means from the change in pressing force detected by the force sensor when the treatment element is moved along the human body. Is preferably placed at the shoulder position to detect the respiratory cycle.

If the treatment means is movable along the human body by the treatment element moving means, the breathing cycle may be detected while moving the treatment means.
The detection means preferably extracts the frequency component corresponding to the respiratory cycle from the pressing force information, and measures the respiratory cycle from the information after the extraction, based on the detected respiratory cycle, the stimulation cycle, It is preferable to control at least one of the stimulation intensity and the waveform of the stimulation change. Then, at the time of control, the stimulation cycle may be an integral multiple of the respiratory cycle based on the detected respiratory cycle, or the stimulation cycle may be equal to the detected respiratory cycle, and further, the phase of the detected respiratory cycle and the phase of the stimulation cycle may be set. It is preferable to increase the pressing force during inspiration and decrease the pressing force during exhalation by matching them.

The stimulation cycle at the start of treatment may be set equal to the detected respiratory cycle, and then the stimulation cycle may be set longer than the detected respiratory cycle. Further, the treatment means is stopped at predetermined time intervals, the respiratory cycle is measured by the detection means, and the next stimulation is controlled based on the newly detected respiratory cycle, or the treatment means is stopped at predetermined time intervals. The breathing cycle may be measured by the detecting means, and the next stimulation may be controlled based on the amount of change between the previous measurement value and the current measurement value of the breathing cycle.

The pushing force detected by the force sensor in the detecting means may be fed back to control the pushing force of the human body by the treatment means. In this case, the force sensor of the breathing cycle is detected and the pushing force of the human body is controlled. It is preferable that the force detection gain can be switched. Then, the treatment means may be stopped at predetermined time intervals to measure the respiratory cycle by the detection means, and the operation of the treatment means may be terminated based on the amount of change between the previous measurement value and the current measurement value of the respiratory cycle. Of course, in this case, the operation of the treatment means may be terminated by the amount of change in the respiratory cycle and a timer that starts counting when the treatment is started.

[0011]

According to the present invention, the stimulus corresponding to the respiratory cycle of the human body can be applied to the user, and the detecting means determines the respiratory cycle from the pressing force information by the force sensor that detects the load applied to the therapeutic means. The detection does not give the user a feeling of pressure or restraint.

When the detecting means detects the respiratory cycle from the pressing force information when the treatment means is stopped, the respiratory cycle can be accurately detected, and at this time, the respiratory cycle moves along the human body. In the case where the shoulder position of the human body can be estimated from the change in the pressing force detected by the force sensor when the free treatment element is moved along the human body, if the treatment means is placed at the shoulder position and the respiratory cycle is detected. , The respiratory cycle can be detected more accurately.

When the treatment means is movable along the human body, the respiratory cycle may be detected while moving the treatment means. In this case, since the treatment means does not stop, the person to be treated. Will not be mistaken for malfunction. To detect the respiratory cycle, a frequency component corresponding to the respiratory cycle is extracted from the pressing force information, and measurement is performed from the information after this extraction to detect the respiratory cycle that is not affected by noise components or movements of the treatment element. be able to.

When the control means controls at least one of the stimulation cycle, the stimulation intensity, and the waveform of the stimulation change based on the detected respiratory cycle, various treatments are performed according to the respiratory cycle. The motion can be given to the user. The stimulation cycle at this time can enhance the treatment effect by making the stimulation cycle an integral multiple of the respiratory cycle based on the detected respiratory cycle, or by making the respiratory cycle equal to the detected respiratory cycle. When they are matched, it is preferable that the detected respiratory cycle and the detected stimulation cycle are matched, and it is more preferable that the pressing force is increased at the time of inspiration and is decreased at the time of exhalation.

Further, when the stimulation cycle at the start of treatment is made equal to the detected respiratory cycle, and thereafter the stimulation cycle is made longer than the detected respiratory cycle, the treatment means makes the respiratory cycle of the person to be treated long. Therefore, the user to be treated can be brought into a relaxed state at an early stage, and the treatment effect is enhanced. The detection of the respiratory cycle is
The treatment may be performed not only at the initial stage of the treatment operation, but the treatment means may be stopped at predetermined time intervals, the respiratory cycle may be measured by the detection means, and the next stimulation may be controlled based on the newly detected respiratory cycle. This is preferable in terms of enhancing the effect, and when controlling the next stimulation based on the amount of change between the previous measurement value and the current measurement value of the respiratory cycle, it is possible to estimate the relaxation degree of the user and give the next stimulation. Because it is possible, it helps improve the treatment effect.

