KR20010078008A - Massage machine and method of control medical treatment power - Google Patents

Abstract

PURPOSE: Provided is a massage machine by which the strength of a treatment is automatically changed-over in accordance with the size or the hardness, or the like, of a lesion in a person to be treated. CONSTITUTION: A pair of disk shape treatment bodies(14 and 16) for massaging the lesion in the leg, or the like, of the person to be treated are fitted to a driving shaft(12) to be rotated by a motor(10) so as to be able to approach/ separation in this massage machine. The machine is provided with a control means(24) having a detector for detecting the change of the treatment strength to be added to him or her from the bodies(14 and 16) and having a control part for adjusting the treatment strength onto him or her based on the detection value of the detector. The change of a load current in the motor(10) is indicated as an example for the detection value detected by the detector. Besides, the treatment strength on him or her is adjusted by changing the rotational speed of the motor(10).

Description

MASSAGE MACHINE AND METHOD OF CONTROL MEDICAL TREATMENT POWER}

The present invention relates to a massaging device and a method for controlling the sample force of a massaging machine to massage the affected parts such as the legs, arms, and nape of the subject.

Massager 18 which massages and massages a foot, such as a foot, a calf, a thigh, or a leg, or an arm, a nape of a subject, as shown in FIG. It is known to mount a pair of disk-shaped sample bodies 14 and 16 that are symmetrically inclined to the drive shaft 12 rotated by the " The massaging machine 18 shown in FIG. 1 is equipped with the disk shaped sample bodies 14 and 16 one by one in symmetry.

On the opposing surface of the sample bodies 14 and 16, a plurality of pressure papers 20 and 22 are provided in annular shapes, respectively, and the sample subject sandwiches the affected part between the sample bodies 14 and 16. When the motor 10 is driven in the state, the opposing surfaces of the sample bodies 14 and 16 repeat the approaching and separating operation, and massage paper is massaged while the pressure papers 20 and 22 rub the affected part.

The sample strength of the massage performed on the subject can be adjusted by changing the rotational speed of the motor 10. In other words, when the rotational speed of the motor 10 is increased, the sample may feel that the sample strength is stronger. Therefore, it is a massage device which made the rotational speed of the motor 10 be a manual switching type, and can be adjusted to three steps of "fast, medium, and slow."

However, the changeover of the rotational speed of the motor 10 is a manual type, so that once the subject performs the setting, the massage of the same intensity is continued until the next switching, so that the massage operation is monotonous and the sample effect is likely to be lowered. There is this.

Therefore, there is also a massager in which the microcomputer stores programming for switching the rotational speed of the motor 10 every predetermined time, and performs automatic operation by combining massages of various sample intensities.

In the case of the automatic operation, the massage is performed with previously programmed contents. However, even if the size of the affected part (for example, the width of the foot) to be massaged differs depending on the physique, gender, and the like, and the massage is performed by automatic operation of the same setting, the sample power is weak and is insufficient. On the contrary, it may become a massage which feels unpleasant because a sample power is too strong.

In addition, the motor 10 rotates continuously, and only the monotonous massage massage of which the intensity | strength adjustment is possible was obtained.

An object of the present invention is to provide a massage device that can automatically switch the sample strength in accordance with the affected area size, hardness, etc. of the subject.

1 is a plan sectional view of the massage device of the present invention.

FIG. 2 is a cross-sectional view taken along the line II-II of FIG. 1.

3 is a side view of the sample body seen from the pressure finger side.

4 is a block diagram of the control means.

5 is a circuit diagram showing an electric circuit of a massager.

6 is a flowchart of the detection program PO for selecting a massage course, and b is a graph showing the current waveform detected by the detector.

7 is a flowchart of a detection program PO for selecting a massage course showing the continuation of FIG. 6.

8 is a timing chart of the A course program.

9 is a timing chart of the B course program.

10 is a timing chart of the C course program.

