KR20220077843A - Massage apparatus providing an exercise mode to exercise the legs - Google Patents

Abstract

The present invention relates to a massage device that provides an exercise mode for moving a leg, and the massage device according to an embodiment of the present disclosure includes a control unit for controlling the massage device, and the body of the user based on the control of the control unit. A body massage unit for massaging at least a portion, and a leg massage unit disposed below the body massage unit, the leg massage unit for massaging the user's leg based on the control of the control unit, wherein the leg massage unit massages one leg of the user and a second leg massage unit for massaging the other leg of the user, wherein each of the first leg massage unit and the second leg massage unit can move independently, and the control unit is configured to The first length of the first leg massage unit and the second length of the second leg massage unit are based on whether the user's control force for adjusting the length of at least one leg massage unit among the first leg massage unit and the second leg massage unit is sensed. 2 By determining whether to adjust the length and adjusting at least one of the first length and the second length based on the determination result, an exercise mode for exercising the leg may be provided to the user.

Description

MASSAGE APPARATUS PROVIDING AN EXERCISE MODE TO EXERCISE THE LEGS

The present invention relates to a device including an independent movement leg massage unit, and more particularly, to a massage device capable of providing a customized massage according to a user's body type or condition by individually operating the leg massage unit corresponding to both legs. it's about

Massage is to control the modulation of the subject's body by applying various types of mechanical stimuli to the subject's body part, such as kneading, pressing, pulling, tapping, or moving the subject's body part. It is a medical adjuvant therapy that helps circulation and relieves the fatigue of the subject.

The increase in massage demand has caused an increase in demand for a massage device or a massage device that provides an artificial massage function due to economic circumstances and time reasons. That is, as the demand for relieving fatigue or stress while relaxing the tense muscles through massage increases, various massage devices in a time- and cost-effective manner are being released.

Recently, people's interest in health is increasing, and the massage device is changing from simply providing a massage function to an electronic device that provides various additional functions and/or medical functions. Research on how to control it continues.

In particular, since a part to be massaged and a desired stimulus may be different for each user, the user's demand for an apparatus and method for providing a massage in a form optimized for each user is increasing.

The problem to be solved by the present invention is to provide a massage necessary for each leg by individually operating the leg massage unit corresponding to both legs.

In addition, the problem to be solved by the present invention is to provide a customized massage according to the user's leg length by being able to individually adjust the length of the leg portion.

In addition, the problem to be solved by the present invention is to provide a massage with improved safety by detecting a user's body part being pinched and stopping the operation.

In addition, the problem to be solved by the present invention is to provide a massage device in which the leg massage unit is rotatable at a large angle.

However, the problems to be solved by the present invention are not limited to the above problems, and include problems that can be easily grasped by those of ordinary skill in the art to which the present invention pertains from the present specification and accompanying drawings.

In order to achieve the above object, a massage device according to an embodiment of the present disclosure includes a control unit for controlling the massage device, a body massage unit for massaging at least a portion of the user's body based on the control of the control unit, and the body It is disposed under the massage unit, and includes a leg massage unit for massaging the user's leg based on the control of the control unit, wherein the leg massage unit includes a first leg massage unit for massaging one leg of the user and the other side of the user a second leg massage unit for massaging a leg, wherein each of the first leg massage unit and the second leg massage unit can move independently; It is determined whether to adjust the first length of the first leg massage unit and the second length of the second leg massage unit based on whether the user's control force for adjusting the length of the at least one leg massage unit is sensed, and the result of the determination By adjusting the length of at least one of the first length and the second length based on , an exercise mode for exercising the leg may be provided to the user.

According to the present invention, by individually operating the leg massage unit corresponding to both legs, it is possible to provide a massage required for each leg.

In addition, according to the present invention, it is possible to individually adjust the length of the leg portion, it is possible to provide a customized massage according to the user's leg length.

In addition, according to the present invention, when a part of the user's body is caught, it is sensed and the operation is stopped, thereby providing a massage with improved stability.

In addition, the present invention can provide a massage device rotatable at a large angle leg massage unit.

However, the effects of the present invention are not limited to the above-described effects, and include effects that can be easily understood by those of ordinary skill in the art to which the present invention pertains from the present specification and accompanying drawings.

1 is a view showing an embodiment of a massage device according to the present invention.
FIG. 2 is a diagram for explaining the main frame of FIG. 1 .
3 is a view for explaining the components of the massage device according to an embodiment.
4 is a view for explaining a driving method of the massage device according to an embodiment of the present invention.
5 is a view for explaining a leg massage unit according to an embodiment of the present invention.
6 is a view showing an embodiment in which the leg massage unit and the main frame are combined.
FIG. 7 is an enlarged view of part A of FIG. 6 .
8 is an exploded perspective view of a part where two leg massage units are coupled.
9 is a view schematically showing a state before and after rotation of the leg massage unit.
10 is a view for explaining the rotation driving principle of the leg massage unit.
11 is a view for explaining an embodiment in which a link bar and a frame are connected.
12 is a view for explaining an embodiment of the link bracket of FIG.
13 is a diagram schematically illustrating a state before and after rotation of the link bar of FIG. 11 .
14 is a view for explaining an embodiment of a positional relationship between an actuator and a frame.
15 is a diagram schematically illustrating a leg length adjusting means of a leg massage unit.
16 is a view for explaining the principle of adjusting the length of the leg massage unit.
FIG. 17 is an enlarged view of part B of FIG. 15 .
18 is an enlarged view of part C of FIG. 15 .
19 is a view showing an embodiment of the foot massage unit.
20 is a view showing an embodiment in which a pinch prevention sensor is provided in the leg massage unit.
21 is a view showing an embodiment in which a photo sensor is provided in the leg massage unit.
22 is an enlarged view of D of FIG. 21 .
23 is a view for explaining an embodiment of a method of operating a massage device according to the present invention.
24 is a diagram for explaining an embodiment of a massage mode provided by a massage device.
25 is a view for explaining another embodiment of the operation method of the massage device according to the present invention.
26 is a flowchart illustrating a massage providing operation of the controller according to an embodiment of the present disclosure.
27 is a flowchart illustrating an operation of providing a leg massage of a controller according to an embodiment of the present disclosure.
28 shows an example for explaining the reclining operation of the control unit according to an embodiment of the present disclosure.
29 is a top view of a leg massage unit for explaining a rotational force sensing unit according to an embodiment of the present disclosure.
30 is a side view of a leg massage unit for explaining an adjustment force sensing unit according to an embodiment of the present disclosure.
31 illustrates an example for explaining an operation mode providing operation of a controller according to an embodiment of the present disclosure.
FIG. 32 shows an example for explaining the operation of providing the rotational motion mode shown in FIG. 31 .
FIG. 33 shows another example for explaining the operation of providing the rotational motion mode shown in FIG. 31 .
34 illustrates another example for explaining an operation mode providing operation of the controller according to an embodiment of the present disclosure.
FIG. 35 shows an example for explaining the linear motion mode providing operation shown in FIG. 34 .
FIG. 36 shows another example for explaining the linear motion mode providing operation shown in FIG. 34 .

Objects, features and advantages of the present disclosure described above will become more apparent through the following examples in conjunction with the accompanying drawings. The following specific structural or functional descriptions are only exemplified for the purpose of describing embodiments according to the concept of the present disclosure, and the embodiments according to the concept of the present disclosure may be implemented in various forms and described in the present specification or application. It should not be construed as being limited to the examples.

Since the embodiment according to the concept of the present disclosure may have various changes and may have various forms, specific embodiments are illustrated in the drawings and described in detail in the present specification or application. However, this is not intended to limit the embodiments according to the concept of the present disclosure to a specific form of disclosure, and should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present disclosure.

Terms such as first and/or second may be used to describe various elements, but the elements are not limited to the terms. The above terms are used only for the purpose of distinguishing one element from other elements, for example, without departing from the scope of rights according to the concept of the present disclosure, a first element may be named as a second element, and similar The second component may also be referred to as the first component.

When a component is referred to as being “connected” or “connected” to another component, it may be directly connected or connected to the other component, but it is understood that other components may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that no other element is present in the middle. Other expressions for describing the relationship between elements, such as "between" and "in between" or "adjacent to" and "directly adjacent to", should be interpreted similarly.

The terms used herein are used only to describe specific embodiments, and are not intended to limit the present disclosure. The singular expression includes the plural expression unless the context clearly dictates otherwise. As used herein, terms such as “comprise” or “have” are intended to designate the presence of an embodied feature, number, step, action, component, part, or combination thereof, and include one or more other features or numbers, It should be understood that the existence or addition of steps, operations, components, parts or combinations thereof is not precluded in advance.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present specification. does not

In this specification, the actuator means a configuration that can provide a driving force. For example, the actuator may include a motor, a linear motor, an electronic motor, a DC motor, an AC motor, a linear actuator, an electric actuator, and the like, but is not limited thereto.

In this specification, the binaural bit may refer to a specific type of audio information that can control brain waves.

In this specification, according to an embodiment, the massage device may refer to a massage device including a body massage unit and a leg massage unit. Also, according to another embodiment, the body massage unit and the leg massage unit may exist as separate and separate devices (eg, the body massage device and the leg massage device), and the massage device refers to a body massage device or a leg massage device. can do.

Hereinafter, embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings.

1 is a view showing an embodiment of a massage device 100 according to the present invention.