In controlling the treatment means to perform the treatment operation, the pressing force detected by the force sensor in the detection means is fed back to control the human body pressing force by the treatment means. Can be given reliably. In this case, if the force detection gain of the force sensor is switched between when the respiratory cycle is detected and when the human body pressing force is controlled, the respiratory cycle detection and the human body pressing force control can be performed accurately.

Further, the control means stops the treatment means at predetermined time intervals and measures the respiratory cycle by the detection means, and the treatment means is controlled based on the amount of change between the previous measurement value and the current measurement value of the respiratory cycle. When the operation is to be terminated, it does not give the user more than necessary treatment operation, and the end of this treatment operation is used in combination with the operation end by the timer that starts counting at the start of treatment. It is possible to surely prevent the situation of excessive treatment.

[0018]

The present invention will be described below in detail with reference to the illustrated embodiments. Explaining from the mechanical point of the massage machine, this massage machine is built in a backrest of a chair or a bed, and is rotated by a main drive source 6 as shown in FIGS. 2 and 3. An eccentric and slanted inner ring 61 is attached to 60, and an outer ring 62 having an arm 63 protruding is freely rotatably arranged on the outer periphery of the inner ring 61, and a roller-shaped treatment element 1 is provided at the tip of the arm 63. The link 65 is attached to the outer ring 62 via a universal joint.
One end of the interlocking link 66 is connected to the other end of the link 65 via a universal joint. The interlocking link 6 rotatably supported by the shaft 67
The other end of 6 is connected to a movable body 68 that moves by rotation of the strength driving source 4.

Now, when the main shaft 60 and the inner ring 61 are rotated by the main drive source 6, the treatment element 1 at the tip of the arm 63 protruding from the outer ring 62 whose movement is restricted by the link 65 has the inner ring 61 eccentric and By being inclined,
A movement suitable for a fir massage shown by an arrow in FIG. 3 is performed.
Further, when the movable body 68 is moved by the strength driving source 4, the outer ring 62 is moved to the inner ring 61 via the connecting link 66 and the link 65.
The massager 1 is rotated around and the massager 1 is moved in the direction A in the drawing, which is the direction in which the massager 1 presses the human body, to adjust the strength during fir massage.

As shown in FIG. 2, a pair of treatment elements 1 are provided on the left and right, and the interval between the treatment elements 1 and 1 can be changed by the rotation of the width feed screw 8 by the width drive source 9. You can do it. Further, from the main drive source 6 to the main shaft 60
A vertical drive clutch 27 is arranged in the power transmission path leading to, and when the vertical drive clutch 27 is connected, the vertical pinion 11 rotates and the main shaft 60 and the treatment element 1 are placed along the back surface of the human body. Move up and down.

Further, the front-back position of the treatment element 1 by the driving source 4 for strength and weakness can be detected by the strength and weakness position sensor 5, and the interval between the pair of treatment elements 1, 1 is the width sensor 10. The vertical position of the treatment element 1 can be detected by the vertical position sensor 26. The treatment element 1 that comes into contact with the human body is provided with a force sensor 3 for detecting a load generated by the treatment element 1 pressing the human body. However, in the massage machine having the above mechanism, the treatment element 1 is rotatably provided at the tip of the arm 63, and it is difficult to directly provide the force sensor 3 for detecting the pressing force on the treatment element 1 to measure the load. Therefore, here, the force sensor 3 is provided on the metal arm 63 that will bend when the treatment element 1 is loaded, and as the force sensor 3, a strain gauge attached to the arm 63 is used. There is. The information detected by the force sensor 3, as shown in FIG. 1, is output from the strong / weak position sensor 5, the strong / weak position information, the vertical position information output from the vertical position sensor 26, and the width sensor 10. In addition to being sent to the site measuring device 20 in the control circuit C together with the interval information, it is also sent to the respiratory cycle measuring device 22.