11 is a flowchart of a vertex detection program.

♣ Explanation of symbols for main part of drawing ♣

10: motor 14: sample body

16: Sample 18: Massager

24: control means 26: detector

In order to solve the above problems, the massaging machine of the present invention is a pair of disk-shaped sample body (14, 16) for massaging the affected part, such as the leg of the subject, to the drive shaft 12 rotated by the motor (10). In the massager mounted so as to be accessible and spaced apart from each other, the detector 26 detects a change in the sample force applied to the sample from the sample bodies 14 and 16 and based on the detected value of the detector 26. And control means 24 having a control unit 28 for adjusting the sample force to the sample.

As a detection value detected by the detector 26, the change of the load current of the motor 10 can be illustrated.

In addition, the sample force applied to the sample can be adjusted by changing the rotational speed of the motor 10.

In addition, the massage device of the present invention attaches to the drive shaft 12 rotated by the motor 10 so that a pair of disk-shaped sample bodies 14 and 16 for massaging the affected part such as the leg of the subject can be approached and spaced apart. In one massaging machine, the interval detecting means for detecting the interval between the sample bodies 14 and 16 and the interval detection means detect that the interval is narrowed to stop the motor 10 once, and then drive again after a predetermined time. It is to have a control means 24 to make.

The interval detecting means detects the interval based on, for example, a change in the load current of the motor 10. That is, the load applied to the sample body changes depending on the interval between the sample bodies 14 and 16, and the change in the interval is detected by detecting this change as the change in the load current of the motor.

The control means 24 is made to rotate at high speed by the rotational speed before stopping, when the motor 10 is driven again.

When the motor 10 is driven again, the motor 10 is rotated in a direction opposite to the rotation direction before stopping.

With the motor 10 rotated, the sample inserts the affected part between the sample bodies 14 and 16, and the detector 26 detects the sample force applied from the sample bodies 14 and 16 to the affected part. do. When the affected part of the sample is thin or smooth when the motor 10 is rotated at the same speed, the sample force applied from the sample bodies 14 and 16 to the sample becomes small, and conversely, the sample When the affected part of the ruler is thick or hard, the sample force applied from the sample bodies 14 and 16 to the subject becomes large. The sample force applied from the sample bodies 14 and 16 to the subject can be detected by the detector 26 as a change in the load current of the motor 10, for example. In the case where the affected part is thin or soft, the load on the motor 10 becomes small, and the rise of the load current decreases. On the contrary, when the affected part is thick or hard, the load on the motor 10 becomes large and the load current greatly increases.

Based on the detected value detected by the detector 26, the affected part size and hardness of the sample are judged, and the control unit 28 adjusts the sample force applied to the sample.

If it is determined that the affected part of the subject is thin or soft, the controller 28 gives the subject a massage of weak sample strength. When performing massage with weak sample strength, the motor 10 may be rotated at low speed, for example. This is because, when the motor 10 is rotated at low speed, the sampler can feel that the sample strength is weak.

Conversely, in the case where it is determined that the affected part is thick or hard, the controller 28 gives the subject a massage with a strong sample strength. When performing a massage with strong implementation intensity | strength, it is good to rotate the motor 10 at high speed, for example. This is because, when the motor 10 is rotated at a high speed, the subject can feel as a massage having a strong sample strength.

As described above, the sample strength of the massage applied to the subject can be adjusted according to the affected part size, hardness, etc. of the subject.

Since the massage of the optimum sample strength is performed in accordance with the thickness, hardness, etc. of the affected part, the subject can feel an insufficient and unpleasant feeling, pain, etc., and can receive an effective and comfortable massage.

In addition, when the space between the sample bodies 14 and 16 becomes narrow, that is, the affected part such as the leg of the sample is pressed by the sample bodies 14 and 16, the motor 10 is stopped. By stopping the movement of the sample bodies 14 and 16, and re-driving after a predetermined time, a massage effect such as acupressure of the affected part can be obtained while the movement of the sample body is stopped.