The massage device 100 according to an embodiment of the present disclosure may include at least one of the control unit 1200 ( FIG. 3 ), the body massage unit 1000 , the leg massage unit 2000 , and the arm massage unit 3000 . have.

The controller 1200 may control the massage device 100 . A detailed description of the control unit 1200 will be described later.

The body massager 1000 may provide a body massager for massaging at least a portion of the user's body based on the control of the controller 1200 . For example, the body massage unit 1000 may form an area for accommodating at least a portion of the user's body, and may massage various parts of the body, such as at least one of the user's upper body and lower body. .

The leg massage unit 2000 may be disposed below the body massage unit 1000 , and may provide a leg massage for massaging the user's legs based on the control of the controller 1200 . For example, the leg massage unit 2000 forms an area for accommodating the user's leg, and massages various parts of the leg (eg, knees, toes, etc.), such as at least one part of the user's feet and calves. can do.

The arm massage unit 3000 may be disposed on at least one of one side and the other side of the body massage unit 1000 , and may provide an arm massage for massaging the user's arm based on the control of the control unit 1200 . For example, the arm massage unit 3000 forms an area for accommodating the user's arm, and massages various parts of the arm (eg, finger, wrist, etc.), such as at least one part of the user's hand and forearm. can do.

In addition, the shape and structure of the massage device 100 shown in FIG. 1 is merely exemplary, and as long as it does not depart from the scope of rights defined by the claims of the present disclosure, various types of massage device 100 are also disclosed in the present disclosure. It may be included within the scope of the content.

Hereinafter, each configuration will be described in detail.

The body massage unit 1000 includes a massage module 1700 that provides a massage function to at least a part of a user's body, an audio output module 1500 that provides an audio output in any form to the user, and a body massage unit 1000 . It may include a main frame 1100 constituting the frame of the user input unit 1400 for receiving an input of any type from the user. The body massage unit 1000 is an arbitrary space for accommodating the user can form. The body massage unit 1000 may have a space having a shape corresponding to the shape of the user's body. For example, as shown in FIG. 1 , the body massage unit 1000 may be implemented as a sitting type that can accommodate the user's whole body or a part of the body.

The portion in contact with the ground in the body massage unit 1000 may include an arbitrary material for increasing frictional force or an arbitrary member (eg, an anti-slip pad, etc.) for increasing frictional force, and the massage device 100 It may include wheels for enhancing the mobility of the.

At least a portion of the body massage unit 1000 may slide. For example, when the body massage unit 1000 starts a massage, at least a portion of the body massage unit 1000 may slide forward. In addition, the body massage unit 1000 may be inclined to the rear. As a result, the body massage unit 1000 may provide a massage in a backward tilted state.

According to an embodiment of the present disclosure, the massage device 100 may include at least one air cell (not shown). The air cell may be located in the user's shoulder part, pelvic part, arm massage part, leg massage part 2000, etc., but is not limited thereto, and may be disposed in various parts of the massage device 100 .

The massage device 100 may include an air supply unit, and the air supply unit may inflate the air cell by supplying air to the air cell. The air supply unit may be located inside the body massage unit 1000 and may be located in the leg massage unit 2000 . In addition, the air supply unit may be located outside the massage device (100).

The leg massage unit 2000 may provide a leg massage to the user. For example, the leg massager 2000 may include a calf massager that massages the user's calf and/or a foot massager that massages the user's feet.

The leg massage unit 2000 may be adjustable in length according to the user's body characteristics. For example, when a tall user uses the massage device 100 , the length of the leg massage unit 2000 needs to be increased because the length of the calf is long. In addition, when a short user uses the massage device 100 , the length of the calf is short and the leg massage unit 2000 needs to be shortened. Accordingly, the leg massage unit 2000 may provide a leg massage customized to the user's height. This will be described later in detail.

The arm massage unit 3000 may provide an arm massage to the user. For example, the arm massage unit 3000 may include a hand massage unit airbag for massaging the user's hand and/or a forearm massage unit massaging the user's forearm. In this case, the hand massage unit may include at least one of an air cell for massaging the hand and a finger pressure pad, and the forearm massage unit may include an air cell for massaging the forearm.

Configurations included in each of the above-described massage device 100 , body massage unit 1000 , leg massage unit 2000 , and arm massage unit 3000 are merely exemplary embodiments, and massage device 100 , body massage unit Each of the unit 1000 , the leg massage unit 2000 , and the arm massage unit 3000 may include various components in addition to the above-described components.

The massage module 1700 may be provided inside the body massage unit 1000 to provide any type of mechanical stimulation to the user accommodated in the body massage unit 1000 . As shown in FIG. 1 , the massage module 1700 may move along the main frame 1100 provided in the body massage unit 1000 .

For example, the main frame 1100 of the body massage unit 1000 may be provided with a rack gear, and the massage module 1700 moves along the rack gear 1111, A mechanical stimulus can be provided to the part. The massage module 1700 may include a ball massage unit or a roller massage unit, but is not limited thereto.

The main frame 1100 constitutes a skeleton of the internal configuration of the body massage unit 1000 and may be implemented with a metal material or a plastic material. For example, the main frame 1100 may be implemented with iron, alloy, steel, etc., but is not limited thereto and may be implemented with various hard materials.

According to an embodiment of the present disclosure, the massage device 100 may include an audio output module 1500 . The audio output module 1500 may be provided in various locations. For example, the audio output module 1500 may include an upper audio output unit disposed on the upper end of the seat unit in contact with the user, a front audio output unit attached to the front end of the left and right arm massage unit of the seat unit, and/or attached to the rear end of the arm massage unit It may include a plurality of output units such as a rear audio output unit, but is not limited thereto. In this case, the audio output module 1500 may provide stereophonic sound such as 5.1 channel, but is not limited thereto.

According to an embodiment of the present disclosure, the user may control the massage apparatus 100 using the massage apparatus control device CD. The massage device control device CD may be connected to the massage device 100 through wired communication and/or wireless communication.

Massage device control device (CD) may include a remote controller (Remote controller), a cell phone (Cellular phone), PDA (Personal Digital Assistant), etc., without being limited thereto, through the massage device 100 and wired or wireless communication It may include various connectable electronic devices.

FIG. 2 is a view for explaining the main frame 1100 of FIG. 1 .

According to an embodiment of the present disclosure, the main frame 1100 may include an upper frame 1110 provided with a massage module 1700 and a base frame 1120 supporting the upper frame 1110 .

At least a portion of the upper frame 1110 may be provided with a leg gear 1111 . The leg gear 1111 is a member for guiding the vertical movement of the body massage module 1700 , and may include a plurality of valleys and a plurality of peaks.

According to an embodiment of the present disclosure, the leg gear 1111 may be provided in a form facing both sides of the upper frame 1110 , and the body massage module 1700 may move along the leg gear 1111 . .

For example, the body massage module 1700 may include a gear meshing with the leg gear 1111, and the gear is rotated by an actuator provided in the body massage module 1700, so that the body massage module 1700 is It can move upwards or downwards.

The rack gear 1111 may be implemented with a metal material or a plastic material. For example, the leg gear 1111 may be implemented with iron, steel, alloy, reinforced plastic, melamine resin, phenol resin, etc., but is not limited thereto.

The upper frame 1110 may be implemented in various shapes. For example, the upper frame 1110 may be divided into an S frame, an L frame, an S&L frame, and a double S&L frame according to a shape, but is not limited thereto.

The S frame means a frame in which at least a portion of the upper frame 1110 has a curved shape like “S”. The L frame means a frame in which at least a portion of the upper frame 1110 has a curved shape like “L”, and the S&L frame includes both a curved shape like “S” and a curved shape like “L”. means, and the double S&L frame means a frame that includes a curved shape like “L” and a curved shape like “S” of two parts.

The base frame 1120 supports the upper frame 1110 of the main frame 1100 and refers to a portion in contact with the ground. The base frame 1120 may include a base upper frame 1121 and a base lower frame 1122 .

The base upper frame 1121 may support the upper frame 1110 , and the base lower frame 1122 may be in contact with the ground. In addition, the base upper frame 1121 may be positioned to be in contact with the base lower frame 1122 .

According to an embodiment of the present disclosure, the base upper frame 1121 may move along the base lower frame 1122 . For example, the base upper frame 1121 may slide forward or backward along the base lower frame 1122 . In this case, the upper frame 1110 may be connected to the base upper frame 1121 and move according to the movement of the base upper frame 1121 .

For example, when the base upper frame 1121 moves forward, the upper frame 1110 may also move forward together, and when the base upper frame 1121 moves rearward, the upper frame 1110 also moves backward together. can move Due to this, sliding movement of the body massage unit 1000 may be allowed.

Specifically, in order to allow movement of the base upper frame 1121 , a moving wheel may be provided at a lower portion of the base upper frame 1121 . In addition, a guide member capable of guiding the moving wheel may be provided at an upper portion of the base lower frame 1122 . By moving the moving wheel provided in the base upper frame 1121 along the guide member provided in the base lower frame 1122, the forward movement or the rearward movement of the base upper frame 1121 may be allowed.

According to another embodiment of the present disclosure, the massage device 100 may not provide a sliding function, and in this case, the base frame 1120 may not be separated into upper and lower frames.

3 is a view for explaining the components of the massage device 100 according to an embodiment.