As shown in FIG. 1, the control circuit C includes a site measuring instrument 20, a treatment pattern controller 21, a respiratory cycle measuring instrument 22, and drive circuits 23, 23 for the respective drive sources 6, 4, 9. 24 and 25, the vertical drive clutch 27 is connected, and an operation unit including a power switch 17 and a start switch 18 is connected. The power switch 17 is turned on and the start is started. When the switch 18 is turned on, as shown in FIG.
The respiratory cycle measurement position is set and the respiratory cycle is detected, and then the actual treatment operation is performed.

The operation of setting the measurement position will be described.
As shown in FIG. 5, first, a predetermined target pressing force f is set, the treatment element 1 is returned to the origin position in the vertical direction, and the target sensor pressing force f is detected by the force sensor 3 at this position. When the force sensor 3 obtains the same force as the target pressing force f by driving the power source 4 for driving, the strong and weak positions obtained by the strong and weak position sensor 5 and the vertical position obtained by the vertical position sensor 26 at this time. And remember. Then, the treatment element 1 is moved downward (or upward) by a predetermined amount, and the strong and weak positions and the vertical position when the force sensor 3 obtains the same force as the target pressing force f at that position are also stored. This operation is performed within the preset measurement range, and then the external shape data of the human body, which is the relationship between the vertical position and the strong / weak position, is graphed as shown in FIG. 6 (b). The part to specify which part of the person is identified, and the treatment child 1
Is moved to a site for breathing cycle measurement, here to the shoulder position.

When the region is determined, the respiratory cycle measuring device 22 detects the respiratory cycle shown in FIG. That is, with the massager 1 in the shoulder position, the pressing force signal (FIG. 8 (a)) of the force sensor 3 associated with breathing is detected and passed through the bandpass filter to apply the pressing force due to the weight of the user. After taking out only the component b due to respiration (Fig. 8 (b)) excluding the component a, it is binarized by the zero cross detection circuit (Fig. 8 (c)), and the time interval (unit: The number of pulses in time) determines the respiratory cycle.

The respiratory cycle may be detected while the treatment element 1 is moved along the back surface of the human body to perform treatment for stretching the back muscles. A flow chart in this case is shown in FIG. 9, and an operation explanation is shown in FIG. As shown in FIG. 10 (a), the component c (longer than the frequency of the respiratory component b) of the pressing force change due to the stretching of the back muscles is superimposed, but the component c is also as shown in FIG. Can be removed to
As shown in FIG.
By digitizing, the respiratory cycle can be determined as in the above case.

When binarizing the breathing cycle by the zero-cross detection circuit, the rising time and the falling time of the pulse are in the middle of breathing and in the middle of exhaling. It is possible to directly detect the time points at which the inspiration and the exhalation start, that is, the time point t1 when the pressing force changes from a decrease to an increase and the time point t2 when the pressing force changes from an increase to a decrease in FIG. 8B and FIG. I can't,
The pressing force change associated with breathing shows a sine curve as a result of actual measurement, and since both of the time points t1 and t2 coincided with an intermediate time point between the zero cross points, there is no problem even in the detection based on the zero cross. Of course, it is also possible to directly detect both of the time points t1 and t2 by using a differentiating circuit or the like.

Now, when the respiratory cycle is determined as described above, the control circuit C sets the initial treatment pattern (stimulation cycle, stimulation intensity, stimulation waveform) as shown in FIG.
At this time, the stimulation cycle is made to coincide with the detected respiratory cycle, and the respiratory phase and the stimulation phase are made to coincide with each other so that the pressing force increases when inhaling and the pressing force decreases when exhaling. . After that, the treatment for a fixed time determined by the treatment time timer is performed according to the above-mentioned initial treatment pattern, then the treatment element 1 is stopped and the breathing cycle is measured again, and the next treatment pattern is determined based on the newly measured breathing cycle. Set and perform treatment again. The repetition of the measurement of the respiratory cycle and the treatment in the therapeutic pattern based on the measured respiratory cycle causes the maximum treatment time timer to time up, or the difference between the measured respiratory cycle and the previously measured respiratory cycle (in FIG. 12). D)
Continues until it becomes smaller than the preset end change amount. The treatment for a long time rather reduces the treatment effect, so that the treatment is ended by the maximum treatment time timer (the time limit is, for example, 15 minutes), and if the difference d in the respiratory cycle becomes smaller, the user becomes relaxed. The treatment is ended because it means that it has become. As shown in FIG. 16, the maximum treatment time timer may be automatically terminated only.