When the motor 10 is re-driven, the state under pressure by the sample bodies 14 and 16 is rapidly released by rotating at a high speed by the rotational speed before stopping, thereby improving the acupressure effect.

When the motor 10 is re-driven, it is rotated in a direction opposite to the rotational direction before the stop, thereby originating in the shape of the sample body. However, the massage is abundant in variation by the massage massage before the stop and the massage massage after the restart. Becomes possible.

First, the structure of the massager 18 which implements this invention is demonstrated along FIGS. As shown in Fig. 1 and Fig. 2, the massage device 18 is provided in a casing 30 made of synthetic resin. As for the casing 30, the support parts 36 and 36 which support the leg massage unit 34 from both ends of the portable handle 32 protrude in the same direction.

The leg massage unit 34 is installed between both supports 36 and 36. The unit 34 includes a drive shaft 12 axially supported by the support portions 36 and 36, a rotary roller portion 40 provided at the center of the drive shaft 12, and a massage roller provided on both sides of the rotary roller portion 40. The part 42 and 44 are provided. One end of the drive shaft 12 is linked with the motor 10 accommodated in the one support part 36 via the deceleration mechanism 46. The motor 10 is connected to a control means 24 for controlling the motor 10 and a power cord 48 for supplying power to the motor 10.

The rotary roller part 40 is an annular body provided with the some pressure paper 50 and 50 in the outer peripheral surface, and is being fixed on the drive shaft 12. As shown in FIG. When the drive shaft 12 is rotated, the rotary roller portion 40 rotates integrally with the drive shaft 12, and when the subject puts the sole or calf, rolling massage.

The massage rollers 42 and 44 are installed symmetrically through the rotating roller part 40. Hereinafter, the left massage roller part 42 of FIG. 1 is demonstrated.

The massage roller portion 42 is formed between the first roller portion 52 provided on the end side of the drive shaft 12, the second roller portion 54 and both roller portions 52, 54 provided on the center side. It is formed of an auxiliary roller 56 provided in the.

The 1st roller part 52 is comprised from the annular holder 58 and the sample body 14 inserted in this annular holder 58. As shown in FIG.

The annular holder 58 is fixed to the drive shaft 12, and the groove 60 inclined at a predetermined angle with respect to the drive shaft 12 is recessed in the outer peripheral surface. The groove 60 is attached with a disc shaped sample body 14 via a spherical friction member 62. The friction member 62 rotates the annular holder 58 and the sample body 14 integrally when the load on the sample body 14 is no load or light load, so that the sample body (such as when a normal massage is performed) When the load to 14 is increased, the sample body 14 is slipped with respect to the annular holder 58, and the load to the motor 10 is reduced.

As shown in FIGS. 1 and 3, the sample body 14 is provided with a plurality of pressure papers 20 and 20 protruding from the second roller portion 54 side.

When the motor 10 is rotated, the annular holder 58 rotates integrally with the drive shaft 12. Since the sample body 14 is inclined to the annular holder 58 at a predetermined angle, it swings left and right by the rotation of the annular holder 58.

The second roller portion 54 is composed of an annular holder 64 and a sample body 16 fitted into the annular holder 64.

The annular holder 64 is fixed in the rotational direction with respect to the drive shaft 12, but is slidable in the axial direction.

Between the annular holder 64 and the above-mentioned rotating roller part 40, the coil spring 66 is installed in the compressed state, and the 2nd roller part 54 always faces the 1st roller part 52 side. It is pressurized. The movement of the 2nd roller part 54 is regulated by the stopper 76 of the auxiliary roller part 56 mentioned later.

On the outer circumferential surface of the annular holder 64, a groove 68 inclined in a direction symmetrical with the groove 60 of the sample body 14 of the first roller portion 52 is provided. In the groove 68, a disk-shaped sample body 16 is attached to the groove 68 via the spherical friction member 70.