According to an embodiment of the present disclosure, the massage device 100 includes a main frame 1100 , a control unit 1200 , a storage unit 1300 , a user input unit 1400 , an audio output module 1500 , and a network connection unit 1600 . and at least one of the massage module 1700 .

The controller 1200 may control the operation of the massage device 100 . The control unit 1200 may be implemented as one processor or a plurality of processors. When the controller 1200 is implemented with a plurality of processors, at least some of the plurality of processors may be located at physically separated distances. Also, the control unit 1200 is not limited thereto and may be implemented in various ways.

For example, the controller 1200 may correspond to one or a plurality of processors. The processor may be implemented as an array of a plurality of logic gates, or may be implemented as a combination of a general-purpose microprocessor and a memory in which a program executable in the microprocessor is stored. In addition, it can be understood by those skilled in the art that the present embodiment may be implemented in other types of hardware.

According to an embodiment of the present disclosure, the controller 1200 may control the operation of the massage device 100 . For example, the massage apparatus 100 may include a plurality of actuators, and the massage apparatus 100 may control the operation of the massage apparatus 100 by controlling the operation of the plurality of actuators. For example, the massage device 100 includes a massage module movement actuator, at least one actuator included in the massage module 1700, a back angle actuator, a leg angle actuator 2270, a foot massage actuator, and a leg length adjustment actuator 2520. and at least one of a sliding actuator, and the controller 1200 may control the operation of the massage device 100 by controlling them.

The massage module movement actuator is an actuator that enables vertical movement of the massage module 1700 , and the massage module 1700 may move along the leg gear 1111 by the operation of the massage module movement actuator.

The back angle actuator is an actuator that adjusts the angle of the portion where the user's back contacts in the massage device 100 , and the isometric angle of the massage device 100 may be adjusted by the operation of the isometric actuator.

The leg angle actuator 2270 is an actuator for adjusting the angle of the leg massage unit 2000 of the massage device 100, and by the operation of the leg angle actuator 2270, the leg massage unit 2000 and the body massage unit 1000. The angle between them can be adjusted.

The foot massage actuators 2611 and 2613 represent actuators that operate the foot massage module included in the leg massage unit 2000 . By utilizing the foot massage actuators 2611 and 2613 , the massage device 100 may provide a foot massage to the user.

At least one actuator may be included in the massage module 1700 , and the controller 1200 may provide various massage operations by operating the at least one actuator. For example, by operating at least one actuator included in the massage module 1700, the controller 1200 may provide a tapping massage, a kneading massage, etc., but is not limited thereto, and may provide various massage operations.

The leg length adjustment actuator 2520 represents an actuator that adjusts the length of the leg massage unit 2000 . For example, the control unit 1200 may adjust the length of the leg massage unit 2000 to suit the user by using the leg length adjustment actuator 2520 , and as a result, the user may be provided with a massage suitable for the body type.

The sliding actuator enables the sliding operation of the massage device 100 . For example, by the operation of the sliding actuator, the horizontal base upper frame 1121 may move forward or backward, and as a result, the upper frame 1110 connected to the horizontal base upper frame 1121 may also move forward or rearward. have.

The storage unit 1300 may store various information related to the massage device 100 . For example, the storage unit 1300 may include massage control information and may include personal authentication information, but is not limited thereto.

The storage unit 1300 may be implemented through a non-volatile storage medium capable of continuously storing arbitrary data. For example, storage 1300 may include, but is not limited to, disks, optical disks, and magneto-optical storage devices, as well as storage devices based on flash memory and/or battery-backed memory. doesn't happen

Also, the storage unit 1300 may include a memory. Memory is the main storage device directly accessed by the processor, such as random access memory (RAM), such as dynamic random access memory (DRAM) and static random access memory (SRAM). It may mean a volatile storage device that is erased by a , but is not limited thereto. Such a memory may be operated by the controller 1200 .

The user input unit 1400 may receive a command related to operation control of the massage device 100 from the user, and the user input unit 1400 may be implemented in various forms. For example, the user input unit 1400 may be provided in the body massage unit 1000 or may be provided in the leg massage unit 2000 , but is not limited thereto.

The massage apparatus 100 may obtain various commands from the user through the user input unit 1400 . For example, the massage device 100 includes selection of a massage module, selection of a massage mode, selection of massage intensity, selection of a massage time, selection of a massage site, selection of the position and operation of the body massage unit 1000, Arbitrary commands for selection of on-off of the power of the massage device 100, selection of whether to operate a heating function, selection related to sound source reproduction, etc. may be received, but is not limited thereto.

According to another embodiment of the present disclosure, the user input unit 1400 executes hot key type buttons and/or direction selection, cancellation, and input according to a preset user setting function or a function preset by itself, etc. It may be provided with a selection button or the like for

The user input unit 1400 may be implemented as a keypad, a dome switch, a touch pad (static pressure/capacitance), a jog wheel, a jog switch, and the like, but is not limited thereto. Also, the user input unit 1400 may acquire a command through the user's utterance based on the speech recognition technology.

According to an embodiment of the present disclosure, the user input unit 1400 may include a display for displaying the operation state of the massage apparatus 100 or the current state of the user. In this case, the display is a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display (flexible display). ), may include at least one of a three-dimensional display (3D display), but is not limited thereto.

The audio output module 1500 may provide audio output in any form to the user. For example, the audio output module 1500 may provide brain stimulation to the user by outputting a sound source and/or binaural beat optimized for a massage pattern provided by the massage device 100 to the user. The audio output module 1500 may output an acoustic signal received through a network (not shown) or stored in an internal/external storage medium (not shown). For example, the audio output module 1500 may output a sound source according to the control of the user terminal through a network connection (eg, Bluetooth connection, etc.) with the user terminal. In addition, the audio output module 1500 may output any type of sound signal generated in connection with the operation of the massage device 100 .

The massage device 100 according to an embodiment of the present disclosure may include a network connection unit 1600 . The network connection unit 1600 may communicate with a module inside the massage device 100, an external massage device 100, and/or a user terminal through any type of network. The network connection unit 1600 may include a wired/wireless connection module for network connection. As the wireless access technology, for example, Wireless LAN (WLAN) (Wi-Fi), Wireless broadband (Wibro), World Interoperability for Microwave Access (Wimax), High Speed Downlink Packet Access (HSDPA), etc. may be used. . As the wired connection technology, for example, Digital Subscriber Line (XDSL), Fibers to the Home (FTTH), Power Line Communication (PLC), or the like may be used. Also, the network connection unit 1600 may include a short-range communication module to transmit/receive data to/from any device/terminal located in a short distance. For example, Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, etc. may be used as short range communication technologies. not limited

The massage apparatus 100 according to an embodiment of the present disclosure may include a massage module 1700 . As described above with reference to FIGS. 1 and 2 , the massage module 1700 is a configuration that provides mechanical stimulation to the user, and the massage module 1700 may move along the main frame 1100 .

The massage device 100 according to an embodiment of the present disclosure may include a main frame 1100 . As described above with reference to FIGS. 1 and 2 , the main frame 1100 may provide a path through which the massage module 1700 can move.

The controller 1200 may provide a massage by controlling the operation of the massage module 1700 and applying a mechanical stimulus to the user.

The controller 1200 may move the massage module 1700 in the X-axis, Y-axis, and Z-axis directions. The control unit 1200 may advance the massage ball forward on the X-axis, Y-axis, and Z-axis, or may retreat backward. Alternatively, the control unit 1200 may rotate the massage ball around the X axis, the Y axis, and the Z axis.

The massage device 100 according to an embodiment of the present disclosure may include a sensor unit 1800 . In this case, the sensor unit 1800 may include at least one or more sensors. For example, the sensor unit 1800 may include a pressure sensor, an infrared sensor, an LED sensor, a photo sensor, a Hall sensor, an electrostatic sensor, and the like, but is not limited thereto.

The sensor unit 1800 may be used to obtain various information. For example, the sensor unit 1800 may be used to recognize a user. That is, it is possible to obtain information on whether the user is seated, the user's body type, and whether the user's body is abnormal. As another example, the sensor unit 1800 may be used to obtain biometric information. That is, fingerprint information, face information, voice information, iris information, weight information, electrocardiogram information, body composition information, etc. may be acquired, but the present invention is not limited thereto, and may include various biometric information.

According to another embodiment of the present disclosure, the massage device 100 may sense a contact area and/or a contact position with the user through the sensor unit 1800 . In addition, the massage apparatus 100 may acquire the user's shoulder position information through the sensor unit 1800 . Also, the massage apparatus 100 may provide a customized massage based on the acquired information. For example, when the massage device 100 provides a shoulder massage, the massage device 100 recognizes the user's shoulder position based on the information obtained through the sensor unit 1800, and provides the user with the recognition result. Shoulder massage can be provided.

With reference to FIG. 4 , various driving methods of the massage device 100 according to the present invention will be described.

4 is a view for explaining a driving form of the massage device 100 according to an embodiment of the present invention. In detail, Fig. 4 (a) is a view showing a reference state of the massage device 100, Fig. 4 (b) is that the leg massage units 2000 on both sides of the massage device 100 are individually rotated. 4 (c) is a view showing that the length of the leg massage unit 2000 on both sides of the massage device 100 is individually adjusted.

Referring to FIG. 4 , the massage device 100 according to the present invention accommodates at least a part of the user's body and is disposed at one end of the body massage unit 1000 and the body massage unit 1000 for massaging the user's body. and may include a leg massage unit 2000 in which both leg portions can move independently.