Here, the setting of a new treatment pattern accompanying the remeasurement of the respiratory cycle is as follows. First, when the respiratory cycle measured this time is shorter than the first measured respiratory cycle, as shown in FIG.
If the treatment pattern Pn has a greater stimulation intensity than that of the previous treatment pattern and the respiratory cycle of the current measurement is longer than the first measured respiratory cycle, as shown in FIG.
The treatment pattern Pn has a smaller stimulus intensity. Further, when the current measured respiratory cycle is longer than the previous measured respiratory cycle, as shown in FIG. 14 (a), the treatment pattern Pn has a longer stimulation period than the previous therapeutic pattern Pp,
On the contrary, when the current measured respiratory cycle is shorter than the previous measured respiratory cycle, the treatment pattern Pn has a shorter stimulation period than the previous treatment pattern Pp as shown in FIG. 13B.

When both of the above are performed in combination, for example, when the respiratory cycle is longer than the initial one and longer than the previous one, as shown in FIG. 15 (a), the stimulation cycle is longer than the previous treatment pattern Pp. 15b, when the treatment pattern Pn is long and the stimulus is small, and the respiratory cycle is longer than the first time and shorter than the previous time,
As shown in, the treatment pattern Pn has a slightly larger stimulation and a shorter stimulation cycle than the previous treatment pattern Pp. However, the size of the stimulation and the stimulation cycle are shown in Fig. 15 (b).
It is assumed to be smaller and longer than the initial stimulation pattern Pf shown in.

The size of the stimulus is set to be smaller as the cycle becomes longer. Regarding the stimulation cycle, as treatment progresses and the body relaxes,
The respiratory cycle usually becomes longer as shown in FIG. 12, and when the stimulation cycle is made longer than the respiratory cycle,
Since it is usual that the respiratory cycle is lengthened by being guided by the stimulation cycle, the relaxed state in which the respiratory cycle is lengthened is obtained at an early stage. When the cycle cannot be synchronized with the stimulation cycle, the stimulation cycle is shortened to the point where the respiratory cycle can be synchronized. It is unlikely that the breathing cycle of this time measurement will be shorter than the breathing cycle of the first time measurement, but in this case, there is a combination of FIG. 13 (a) and FIG. 14 (a) (b). The treatment pattern is controlled so that

The stimulus intensity is changed by the driving source 4 for strength.
Is performed by controlling the human body pressing force by the treatment element 1 by feeding back the pressing force detected by the force sensor 3 at this time, so that the desired stimulation intensity can be surely obtained. ing. In addition, by switching the force detection gain of the force sensor 3 between when the respiratory cycle is detected and when the human body pressing force is controlled, that is, since the amount of change in the pressing force due to breathing is small, the gain is made larger than that during force control. Both the force control using the force sensor 3 and the respiration detection can be accurately performed together.

As shown in FIG. 17 (a), the setting of a new treatment pattern (pressing pattern) associated with the remeasurement of the respiratory cycle starts from the state in which the respiratory cycle and the stimulation cycle are matched, including the phase. As shown in 17 (b), the stimulation cycle may be n times (n = integer) the respiratory cycle. At this time, the value of n should be increased each time the treatment pattern is set. May be.

When the treatment pattern is set in accordance with the respiratory cycle, the phase and the waveform are made to coincide with each other. As shown in FIG. 18, one measured respiratory cycle tb is divided by a predetermined number (256 in the illustrated example). This can be surely performed by monitoring and controlling the pressing force of the treatment element 1 for each minute time ta obtained by the above. In the above examples, the massage treatment is performed by being rotationally driven as the treatment means.However, as long as it gives a stimulus to the human body periodically, such as an acupressure element that is driven to appear and disappear, It may be another. Further, although the sine curve shape is shown as the waveform of the stimulus, the waveform is not limited to this, and different waveforms may be used according to the detected respiratory cycle.