As shown in FIGS. 1 and 3, the sample body 16 is provided with a plurality of pressure papers 22 and 22 protruding toward the first roller portion 52.

In addition, the disk shaped specimens 14 and 16 do not necessarily need to be inclined symmetrically, and the inclination angle is free as long as the disk-shaped specimens 14 and 16 are mounted so that the intervals in contact with the subject's body are wide or narrow depending on the rotational position. Therefore, only one sample body 14 or 16 may be inclined, and the other sample body may be arrange | positioned substantially perpendicular to the drive shaft 12. FIG.

The auxiliary roller portion 56 is disposed between the first roller portion 52 and the second roller portion 54, is fixed in the rotational direction and the axial direction with respect to the drive shaft 12, and has a plurality of spherical shapes on the outer circumferential surface thereof. The pressure paper 74 is rotatably provided. At the end of the auxiliary roller portion 56 on the side of the second roller portion 54, an annular stopper 76 for regulating the movement of the second roller portion 54 is formed.

The regulation of the motor 10 of the massager 18 is performed by the control means 24.

As shown in FIG. 4, the control means 24 is formed mainly of the microcomputer 78, and includes a motor drive control unit 28 for controlling the driving of the motor 10, and a current value of the motor 10. A detection unit 26 for detecting a detection state and an operation unit I / F circuit 81 connected to an operation unit 80 for a subject to input a massage command. The operation unit 80 is provided with each switching button of "high speed", "medium speed" and "low speed", "forward and reverse" switching button, "automatic course" selection button and "stop" button (not shown). The motor drive control unit 28 rotates the motor 10 at variable speed in the forward and reverse directions according to a control command from the operation unit 80.

5 is a circuit diagram showing an electric circuit of the massager 18.

The reactor 84, the smoothing capacitor 85, and the motor 10 are connected to the output part of the rectifier 83 connected to the AC power source 82, and the AC side of the rectifier 83 is a switching element. It is connected to the AC power source 82 via the intriax 86. The triac 86 is switched by a dike 87 which is a trigger element.

The rectifier detector 26 is arranged on the line between the triac 86 and the AC power source 82. Since the current value detected by the power sensor 88 is an AC signal, half-wave rectification is performed by the diode 89, converted into a DC voltage by the smoothing capacitor 90, and the control means 24 by the resistor 91. The microcomputer 78 has a configuration for inputting a current value. The change in the load applied to the motor 10 is detected by the current detector 26 and transmitted to the microcomputer 78.

Since the change in the load applied to the motor 10 changes due to the change in the distance between the sample bodies 14 and 16, the current detector 26 detects the change in the distance between the sample bodies 14 and 16.

The normal operation of the massager 18 having the above configuration will be described.

When the subject issues a massage start command from the operation unit 80, the microcomputer 78 transmits an operation command to the motor 10 via the motor drive control unit 28, and the motor 10 is driven. The driving force of the motor 10 is transmitted to the drive shaft 1 via the reduction mechanism 46, the drive shaft 12 rotates, and each roller portion 40, 42, 44 together with the drive shaft 12. Rotate

When the subject wants a rolling massage of the affected part, the affected part such as the sole can be placed on the rotary roller part 40 to receive a rolling massage by the pressure paper 50 of the rotary roller part 40.

In addition, when the massage part is to be pinched by the affected part such as the sole or the calf, the affected part is fitted to the massage roller parts 42 and 44.

Since the sample bodies 14 and 16 are inclined in opposite directions, when the driving shaft 12 is driven, the sample bodies 14 and 16 repeatedly move to and away from each other, and the respective pressure papers 20 Massage massage is performed by (22). At this time, since the auxiliary roller part 56 is also rotating, the rolling massage is performed simultaneously by the pressure paper 74 of the auxiliary roller part 56. As shown in FIG.