Referring to FIG. 4A , the massage device 100 may be driven in various ways from a reference state. For example, the leg massage unit 2000 may rotate from a reference state, and may expand and contract in the longitudinal direction.

Referring to FIG. 4B , the leg massage unit 2000 may rotate. In detail, the leg massage units on both sides corresponding to both legs of the user may be rotated at the same time, or may be rotated individually or independently from each other.

Referring to FIG. 4C , the length of the leg massage unit 2000 may be adjusted. In detail, the lengths of the leg massage units on both sides corresponding to both legs of the user may be adjusted at the same time, or may be adjusted individually or independently from each other.

The principle of rotating the leg massage unit 2000 and the principle of adjusting the length of the leg massage unit 2000 will be described later in detail with reference to the drawings.

5 is a view for explaining the leg massage unit 2000 according to an embodiment of the present invention.

The leg massage unit 2000 may include a leg accommodating space 2100 in which the user's legs are accommodated, and may include a calf massage unit 2400 and a foot massage unit 2600 as a configuration for massaging the user's legs. .

For example, the leg massage unit 200 may be physically separated into a first leg massage unit 2000a in which one leg of the user is accommodated and a second leg massage unit 2000b in which the user's other leg is accommodated. have. The one leg may be the user's right leg, and the other leg may be the left leg, but is not limited thereto. In this case, the first and second leg massage units 2000a and 2000b may be formed to be identical to each other, or may be formed to be symmetrical left and right.

In other words, the leg massage unit 2000 may include a first leg massage unit 2000a corresponding to one leg of the user and a second leg massage unit 2000b corresponding to the user's other leg.

Each of the first and second leg massage units 2000a and 2000b may move independently based on the control of the controller 1200 . For example, the first and second leg massage units 2000a and 2000b may be driven individually and independently of each other to rotate (or rotate) independently of each other, and the length of each leg massage unit may be independently adjusted. In this case, the first and second leg massage units 2000a and 2000b may rotate and/or adjust the length of each leg massage unit by interlocking or non-interlocking with each other.

Specifically, the first leg massage unit 2000a may be disposed on one side of the lower end of the body massage unit 1000 and include a first accommodation space 2110 for accommodating one leg of the user. The first leg massage unit 2000a may include a first massage member for massaging one leg of the user. The first leg massage unit 2000a may provide the user with a first leg massage for massaging one leg of the user through the first massage member.

For example, the first massage member may include a first upper massage unit 2000aa and a first lower massage unit 2000ab, but is not limited thereto. The first upper massage unit 2000aa is disposed on one end (preferably, the upper end) of the first leg massage unit 2000a to correspond to the upper part of one leg, and the first lower massage unit 2000ab is the first leg massage unit (2000a) may be disposed on the other end (preferably, the lower end) to correspond to the lower portion of one leg. The upper portion of the one leg may be at least one of a calf and a knee of the one leg. The lower part of the one leg may be at least one of a foot and an ankle of the one leg.

The first upper leg massage unit 2000aa may massage at least one of a calf and a knee of one leg. For example, the first upper leg massage unit 2000aa includes a first calf air cell (not shown) disposed on the inner side of the first upper leg massage unit 2000aa, and the inside of the first upper leg massage unit 2000aa. It may include at least one of the first calf massage units 2410 disposed on the rear side. At this time, the inner side of the first upper leg massage unit 2000aa is a region (or position) corresponding to both sides (or at least one side) of the calf of one leg among the entire inner area of the first upper leg massage unit 2000aa. ) can be The inner rear surface of the first upper leg massage unit 2000aa may be a region corresponding to the rear calf of one leg among the entire inner region of the first upper leg massage unit 2000aa.

The first lower leg massage unit 2000ab may massage at least one of a foot and an ankle of one leg. For example, the first lower leg massage unit 2000ab may include a first foot air cell (not shown) disposed at at least one position among the inner side and rear surfaces of the first lower leg massage unit 2000ab, and the first lower leg At least one of the first foot massage units 2610 disposed on the inner lower surface of the massage unit 2000ab (or the lowermost end of the interior) may be included. In this case, the inner side of the first lower leg massage unit 2000ab may be an area corresponding to both sides (or at least one side) of the foot of one leg among the entire inner area of the first lower leg massage unit 2000ab. The inner rear surface of the first lower leg massage unit 2000ab may be a region corresponding to the heel (or Achilles tendon) of one leg among the entire inner region of the first lower leg massage unit 2000ab. The inner lower surface of the first lower leg massage unit 2000ab is a region corresponding to the sole of one leg among the entire inner region of the first lower leg massage unit 2000ab, and is the lowermost end (or lowermost surface) of the first lower leg massage unit 2000ab. ) can be

The second leg massage unit 2000b may be disposed on the other side of the lower end of the body massage unit 1000 and include a second accommodation space 2130 for accommodating the user's other leg. The second leg massage unit 2000b may include a second massage member for massaging the user's other leg. The second leg massage unit 2000b may provide the user with a second leg massage for massaging the user's other leg through the second massage member.

For example, the second massage member may include a second upper massage unit 2000ba and a second lower massage unit 2000bb, but is not limited thereto. The second upper massage unit 2000ba is disposed on one end (preferably, the upper end) of the second leg massage unit 2000b to correspond to the upper part of the other leg, and the second lower massage unit 2000bb is the second leg massage unit. (2000b) may be disposed on the other end (preferably, the lower end) to correspond to the lower portion of the other leg. The upper portion of the other leg may be at least one of a calf and a knee of the other leg. The lower part of the other leg may be at least one of a foot and an ankle of the other leg.

The second upper massage unit 2000ba may massage at least one of a calf and a knee of the other leg. For example, the second upper massage unit 2000ba is disposed on the inner rear surface of the second calf air cell (not shown) disposed on the inner side of the second upper massage unit 2000ba, and the second upper massage unit 2000ba. It may include at least one of the second calf massage unit 2430. In this case, the inner side of the second upper massage unit 2000ba is an area (or location) corresponding to both sides (or at least one side) of the calf of the other leg among the entire inner area of the second upper massage unit 2000ba. can The inner rear surface of the second upper massaging unit 2000ba may be a region corresponding to the rear calf of the other leg among the entire inner region of the second upper massaging unit 2000ba.

The second lower massage unit 2000bb may massage at least one of the foot and ankle of the other leg. For example, the second lower massage unit 2000bb includes a second foot air cell (not shown) disposed at at least one of the inner side and rear surfaces of the second lower massage unit 2000bb, and a second lower massage unit ( 2000bb) may include at least one of the second foot massage units 2630 disposed on the inner lower surface (or the innermost lower end). In this case, the inner side surface of the second lower massage unit 2000bb may be an area corresponding to both sides (or at least one side surface) of the foot of the other leg among the entire inner area of the second lower massage unit 2000bb. The inner rear surface of the second lower massage unit 2000bb may be a region corresponding to the heel (or Achilles tendon) of the other leg among the entire inner region of the second lower massage unit 2000bb. The inner lower surface of the second lower massage unit 2000bb is a region corresponding to the sole of the other leg among the entire inner region of the second lower massage unit 2000bb, and is the lowest (or lowermost surface) of the second lower massage unit 2000bb. can

As described above, the air cells (for example, first and second calf air cells and first and second foot air cells) included in the leg massage unit 2000 include the user's feet and In addition to the area corresponding to the calf, it may be disposed in various areas. In addition, the air cell included in the leg massage unit 2000 receives air from a separately provided air supply unit, expands and contracts, and provides a massage to the user to provide a massage to at least a part of the user's body (eg, the user's feet, ankles, at least one of the heel, calf, and knee) may be massaged. In addition, the air cell included in the leg massage unit 2000 may expand and contract to fix at least a part of the user's body.

As described above, each of the first calf massage unit 2410, the second calf massage unit 2430, the first foot massage unit 2610 and the second foot massage unit 2630 includes a massage unit for massaging each part. can do. For example, each of the first calf massage unit 2410 , the second calf massage unit 2430 , the first foot massage unit 2610 , and the second foot massage unit 2630 is an acupressure massage unit, a ball massage unit, and a roller It may include various massage units for massaging each part, such as at least one massage unit among the massage units. The massage unit may be modularized and implemented as a massage module.

As described above, the first and second leg massage units 2000a and 2000b may include at least one of the air cell, the calf massage unit 2400, and the foot massage unit 2600, but is not limited thereto. For example, the first leg massage unit 2000a is configured to drive the first calf driving unit (or first calf driving module) for driving the first calf massage unit 2410 , and the first foot massage unit 2610 . It may include at least one of the first foot drive unit (or the first foot drive module) for The second leg massage unit 2000b includes a second calf driving unit (or second calf driving module) for driving the second calf massage unit 2430 , and a second foot for driving the second foot massage unit 2630 . It may include at least one of the driving unit (or the second foot driving module). Each of the calf and foot driving units may be implemented as various driving modules for driving each massage module, such as at least one of a motor and an actuator.

Hereinafter, unless otherwise specified, the fact that the leg massage unit 2000 includes any configuration may mean that the first and second leg massage units 2000a and 2000b may include the configuration, respectively.