[0034]

As described above, according to the present invention, the stimulus according to the respiratory cycle of the human body can be given to the user, and the detecting means is the pressing force by the force sensor for detecting the load applied to the treating means. Since the respiratory cycle is detected from the information, it does not give a feeling of pressure or restraint to the user, and therefore a comfortable and effective massage can be accurately obtained.

When the detecting means detects the respiratory cycle from the pressing force information when the treatment means is stopped, the respiratory cycle can be accurately detected. Further, the treatment means can be moved along the human body by the treatment element moving means, and the site estimation means can detect the shoulder of the human body from the change in the pressing force detected by the force sensor when the treatment element is moved along the human body. If the position can be estimated, the respiratory cycle can be detected more accurately by placing the treatment means on the shoulder position and detecting the respiratory cycle. The treatment operation can be made more reliable.

When the treatment means is movable along the human body by the treatment element moving means, the breathing cycle may be detected while moving the treatment means. In this case, the treatment means does not stop. Therefore, the user does not misunderstand that the user is malfunctioning, so that the user does not feel uneasy. The respiratory cycle is detected by extracting the frequency component corresponding to the respiratory cycle from the pressing force information and measuring from the information after this extraction to detect the respiratory cycle that is not affected by noise components or movement of the treatment element. The treatment operation can be performed and the treatment effect based on the erroneous detection value is not improved, and the treatment operation is not performed.

When the control means controls at least one of the stimulation cycle, the stimulation intensity, and the waveform of the stimulation change based on the detected respiratory cycle, various treatments are performed according to the respiratory cycle. The motion can be given to the person to be treated, and a high treatment effect can be obtained. The stimulation cycle at this time can enhance the treatment effect by making the stimulation cycle an integral multiple of the respiratory cycle based on the detected respiratory cycle, or by making the respiratory cycle equal to the detected respiratory cycle. In the case of matching, it is preferable to match the phase of the detected respiratory cycle with the phase of the stimulation cycle, and it is preferable to increase the pressing force during inspiration and decrease the pressing force during exhalation for comfortable treatment. It will be.

Further, when the stimulation cycle at the start of treatment is made equal to the detected respiratory cycle and thereafter the stimulation cycle is made longer than the detected respiratory cycle, the treatment means makes the respiratory cycle of the user long. Therefore, the user to be treated can be brought into a relaxed state at an early stage, and the treatment effect is enhanced. The detection of the respiratory cycle is
The treatment may be performed not only at the initial stage of the treatment operation, but the treatment means may be stopped at predetermined time intervals, the respiratory cycle may be measured by the detection means, and the next stimulation may be controlled based on the newly detected respiratory cycle. This is preferable in terms of enhancing the effect, and when controlling the next stimulation based on the amount of change between the previous measurement value and the current measurement value of the respiratory cycle, it is possible to estimate the relaxation degree of the user and give the next stimulation. Because it is possible, it helps improve the treatment effect.

When the treatment means is controlled to perform the treatment operation, the pressing force detected by the force sensor in the detection means is fed back to control the human body pressing force by the treatment means. Can be given reliably. In this case, if the force detection gain of the force sensor is switched between when the respiratory cycle is detected and when the human body pressing force is controlled, the respiratory cycle detection and the human body pressing force control can be performed accurately.

Further, the control means stops the treatment means at predetermined time intervals, measures the respiratory cycle by the detection means, and determines the treatment means based on the amount of change between the previous measured value and the current measured value of the respiratory cycle. When the operation is to be terminated, it does not give the user more than necessary treatment operation, and the end of this treatment operation is used in combination with the operation end by the timer that starts counting at the start of treatment. It is possible to surely prevent the situation of excessive treatment.

[Brief description of drawings]

FIG. 1 is a block circuit diagram of an embodiment of the present invention.

FIG. 2 is a schematic view of the above-mentioned mechanism.

FIG. 3 is a schematic side view of the above-mentioned mechanism.

FIG. 4 is a flowchart of a main flow of the above.

FIG. 5 is a flowchart of a site measuring operation of the above.

FIG. 6 shows the same operation as above, (a) is a vertical position-pressing force characteristic diagram, and (b) is a vertical position-strong / weak position characteristic diagram.