Next, the automatic course will be described.

The automatic course is a combination of a plurality of massage programs, as shown in the timing charts of Figs. In addition, in each figure, the vertical axis scale on the left side represents the rotation speed and direction of the motor 10, and the horizontal axis represents time (one division is one second).

The motor 10 is set to rotate the drive shaft 12 once every second at low speed, the drive shaft 12 at 1.5 revolutions every second at medium speed, and to rotate the drive shaft 12 twice every second at high speed.

If the automatic course is selected, a program PO for detecting the size, hardness, etc. of the affected area to be massaged is executed, and according to the measurement result, a weak massage (Fig. 8: A course) and a massage of normal intensity (Fig. 9: B course) and a strong massage (FIG. 10: C course), a massage course that is most suitable for a subject is selected.

First, detection program PO is demonstrated using flowchart 6 (a), FIG. 7, and the graph FIG. 6 (b) which shows the detected value of an electric current.

The detection program PO is a program for selecting an optimal massage course for the subject from the current value A_CT of the motor 10 (see Fig. 6 (b)). In the following embodiments, it is assumed that the course is distributed from the difference SIZE between the maximum value MT_MAX of the measured current value A_CT and the minimum value VA_MAX.

When the subject selects the auto course, the motor 10 is rotated in the forward direction at a medium speed for about 9 seconds. First, the maximum value MT_MAX and the minimum value VA_MAX of the current value are returned to the initial value (zero) (step 1). ).

Next, the current value A_CT of the motor 10 is read (step 2), and it is detected whether the detected current value is the maximum point (step 3). If the detected value is the maximum point, the obtained detected value is stored as the maximum value MT_MAX (step 5). If no maximum point is obtained (step 6), the maximum point is detected again.

When the maximum point MT_MAX is detected, the minimum point of the current detection value A_CT is not detected (step 7). When the detected value is the minimum point, the obtained detected value is stored as the minimum value VA_MAX. (Step 9).

Steps 2 to 9 are repeated for about 9 seconds. In addition, step 4 and step 8 are steps of updating each value when the newly detected maximum and minimum points are larger than the previously detected maximum and minimum points.

After the motor 10 is rotated for about 9 seconds (step 10), it is detected whether the maximum point MT_MAX and the minimum point VA_MAX are detected (steps 11 and 12). If neither the maximum nor the minimum point is detected, i.e., zero, the detection program PO is terminated because the measurement does not proceed satisfactorily due to any cause (step 13).

If the measurement is proceeding well, the difference SIZE between the maximum point MT_MAX and the minimum point VA_MAX is calculated (step 14), and the massage course is distributed based on the size of the difference (SIZE) ( Step 15 to Step 19).

Specifically, if the difference SIZE is larger than the preset C course branching end value L (step 15), it is determined that the affected part of the subject is thicker or harder than the reference, and the massage given to the subject is performed. It determines with C course with a strong sample power (step 16). If the difference SIZE is larger than the preset B course branching end value M (step 17), it is determined as a standard, and it is determined as B course which is the normal sample strength (step 18). If the difference SIZE is less than or equal to the end value M for the B course branching, it is determined that the affected part of the subject is thinner or softer than the standard, and is determined as A course (step 19). Where L> M.

Hereinafter, each massage course is demonstrated.

When it is determined as A course by the detection program PO, the A course program shown in Fig. 8 is executed. Course A is a strong massage program for people whose lesions are thinner or softer than standard.

First, as shown in PA1 of FIG. 8, the motor 10 is rotated at a low speed in the electrostatic direction for 6 seconds, and after a 1 second stop, a weak massage is performed again for the electrostatic low speed rotation for 6 seconds. Program PA1 is repeatedly executed two times. Next, a program PA2 is executed in which low speed, medium speed, and high speed rotation are combined with power failure and inversion of the motor 10.