In this way, the leg massage units 2000a and 2000b formed separately to correspond to both legs of the user may be controlled to operate in conjunction with each other, and may be controlled to operate individually as necessary. That is, the first and second leg massage units 2000a and 2000b can move independently. For example, each of the first and second leg massage units 2000a and 2000b is individually controlled by the controller 1200 to rotate (or rotate) individually, and by operating to adjust the length, independent movement is possible will do

Specifically, if necessary, the user may receive a massage on only one leg, or receive a massage by varying the intensity of massage or a massage program for both legs. To this end, the leg massage units 2000a and 2000b on both sides may be respectively connected to actuators.

Meanwhile, the length of each of the leg massage units 2000a and 2000b may be adjusted. For example, each of the lower leg massage units 2000ab and 2000bb may move along the length direction of the user's legs, whereby the length of each of the lower leg massage units 2000a and 2000b may be adjusted. This will be described in detail later.

6 is a view showing an embodiment in which the leg massage unit 2000 and the main frame 1100 are combined, and FIG. 7 is an enlarged view of part A of FIG. 6 . 8 is an exploded perspective view of a portion in which the two leg massage units 2000 are coupled.

Referring to FIG. 6 , the leg massage unit 2000 may be connected to the body massage unit 1000 . Accordingly, the user can receive a massage after being seated on the massage device 100 and seating the leg on the leg massage unit 2000 . In this case, the leg massage units 2000a and 2000b on both sides may be respectively connected to the rotation module 2270 (refer to FIG. 14 ) and controlled to rotate independently of each other. In this case, the rotation module 2270 may rotate the leg massage unit 2000 based on the control of the controller 1200 to change the angle between the body massage unit 1000 and the leg massage unit 2000 . The rotation module 2270 may be implemented as a leg angle actuator 2270 as shown in FIGS. 3, 6 and 14 , but is not limited thereto. For example, the rotation module 2270 rotates the leg massage unit 2000 to change the angle between the body massage unit 1000 and the leg massage unit 2000 in various configurations (eg, at least one of a motor and an airbag). etc.) can be implemented. Hereinafter, for convenience of description, it is assumed that the rotation module 2270 is implemented as a leg angle actuator.

The rotation module 2270 may include a first rotation module 2271 and a second rotation module 2273 .

The first rotation module 2271 may be disposed on at least one of the rear and side surfaces of the first leg massage unit 2000a. When the first rotation module 2271 is implemented as at least one of the leg angle actuator and the airbag, the first rotation module 2271 may be disposed at the rear of the first leg massage unit 2000a. When the first rotation module 2271 is implemented as a motor, the first rotation module 2271 may be disposed on at least one side of both side surfaces of the first leg massage unit 2000a.

The first rotation module 2271 may rotate the first leg massage unit 2000a in at least one of a clockwise direction and a counterclockwise direction based on the control of the controller 1200 .

The second rotation module 2273 may be disposed on at least one of the rear and side surfaces of the second leg massage unit 2000b. When the second rotation module 2273 is implemented as at least one of the leg angle actuator and the airbag, the second rotation module 2273 may be disposed at the rear of the second leg massage unit 2000b. When the second rotation module 2273 is implemented as a motor, the second rotation module 2273 may be disposed on at least one side of both side surfaces of the second leg massage unit 2000b.

The second rotation module 2273 may rotate the second leg massage unit 2000b in at least one of a clockwise direction and a counterclockwise direction based on the control of the controller 1200 .

The rotation driving principle of the leg massage unit 2000 rotating through the first and second rotation modules 2271 and 2273 will be described later.

Hereinafter, for convenience of explanation, it is assumed that the rotation module 2270 is a leg angle actuator. The body massage unit 1000 may include a main frame 1100 forming a skeleton of the massage device 100 . In addition, the main frame 1100 is connected to the first connection frame 1130 to which the leg massage unit 2000 is connected and at least one actuator (or at least one rotation module) to provide rotational power to the leg massage unit 2000 . It may include a second connection frame 1140 to which the link bar 2250 that transmits is connected.

Meanwhile, each of the leg massage units 2000a and 2000b may be individually connected to the body massage unit 1000 , and if necessary, the leg massage units 2000a and 2000b on both sides are combined as a set and then the body massage unit 1000 . ) can be connected to

Preferably, the leg massage units 2000a and 2000b on both sides may be connected to share a rotation axis with each other. When the leg massage units 2000a and 2000b on both sides share a rotation axis with each other, the user may rotate the leg massage units 2000a and 2000b on both sides simultaneously or individually as needed.

In addition, even if the leg massage units 2000a and 2000b rotate independently of each other, performing rotational motion while sharing the rotational axis may be ergonomically more suitable for the human body. That is, when the leg massage units 2000a and 2000b on both sides individually rotate while having different rotation axes, the user may experience unexpected injuries or discomfort.

7 and 8 , the first and second leg massage units 2000a and 2000b may be connected to the first connection frame 1130 . In addition, the first and second leg massage units 2000a and 2000b may include a leg frame 2210 including a rotating shaft and a sliding bar 2230 connected to the leg frame 2210 (refer to FIGS. 9 and 10 ). have.

For example, the first leg massage unit 2000a may include a first leg frame 2210a connected to at least one of an end region and a central region among the entire region of the first connection frame 1130 . The second leg massage unit 2000b may include a second leg frame 2210b connected to at least one of the other end region and the central region among the entire region of the first connection frame 1130 .

The leg frames 2210a and 2210b may include a rotation shaft. For example, the leg frames 2210a and 2210b may include a separately provided rotation shaft member 2220 . As another example, the rotation shaft member 2220 may be integrally formed with the leg frames 2210a and 2210b. The rotation shaft member 2220 may serve as a center at which the leg massage units 2000a and 2000b rotate.

In detail, the first leg massage unit 2000a may include a first rotation shaft member 2220a , and the second leg massage unit 2000b may include a second rotation shaft member 2220b .

The leg massage units 2000a and 2000b on both sides may be connected to each other in order to share a rotation axis. Preferably, the rotation shaft members 2220a and 2220b may be connected to each other.

To this end, the massage device 100 according to the present invention may include a bushing that connects the leg massage units 2000a and 2000b to each other and connects the leg massage units 2000a and 20000b and the first connection frame 1130 to each other. .

Referring to FIG. 8 , the rotation shaft members 2220a and 2220b of the first and second leg massage units 2000a and 2000b may be connected to each other by bushings. Accordingly, the two leg massage units 2000 may share a rotation axis.

In detail, the leg massage unit 2000 includes a side bushing 2320 in which the rotation shafts of the first and second leg massage units 2000a and 2000b are accommodated, respectively, and a side bushing 2320 are inserted from both sides of the first and second legs. A center bushing 2310 connecting the massage units 2000a and 2000b may be included.

For example, the center bushing 2310 may be configured to connect the rotation shaft members 2220a and 2220b of the two leg massage units 2000a and 2000b on both sides, and the side bushing 2320 is each rotation shaft member 2220a, 2220b) and is inserted into the center bushing 2310 to connect the rotation shaft members 2220a and 2220b and the center bushing 2310 to each other.

The center bushing 2310 may have a space for accommodating at least a portion of the side bushing 2320 therein. In addition, the center bushing 2310 may have accommodation spaces formed at both ends to accommodate the side bushings 2320 from both sides. Alternatively, in the center bushing 2310, a hole may be formed to penetrate through the inside in the longitudinal direction to receive the side bushing 2320 from both sides.

By including the center bushing 2310, the leg massage units 2000a and 2000b on both sides can rotate while sharing the rotation axis. In addition, by including the center bushing 2310, each of the leg massage units 2000a and 2000b may be separately manufactured and then easily assembled into a single bundle.

The side bushing 2320 may be inserted into the center bushing 2310 in a state in which the rotation shaft members 2220a and 2000b are inserted. That is, the side bushing 2320 may receive a load transmitted from the rotation shaft members 2220a and 2220b and may easily connect the rotation shaft members 2220a and 2220b and the center bushing 2310 .

The center bushing 2310 and the side bushing 2320 may be formed of a material such as plastic or metal. Alternatively, it may be made of a plastic material to reduce frictional force. However, the material is not limited thereto.

On the other hand, the bushing may be formed with at least one or more grooves in order to reduce frictional force in the coupled state. That is, the frictional force may be reduced by reducing the contact area between the bushing and the bushing or between the bushing and the rotating shaft member 2220 . Accordingly, the leg massage unit 2000 can be rotated more easily.

Meanwhile, referring to FIG. 7 , the center bushing 2310 may be fixed by a separately provided bracket, and the bracket may be connected to the first connection frame 1130 . Accordingly, the leg massage units 2000a and 2000b on both sides connected to the center bushing 2310 may be connected to the main frame 1100, and may be rotated in a state in which the rotation shaft is shared.

9 is a diagram schematically illustrating a state before and after rotation of the leg massage unit 2000 .

Referring to FIG. 9 , the leg massage unit 2000 may be rotatably connected to the main frame 1100 . The leg massage unit 2000 may rotate at a considerable angle in a state in which the user is seated on the massage device 100, preferably rotates up to 60° or more, and more preferably rotates by 60° to 100°. can do.

In this case, the leg massage unit 2000 may be rotated by the leg angle actuator 2270 and may be rotated in a roller type. Hereinafter, the rotation principle of the leg massage unit 2000 will be described in detail with reference to the drawings.

10 is a view for explaining a rotation driving principle of the leg massage unit 2000 .