FIG. 7 is a flowchart of a breathing cycle measuring operation.

8 (a), (b) and (c) are operation explanatory views of the above.

FIG. 9 is a flowchart of another respiratory cycle measuring operation.

10 (a), (b) and (c) are diagrams for explaining the above operation.

FIG. 11 is a flowchart of a treatment operation of the same.

FIG. 12 is an explanatory diagram showing changes in a respiratory cycle associated with treatment.

13 (a) and 13 (b) are explanatory views of setting a treatment pattern in the above.

14 (a) and (b) are explanatory views of another setting of the treatment pattern in the above.

15 (a) and 15 (b) are explanatory views of another setting of the treatment pattern of the same.

FIG. 16 is a flowchart of another treatment operation.

17 (a) and 17 (b) are explanatory views of another example of setting a treatment pattern.

FIG. 18 is an explanatory diagram of treatment pattern setting.

[Explanation of symbols]

 1 treatment element 3 force sensor 22 breathing cycle measuring device

Claims (17)

[Claims] 1. A treatment means for periodically giving a stimulus to a human body, a detecting means for detecting a respiratory cycle of the human body, and a stimulus given to the human body by the treatment means according to the respiratory cycle detected by the detecting means. In the massage machine having a control means for controlling, the detection means detects the respiratory cycle from the pressure information by the force sensor that detects the load applied to the treatment means for pressing the human body. Machine. 2. The massage machine according to claim 1, wherein the detection means detects a respiratory cycle from the pressing force information in a state where the treatment means is stopped. 3. The treatment means is movable along the human body by the treatment element moving means, and the detection means changes the pressing force detected by the force sensor when the treatment element is moved along the human body. The massage machine according to claim 2, wherein the respiratory cycle is detected by placing the treatment means on the shoulder position of the human body estimated by the site estimation means from the above. 4. The treatment means is movable along the human body by the treatment element moving means, and the detecting means detects the respiratory cycle while moving the treatment means. Massager according to 1. 5. The massage according to claim 1, wherein the detection means extracts a frequency component corresponding to a respiratory cycle from the pressing force information and measures the respiratory cycle from the extracted information. Machine. 6. The control means controls at least one of a stimulation cycle, a stimulation intensity, and a waveform of a stimulation change based on the detected respiratory cycle. Massage machine. 7. The massage machine according to claim 6, wherein the control means sets the stimulation cycle to an integral multiple of the respiratory cycle based on the detected respiratory cycle. 8. The massage machine according to claim 6, wherein the control means makes the stimulation cycle equal to the detected respiratory cycle. 9. The massage machine according to claim 8, wherein the control means matches the detected phase of the respiratory cycle with the phase of the stimulation cycle. 10. The massage machine according to claim 9, wherein the control means increases the pressing force during inspiration and decreases the pressing force during exhalation. 11. The control means makes the stimulation cycle at the start of treatment equal to the detected respiratory cycle, and thereafter makes the stimulation cycle longer than the detected respiratory cycle. Massage machine. 12. The control means stops the treatment means at predetermined time intervals, measures the respiratory cycle by the detecting means, and controls the next stimulation based on the newly detected respiratory cycle. The massage machine according to claim 6, which is characterized in that. 13. The control means stops the treatment means at predetermined time intervals to measure the respiratory cycle by the detecting means, and the next stimulus based on the amount of change between the previous measured value and the current measured value of the respiratory cycle. 7. The massage machine according to claim 6, wherein the massage machine is controlled. 14. The massage machine according to claim 1, wherein the control means feeds back the pressing force detected by the force sensor in the detecting means to control the human body pressing force by the treatment means. 15. The massage machine according to claim 14, wherein the detection means switches the force detection gain of the force sensor between when the respiratory cycle is detected and when the human body pressing force is controlled. 16. The control means stops the treatment means at predetermined time intervals, measures the respiratory cycle by the detection means, and controls the treatment means based on the amount of change between the previous measurement value and the current measurement value of the respiratory cycle. The massage machine according to claim 6, characterized in that the operation is terminated. 17. The massage machine according to claim 16, wherein the control means terminates the operation of the treatment means by a change amount of the respiratory cycle and a timer which starts counting when the treatment is started.