Next, the program PA3 is executed. This program causes the low-speed rotation from the medium speed of the power failure, stops for a predetermined time (1 second in the embodiment), and then restarts the drive, but the re-drive is a program that performs the low-speed rotation from the reverse medium speed rotation.

Here, the timing at which the motor 10 is stopped from low speed rotation is performed by detecting the point (peak) at which the detected value of the load current of the motor 10 detected by the detector 26 is the largest. The current of the motor 10 changes depending on the load, but the load is a force that the sample bodies 14 and 16 receive from the sample portion such as the foot, and changes due to the change of the interval between the sample bodies 14 and 16. The position where the load of the motor 10 is greatest is the position where the strongest sample force is applied to the sample portion by the sample bodies 14 and 16, and the width of the sample bodies 14 and 16 is the most wide. It can be seen as a narrowing position.

The dotted line after the low speed rotation of the program PA3 indicates that a vertex detection program for detecting the position where the load of the motor 10 is the greatest is executed.

In this way, the motor is stopped at the position where the width of the sample bodies 14 and 16 becomes narrowest and the strongest sample force is applied to the sample portion, and the sample bodies 14 and 16 are stopped during that time. It is the same as performing the acupressure of the sample part.

Here, when the motor 10 is driven again, the motor 10 is rotated at a medium speed faster than the low speed rotation, which is the rotation speed before stopping, so that the state pressurized by the sample bodies 14 and 16 is rapidly released, so that the pressure is reduced. The effect can be enhanced.

The detector 26 is used as an interval detecting means for detecting an interval between the specimens 14 and 16. However, the detector 26 executes the motor 10 when executing the vertex detection program for detecting the interval. Since the rotation is performed at a low speed, it is easy to accurately grasp the change in the load rectification value, and high accuracy interval detection is possible.

In addition, when the motor 10 is re-driven, since the rotation direction is reversed before the stop, the movement of the specimens 14 and 16 is reversed (the relationship between up and down), and the massage is rich in change. It becomes

11 shows a flowchart of the vertex detection program. If the current value CT of the motor 10 read is larger than the current value CT (-1) read last time (Y in step 1), the load is rising (samples 14 and 16). (Step 2). If the difference from the current value (CT (-2)) read last time is equal to or less than the predetermined value (here, 1), it is determined that Y), it is determined that the rise is not small (step 4), and it is determined that the upper vertex is detected (step 5).

The detection of the peak is judged by the difference from the current value CT (-2) of the previous time in step 3, in order to prevent erroneous judgment due to tremor.

The point at which the increase in the current value decreases is determined as the peak, and the time from the switching of the energization to the motor 10 to the stop of the specimens 14 and 16 is judged as the peak. This is because the vertex was detected slightly ahead of the vertex of true. Therefore, the sample bodies 14 and 16 can be stopped at the narrowest point.

In addition, although not directly related to the present invention, (step 6) to (step 10) in this flowchart shows a method for detecting the lower peak of the current value. The procedure is the same as that of (step 1) to (step 5). Here, for example, when the massage is finished based on the detection of the lower bottom point, the sample body can be stopped when the distance between the sample bodies 14 and 16 is widest, and the sample bodies 14 and 16 can be stopped. It is possible to facilitate the insertion and withdrawal of the sample body region inserted in the.

In the flowchart of FIG. 11, the current value is denoted as the current value during actual massage (CT), and is distinguished from the current value A_CT in the flowcharts of FIG. 6 and FIG. 7 in which the previous detection program PO is displayed. Notation.

In the program PA3, the motor 10 is stopped based on the detection of the peak, but the motor is stopped even after 2 seconds so that the peak cannot be detected in case the detector 26 does not operate normally. have.

After the program PA3 is executed, the program PA4 for forwarding and inverting the motor 10 at low speed is repeatedly executed three times, and finally, the program PA5 similar to the program PA2 is executed twice. After the program PA5 is executed, the programs AP1 to PA5 are repeated again.