9 and 10 , the leg massage unit 2000 may be rotated in a roller type. To this end, the massage device 100 according to the present invention may include a link bar 2250 . The link bar 2250 may be connected to at least one actuator and the second connection frame 1140 . That is, the link bar 2250 may be connected to at least one actuator to transmit rotational power to the leg massage unit 2000 . Meanwhile, in this case, the actuator may be a leg angle actuator 2270 .

A leg rotation wheel 2240 may be provided on one side of the link bar 2250 . Also, the leg massage unit 2000 may include a leg frame 2210 connected to the first connection frame 1130 and including a rotation shaft, and a sliding bar 2230 connected to the leg frame 2210 . At this time, the sliding bar 2230 can rotate like the link bar 2250 when the link bar 2250 rotates while in contact with the leg rotation wheel 2240 provided at one end of the link bar 2250 . have. That is, the sliding bar 2230 may rotate like the link bar 2250 while providing a movement path of the leg rotation wheel 2240 .

Accordingly, when the leg angle actuator 2270 expands and contracts linearly, the leg rotation wheel 2240 may move along the sliding bar 2230 , and accordingly, the leg massage unit 2000 may rotate.

On the other hand, since the massage device 100 according to the present invention includes the sliding bar 2230, the force generated from the leg angle actuator 2270 may not be directly transmitted to the leg massage unit. That is, the force transmitted by the leg angle actuator 2270 is directly transmitted to the link bar 2250 , and the link bar 2250 may transmit the force to the sliding bar 2230 through the leg rotation wheel 2240 . Accordingly, durability of the leg massage unit 2000 may be improved.

By adopting the roller type, if necessary, the user can lift the leg massage unit 2000 by its own power while the leg is seated on the leg massage unit 2000 . That is, the leg massage unit 2000 may be manually lifted so that the leg rotation wheel 2240 is separated from the sliding bar 2230 .

Accordingly, when a jamming accident occurs, it is possible to prevent a serious injury by lifting the leg massage unit 2000 by human force. In addition, the risk of defects and damage is small, and the risk of jamming accidents during operation can be further reduced. Also, if necessary, a manual leg movement function may be possible.

Figure 10 (a) is a view showing that the leg massage unit 2000 rotates within a limit angle, Figure 10 (b) is a view showing that the sliding bar 2230 is spaced apart from the leg rotation wheel (2240) to be.

Referring to FIG. 10 , the sliding bar 2230 may be spaced apart from the leg rotation wheel 2240 when the leg massage unit 2000 rotates at a predetermined angle or more.

As an embodiment, when the leg massage unit 2000 rotates more than a limit angle, the sliding bar 2230 may be spaced apart from the leg rotation wheel 2240 . Referring to FIG. 10 , for example, when the leg massage unit 2000 rotates in the clockwise direction (R direction), the sliding bar 2230 connected to the leg frame 2210 also rotates. That is, as the leg angle actuator 2270 is extended, the link bar 2250 rotates clockwise, and accordingly, the leg rotation wheel 2240 may move to the right along the sliding bar 2230 . At this time, when the leg massage unit 2000 is rotated to the maximum by the leg angle actuator 2270, the leg rotation wheel 2240 reaches a certain limit point on the right side of the sliding bar 2230, and the leg massage unit 2000 is It is no longer able to rotate by the leg angle actuator 2270 . In this case, when the user applies force to further rotate the leg massage unit 2000 beyond the threshold, the sliding bar 2230 may be spaced apart from the leg rotation wheel 2240 . That is, the leg massage unit 2000 may be lifted by the user's own power.

As another embodiment, when the leg massage unit 2000 rotates at a predetermined angle or more, the sliding bar 2230 may be spaced apart from the leg rotation wheel 2240 . Referring to FIG. 10 , for example, when the leg massage unit 2000 rotates in the clockwise direction (R direction), the sliding bar 2230 connected to the leg frame 2210 also rotates. That is, as the leg angle actuator 2270 is extended, the link bar 2250 rotates clockwise, and accordingly, the leg rotation wheel 2240 may move to the right along the sliding bar 2230 . In this case, when the leg massage unit 2000 is rotated only to a specific angle within the limit angle by the leg angle actuator 2270 , the leg rotation wheel 2240 may be located at a specific point of the sliding bar 2230 . In this case, when the user applies force to lift the leg massage unit 2000 beyond the angle rotated by the leg angle actuator 2270 , the sliding bar 2230 may be spaced apart from the leg rotation wheel 2240 . That is, when the user rotates the leg massage unit 2000 more than the angle rotated by the leg angle actuator 2270 , the sliding bar 2230 may be spaced apart from the leg rotation wheel 2240 . That is, the leg massage unit 2000 may be lifted by the user's own power.

Therefore, as described above, when a jamming accident occurs, it is possible to prevent a serious injury by lifting the leg massage unit 2000 by human force. In addition, the risk of defects and damage is small, and the risk of being caught during operation can be further reduced. Also, if necessary, a manual leg movement function may be possible.

As described above, each leg massage unit is connected to the leg angle actuator through the leg rotation wheel and the link bar, but is not limited thereto. For example, each leg massage unit may not include a leg rotation wheel, but may be coupled to a link bar or a leg angle actuator to be connected to the leg angle actuator.

11 is a view for explaining an embodiment in which the link bar 2250 and the frame are connected, and FIG. 12 is a view for explaining an embodiment of the link bracket 2260 of FIG. 11 .

Referring to FIG. 11 , the link bar 2250 may be connected to the second connection frame 1140 of the main frame 1100 , and preferably, may be connected through a link bracket 2260 . In this case, the link bar 2250 may rotate about a portion connected to the link bracket 2260 as an axis.

At this time, it is preferable that the link bar 2250 rotate freely while being connected to the second connection frame 1140 through the link bracket 2260 . To this end, referring to FIG. 12 , the link bracket 2260 is positioned at least at a position opposite to the first region 2261 and the first region 2261 formed to correspond to the outer surface of the second connection frame 1140 . It may include a second region 2262, a portion of which is formed in a curved surface.

For example, the second connection frame 1140 may have an approximately rectangular outer surface, and at least a portion of the first area 2261 of the link bracket 2260 may be formed to be approximately vertical to correspond thereto. Accordingly, the first region 2261 may be completely seated on the second connection frame 1140 .

In this case, since the first region 2261 is completely seated on the second connection frame 1140 , the link bracket 2260 may be firmly fixed to the second connection frame 1140 . Also, even when the link bar 2250 rotates, the body massage unit 1000 or the leg massage unit 2000 may not be shaken.

At least a portion of the second region 2262 of the link bracket 2260 may be formed to have a curved surface. Preferably, so that the link bar 2250 is freely rotatable, all surfaces corresponding to the rotation radius of the link bar 2250 may be formed as curved surfaces, and more preferably, may form an arc.

13 is a diagram schematically illustrating a state before and after rotation of the link bar 2250 of FIG. 11 .

Referring to FIG. 13 , since the second region 2262 of the link bracket 2260 has a curved surface, the link bar 2250 may freely rotate. That is, the link bar 2250 may freely rotate along the second region 2262 . That is, even when the rotation angle RA is 60° or more, the link bar 2250 may rotate without interference.

Meanwhile, the link bracket 2260 may have a width along the longitudinal direction of the second connection frame 1140 . That is, the link bracket 2260 may be in contact with the second connection frame 1140 by a predetermined length or more. Accordingly, the link bracket 2260 may be more firmly fixed to the second connection frame 1140 .

14 is a view for explaining an embodiment of a positional relationship between an actuator and a frame.

Referring to FIG. 14 , the leg angle actuator 2270 may be located inside the main frame 1100 . At least two leg angle actuators 2270 may be provided to be respectively connected to the leg massage unit 2000 .

On the other hand, the massage device 100 is a device that provides a massage to a seated person, and is a device installed and used in a home or office. Therefore, there is a limit that the massage device cannot be infinitely large. In addition, the leg massage units 2000a and 2000b on both sides need to be freely controlled in order to provide an optimal massage. Therefore, each component included in the massage device 100 needs to be efficiently arranged, and for this, the actuator and the frame may have a specific positional relationship.

To this end, the leg angle actuator 2270 is located inside the main frame 1100, but may be spaced apart from both sides. In addition, the leg angle actuator 2270 may be disposed such that a space is formed therebetween. In addition, the leg angle actuator 2270 may be located relatively lower than the second connection frame 1140 of the main frame 1100 .

Accordingly, referring to FIGS. 6 and 14 , a back angle actuator is further provided between the two leg angle actuators 2270 so that the angle of the back of the massage device 100 can be adjusted, and the second connection frame 1140 ) may be formed on the upper side of the space where the user can be seated.

In addition, since the leg angle actuator 2270 is located below the second connection frame 1140, the link bar 2250 may not be obstructed by the second connection frame 1140 even when it rotates at a large angle. .

15 is a view schematically expressing a leg length adjusting means of the leg massage unit 2000, and FIG. 16 is a view for explaining the length adjusting principle of the leg massage unit 2000. As shown in FIG. FIG. 17 is an enlarged view of part B of FIG. 15 , and FIG. 18 is an enlarged view of part C of FIG. 15 .

15 , each of the first and second leg massage units 2000a and 2000b may include an adjustment module (or leg length adjusting means; 2500) for adjusting (or moving) the position of each leg massage unit. .

For example, the first leg massage unit 2000a may include a first adjustment module 2500a that moves the position of the first leg massage unit 2000a based on the control of the controller 1200 . As an example, the first adjustment module 2500a moves the first leg massage unit 2000a in at least one direction among the upper and lower sides of the first leg massage unit 2000a to adjust the first leg massage unit 2000a. 1 The length is adjustable. As another example, the first adjustment module 2500a may include the first upper leg massaging unit 2000aa and the first By moving at least one leg massage unit among the lower leg massage units 2000ab to adjust (or adjust) the distance between the first upper and first lower leg massage units 2000aa and 2000ab, the The first length is adjustable.

For example, the second leg massage unit 2000b may include a second adjustment module 2500b that moves the position of the second leg massage unit 2000b based on the control of the controller 1200 . For example, the first adjustment module 2500b moves the second leg massage unit 2000b in at least one direction among the upper side and the lower side of the second leg massage unit 2000b so that the second leg massage unit 2000b is operated. 1 The length is adjustable. As another example, the second adjustment module 2500b may include the second upper leg massage unit 2000ba and the second of the second leg massage unit 2000b in at least one direction among the upper side and the lower side of the second leg massage unit 2000b. By moving at least one leg massage unit among the lower leg massage units 2000bb to adjust (or adjust) the distance between the second upper and second lower leg massage units 2000ba and 2000bb, the second leg massage unit 2000b The first length is adjustable.

In other words, each of the leg massage units 2000a and 2000b includes the first and second leg massage units so that each of the leg massage units 2000a and 2000b corresponds to the length of the user's one leg and the other leg, respectively, through the adjustment module of each leg massage unit. The length of (2000a, 2000b) can be adjusted.

Specifically, referring to FIGS. 15 and 16 , the control modules 2500a and 2500b include lead screws 2510a and 2510b for adjusting the distance between the upper leg massage units 2000aa and 2000ba and the lower leg massage units 2000ab and 2000bb. ) and leg length adjustment actuators 2520a and 2520b for providing power to the lead screws 2510a and 2510b.

At this time, according to a preferred embodiment, the lead screws 2510a and 2510b may be spirally formed along the outer surface, and the leg frame 2210 has an inner surface formed to correspond to the lead screws 2510a and 2510b, and the lead It may include a fixing member through which the screws 2510a and 2510b pass. In addition, the leg frame 2210 may be provided in the upper leg massage units 2000aa and 2000ba, and the lead screws 2510a and 2510b and the leg length adjustment actuators 2520a and 2520b are the lower leg massage units 2000ab and 2000bb. can be provided in

The lead screws 2510a and 2510b may be rotated by the leg length adjusting actuators 2520a and 2520b, and as the lead screws 2510a and 2510b rotate, they may move up and down while passing through the fixing member in a screw manner. As a result, the lower leg massage units 2000ab and 2000bb may approach or move away from the upper leg massage units 2000aa and 2000ba as the lead screws 2510a and 2510b rotate, and thus the upper leg massage units 2000aa and 2000ba and The distance of the lower leg massage units 2000ab and 2000bb may be adjusted, and consequently, the lengths of the first and second leg massage units 2000a and 2000b may be adjusted.

Referring to FIG. 17 , guide rails 2211a and 2211b may be formed inside the leg frames 2210a and 2210b. In addition, the first and second leg massage units 2000a and 2000b include guide rollers 2540a and 2540b moving along the guide rails 2211a and 2211b and a guide bar 2530a supporting the guide rollers 2540a and 2540b. , 2530b) may be included. In this case, one end of the guide bars 2530a and 2530b may be connected to the lower leg massage units 2000ab and 2000bb. Accordingly, as the lead screws 2510a and 2510b rotate, the guide bars 2530a and 2530b and the guide wheels 2540a and 2540b may move in the same direction as the lower leg massage units 2000ab and 2000bb.

Meanwhile, the guide rollers 2540a and 2540b may move along the guide rails 2211a and 2211b. Accordingly, the guide rollers 2540a and 2540b may guide the lower leg massage units 2000ab and 2000bb to move in an appropriate direction. Accordingly, while the lower leg massage units 2000ab and 2000bb move, the leg massage units 2000a and 2000b on both sides may not be shaken.

Meanwhile, the guide rails 2211a and 2211b may be formed on an inner portion of the leg frame 2210 . Referring to FIG. 17 , guide rails 2211a and 2211b are formed on only a portion of the inner side of the leg frame 2210 , and jaws are formed on the remaining portions, thereby blocking movement of the guide rollers 2540a and 2540b. Accordingly, it is possible to block the movement of the lower leg massage units 2000ab and 2000bb to more than a limit point, and to prevent the problem that the lower leg massage units 2000ab and 2000bb are completely separated from the upper leg massage units 2000aa and 2000ba. can do.

Meanwhile, in order to more appropriately guide the movement of the guide bars 2530a and 2530b, the leg massage unit 2000 includes the guide wheels 2551a and 2551b and the guide wheels 2551a and 2551b to receive and support the guide wheel brackets. (2552a, 2552b) may be further included. Referring to FIG. 18 , at least one or more guide wheels 2551a and 2551b may be disposed inside the guide wheel brackets 2552a and 2552b. The outer surfaces of the guide wheels 2551a and 2551b may be concave inwardly, and guide bars 2530a and 2530b may be positioned to correspond to the concave regions. Accordingly, when the guide bars 2530a and 2530b move up and down, the guide wheels 2551a and 2551b may support the guide bars 2530a and 2530b so that they do not deviate from the movement path. As a result, the guide wheels 2551a and 2551b support the guide bars 2530a and 2530b to prevent the guide bars 2530a and 2530b from shaking while moving, and to move the guide bars 2530a and 2530b in an appropriate direction. You can guide the route. Accordingly, the lower leg massage units 2000ab and 2000bb may also be moved in an appropriate direction by the guide bars 2530a and 2530b and may not be shaken.

19 is a view showing an embodiment of the foot massage unit 2600.

The lower leg massage units 2000ab and 2000bb may include foot massage units 2610 and 2630 on one side. Preferably, the foot massage units 2610 and 2630 may be provided at the lowermost end or the bottom of the lower leg massage units 2000ab and 2000bb.

The foot massage units 2610 and 2630 may include at least one foot massage module (or a foot massage unit) and a foot massage actuator (or foot driving unit) for driving at least one or more foot massage modules.

Referring to FIG. 19 , the first foot massage unit 2610 may include at least one of a first foot massage module 2612 and a second foot massage module 2613 . The first foot massage module 2612 and the second foot massage module 2613 are respectively arranged (or disposed) on the front and rear of the first foot massage unit 2610 to provide a massage to the sole of one leg of the user as a whole. can Also, the first foot massage unit 2610 may include first foot massage actuators 2611 and 2613 for driving at least one foot massage module. The first foot massage actuators 2611 and 2613 may be disposed in front of the first foot massage unit 2610 and in front of the first foot massage module 2612 to drive at least one foot massage module. In this case, the front of the first foot massage unit 2610 and the front of the first foot massage module 2612 may correspond to the toes of one leg among the entire area of the first foot massage unit 2610 .

The second foot massage unit 2630 may include at least one of a third foot massage module 2632 and a fourth foot massage module 2633 . For example, the third foot massage module 2632 and the fourth foot massage module 2633 are arranged (or disposed) in front and rear of the second foot massage unit 2630, respectively, to the sole of the user's other leg as a whole. Massage can be provided. In addition, the second foot massage unit 2630 may include a second foot massage actuator 2631 that drives at least one foot massage module. The second foot massage actuator 2631 may be disposed in front of the second foot massage unit 2630 and in front of the third foot massage module 2632 to drive at least one foot massage module. In this case, the front of the second foot massage unit 2630 and the front of the third foot massage module 2632 may correspond to the toes of the other leg among the entire area of the second foot massage unit 2630 .

As described above, the first and second foot massage units 2610 and 2630 include two foot massage modules and one foot massage actuator, but are not limited thereto. For example, each of the first and second foot massage units may include a plurality (eg, three or more) of foot massage modules, and each of the foot massage modules may be disposed on a straight line as shown in FIG. 19 . In this case, the straight line may be a line crossing the sole of the foot. Each of the first and second foot massage units may include a single foot massage actuator to drive all of the plurality of foot massage modules through the single foot massage actuator.

Meanwhile, at least one protrusion may be formed on the surface of the foot massage module. Therefore, the foot massage module can provide a massage to the sole of the user by rotating.

Alternatively, the foot massage module may be a roller whose surface is formed in an arc shape. Therefore, the foot massage module can provide a massage to the sole of the user by rotating.

On the other hand, as an optional embodiment, the foot massage actuator may be equipped with a cam. Accordingly, the foot massage unit may provide acupressure massage using a cam without rolling massage to the user's toes. In addition, by mounting the cam on the foot massage actuator, spatial efficiency can be improved compared to the case where the foot massage actuator is separately provided.

20 is a view showing an embodiment in which a pinching prevention sensor (S) is provided in the leg massage unit (2000).

Referring to FIG. 20 , at least one or more trapping prevention sensors are positioned at least one or more of the side, rear, and upper leg massage units 2000aa and 2000ba of the leg massage unit 2000 and between the lower leg massage units 2000ab and 2000bb. (S) may be provided. In this case, the pinching prevention sensor S may be a sensor for recognizing that a part of the user's body is caught around the leg massage units 2000a and 2000b.

At this time, the provided pinching prevention sensor (S) may be a capacitive touch sensor, but is not limited thereto.