According to the A course program, a sample having a weak sample power can be given to the subject, and excessive sample force is not applied to a person with a thin affected area or a soft person.

The B course program shown in Fig. 9 is a program for giving a massage of standard intensity, and is a program in which the rotation area of the motor 10 is increased at medium speed and high speed than the A course program. Since the motor 10 is rotated at a higher speed than the A course, the description thereof is omitted because it is the same as the A course program.

The C course program shown in FIG. 10 is a program for giving a strong massage, and is a program for rotating the motor 10 at a higher speed than the B course program. Except for the rotational speed of the motor 10, since it is the same as the A-course program, the same description is omitted. According to the C course program, a weak sample can be given to a thick or hard affected part, and the lack of massage can be eliminated.

As described above, from the change in the load applied to the motor 10, the massage of the optimum sample strength (A course to C course) can be performed according to the subject.

Description of the said Example is for demonstrating this invention, Comprising: It should not interpret it as limiting the invention described in a claim, or reducing a range. In addition, the structure of each part of this invention is not limited to the said Example, A various deformation | transformation is possible within the technical scope as described in a claim.

For example, the mechanism of the massager 18 is not limited to the above-mentioned thing, and the massage operation | movement of each program course is not limited to the said Example, either. In the above embodiment, three types of massage courses are divided according to the load of the motor 10, but two or more types of massage courses are not limited to three types.

In the above embodiment, the detector 26 which detects a change in the sample force applied to the sample is used as a detection value, while the difference of the load current of the motor 10 is used as a detection value, but the maximum value of the load current is detected. It can also be used as.

In addition, although the current detector 26 of the motor 10 is used as the interval detecting means for detecting the interval between the sample bodies 14 and 16, the magnet is attached to the sample body 14, and the support portion 36 is provided. The gap may be detected by providing a hole IC for detecting this magnet on the side and causing the hole IC to detect the magnet at a position where the specimen bodies 14 and 16 rotate to narrow the gap.

According to the present invention described above, there is an advantage that the sample strength can be automatically switched in accordance with the size, hardness, and the like of the subject.

Claims (7)

In the massaging machine in which a pair of disk-shaped sample bodies 14 and 16 which massages the affected part such as the leg of the subject to the drive shaft 12 rotated by the motor 10 are accessible and spaced apart, A detector 26 for detecting a change in the sample force applied to the sample from the sample bodies 14 and 16, and a control unit for adjusting the sample force to the sample based on the detected value of the detector 26 Massage device comprising a control means (24) having a (28). The method of claim 1, The control unit 28 controls the sample force applied to the sample by changing the rotational speed of the motor (10). The sample force of the massaging machine equipped with the pair of disk-shaped sample bodies 14 and 16 which massages the affected part, such as the leg part of a subject, to the drive shaft 12 rotated by the motor 10 so that access and separation are possible. In the control method, A step of detecting a change in the sample force applied to the sample from the sample bodies 14 and 16 when the sample person places the affected part on the sample bodies 14 and 16 and drives the motor 10; , A sample force control method for a massaging machine characterized by having a step of adjusting a sample force to a sample based on this detection value. In the massaging machine in which a pair of disk-shaped sample bodies 14 and 16 which massages the affected part such as the leg of the subject to the drive shaft 12 rotated by the motor 10 are accessible and spaced apart, Interval detecting means for detecting an interval of the specimen bodies 14 and 16, and control means 24 for stopping the motor 10 once by detecting that the interval is narrowed by the interval detecting means and restarting the motor 10 after a predetermined time. Massager having a). The method according to claim 1 or 4, The detector (26) or the interval detecting means outputs a change in the load current of the motor (10) as a detection value. The method of claim 4, wherein Massager for rotating the motor 10 at a speed faster than the rotational speed before stopping. The method of claim 4, wherein Massager for rotating the motor 10 to rotate in the direction opposite to the rotation direction before the stop.