When the anti-trap sensor S is attached to the side of the leg massage unit 2000, when the leg massage unit 2000 rotates, a part of the user's body is placed between the leg massage units 2000a and 2000b on both sides. pinching can be recognized. Alternatively, when the leg massage unit 2000 rotates, it may be recognized that a part of the user's body is sandwiched between the leg massage unit 2000 and the body massage unit 1000 .

When the anti-trap sensor (S) is attached to the rear of the leg massage unit 2000, when the leg massage unit 2000 rotates, it can be recognized that a part of the user's body is caught in the back of the leg massage unit 2000. can

When the anti-trap sensor S is attached between the upper leg massage units 2000aa and 2000ba and the lower leg massage units 2000ab and 2000bb, the upper leg massage units 2000aa and 2000ba and the lower leg massage units 2000ab, 2000bb), it may be recognized that a part of the user's body is sandwiched between the upper leg massage units 2000aa and 2000ba and the lower leg massage units 2000ab and 2000bb.

Therefore, when the user's body is caught in a specific position of the massage device 100 during rotation of the leg massage unit 2000, the pinching prevention sensor S may recognize this, and accordingly, the massage device 100 may be stopped. and can prevent accidents.

On the other hand, the pinching prevention sensor (S) may be formed to extend to have a length. That is, the pinch prevention sensor (S) may be a linear sensor.

When the leg massage unit 2000 is rotated or the length is adjusted, it is not known which part of the leg massage unit 2000 the human body will be caught in, so when the trapping prevention sensor S is extended in the longitudinal direction. An area capable of detecting whether the user's body is in contact may be widened. Accordingly, the user can use the massage device 100 more safely.

Referring to FIG. 20 , as an optional embodiment, the pinching prevention sensor S may be provided in the upper leg massage units 2000aa and 2000ba and the lower leg massage units 2000ab and 2000bb, respectively. At least one pinching prevention sensor (S) may be provided on each side. For example, the pinching prevention sensor S may be provided on both sides of the upper leg massage units 2000aa and 2000ba, respectively, and may be located on the left and right sides of the rear surface of the upper leg massage units 2000aa and 2000ba, respectively. In addition, the pinching prevention sensor S may be positioned between the upper leg massage units 2000aa and 2000ba and the lower leg massage units 2000ab and 2000bb. In addition, the pinching prevention sensor (S) may be provided on both sides of the lower leg massage unit (2000ab, 2000bb), respectively.

Accordingly, even when a part of the user's body, such as a user's leg, is caught in an adjacent position of the leg massage unit 2000 while the massage device 100 is being operated, it can be recognized.

Although not shown in the drawings, the leg massage unit 2000 may further include a sensor for controlling the length of the leg massage unit 2000 .

As an embodiment, the leg massage unit 2000 may include at least one or more limit sensors in the leg frame 2210 . The limit sensor may be a sensor for determining the length adjustment limit of the leg massage unit 2000 . Alternatively, the limit sensor may be a sensor for determining a reference position of the leg massage unit 2000 . For example, the limit sensor may be a Hall sensor, but is not limited thereto.

By including the limit sensor, the upper leg massage unit (2000aa, 2000ba) and the lower leg massage unit (2000ab, 2000bb) may not move apart more than a certain limit, and it is possible to prevent a safety accident, and the lower leg massage unit (2000ab, 2000ab, 2000bb) is completely separated from the upper leg massage units 2000aa and 2000ba to prevent separation.

As another embodiment, the leg massage unit 2000 may include an encoder. Accordingly, the distance between the upper leg massage units 2000aa and 2000ba and the lower leg massage units 2000ab and 2000bb is recognized using the encoder, and accordingly, the length adjustment limit of the leg massage unit 2000 can be determined. That is, the distance between the upper leg massage units 2000aa and 2000ba and the lower leg massage units 2000ab and 2000bb is recognized through the encoder, and when a certain threshold is reached, the upper leg massage units 2000aa and 2000ba and the lower leg massage units are recognized. (2000ab, 2000bb) can stop the opponent's movement.

As an embodiment, the leg massage units 2000a and 2000b may further include a measurement sensor unit for measuring the user's leg length. For example, the measurement sensor unit may include at least one measurement sensor among a first measurement sensor and a second measurement sensor. The first leg massage unit 2000a may include a first measurement sensor for measuring the length of one leg, and the second leg massage unit 2000b may include a second measurement sensor for measuring the length of the other leg.

Preferably, each measuring sensor includes at least one sensor (or sub measuring sensor) among a first sensor (or a first sub measuring sensor) and a second sensor (or a second sub measuring sensor) to measure the length of a user's leg. may include

For example, the first sensor may be a capacitive touch sensor. The first sensor may be for roughly measuring the length of the user's leg. Accordingly, the length of the user's leg may be measured through the first sensor, and the length of the leg massage units 2000a and 2000b may be adjusted to correspond thereto.

The first sensor may measure a leg length by recognizing that the user's body is in contact. Accordingly, the first sensor may measure the length of the user's leg according to whether the user's body is in contact, and based on this, the massage device 100 may adjust the length of the leg massage units 2000a and 2000b, so that the precision is However, it is possible to quickly and roughly adjust the length of the leg massage units (2000a, 2000b).

In order to precisely measure the length of the leg massage units 2000a and 2000b, the leg massage units 2000a and 2000b according to the present invention may further include a second sensor.

For example, the second sensor may be a photosensor or a load sensor. The second sensor may be for precisely measuring the length of the user's leg. Accordingly, the massage device 100 roughly measures the length of the user's leg using the first sensor, adjusts the length of the leg massage units 2000a and 2000b to correspond thereto, and then uses the second sensor to measure the length of the user's leg. The leg length may be precisely measured, and the length of the leg massage units 2000a and 2000b may be adjusted to correspond thereto.

21 is a view showing an embodiment in which a photo sensor is provided in the leg massage unit, and FIG. 22 is an enlarged view of D of FIG. 21 .

21 and 22 , as an embodiment, the second sensor may be a photosensor PS. Preferably, it may be a mechanical photo sensor. As such, when the photosensor PS is used, as described above, the user's leg length can be more precisely measured compared to the case where only the first sensor is used. In addition, the photo sensors PS are provided in the leg massage units on both sides, respectively, so that the length of both legs of the user can be precisely measured.

For example, the photo sensor PS may be located below the leg massage units 2000a and 2000b. Accordingly, the photosensor PS may measure the user's leg length more precisely. That is, referring to FIG. 22 , the photo sensor PS is positioned below the leg massage units 2000a and 2000b on both sides, respectively, and when movement of the leg massage units 2000a and 2000b occurs, the disc by the movement The member rotates, and by measuring the degree of light reception that is changed by the rotation of the disk member, it is possible to precisely measure the length of the user's leg.

However, the present invention is not limited thereto, and it is of course possible to measure the length of a user's leg by using a different type of photo sensor PS or by a principle in which the existing photo sensor PS is driven.

As another embodiment, the second sensor may measure a leg length by measuring a load applied by the user's leg.

For example, the control unit 1200 of the massage device 100 adjusts the distance between the upper leg massage units 2000aa and 2000ba and the lower leg massage units 2000ab and 2000bb, and a load of a preset size is applied to the second sensor. The length of the leg massage units 2000a and 2000b at the time of application may be recognized as the user's leg length. Accordingly, the massage device 100 finely adjusts the distance between the upper leg massage units 2000aa and 2000ba and the lower leg massage units 2000ab and 2000bb, and when a predetermined load is applied to the second sensor The distance between the leg massage units 2000a and 2000b at that time may be recognized as the user's leg length, and in this case, the length of the leg massage units 2000a and 2000b may be adjusted to correspond to the user's leg length.

Meanwhile, the first sensor and the second sensor may be located on lower surfaces of the leg massage units 2000a and 2000b. Preferably, it may be provided at a position corresponding to the user's sole. Accordingly, the user's leg length can be precisely measured according to the length change of the leg massage units 2000a and 2000b.

Hereinafter, an operation method of the above-described massage device 100 will be described in detail.

The method of operating the massage device 100 according to the present invention includes the steps of receiving a user input, recognizing body information on at least a part of the user's body, adjusting the massage device based on the body information, and the and providing a massage to the user using the adjusted massage device.

23 is a view for explaining an embodiment of a method of operating a massage device according to the present invention.

Referring to FIG. 23 , the operating method of the massage device is an embodiment of the user's side inserted into the first leg massager 2000a according to information collected through a plurality of sensors included in the first leg massager. In the step of measuring the length of the leg (S110), the length of the other leg of the user inserted into the second leg massage unit 2000b is measured according to information collected through a plurality of sensors included in the second leg massage unit. (S120) and providing a massage according to different modes based on whether the length of the one leg and the length of the other leg are the same (S130), and measuring the length of the one leg Step (S110) and step (S120) of measuring the length of the other leg may be performed independently of each other.

To this end, the massage device 100 according to the present invention provides a massage module 1700 capable of performing at least one or more massage motions providing mechanical stimulation, and a main frame providing a path through which the massage module 1700 can move. ( 1100 ), the leg massage unit 2000 connected to the main frame 1100 , and the leg massage unit 2000 inserted into the leg massage unit 2000 according to information collected through a plurality of sensors included in the leg massage unit 2000 . and a control unit 1200 measuring the length of the user's leg, wherein the leg massage unit 2000 includes a first leg massage unit 2000a into which one leg of the user is inserted, and a second leg massage unit 2000a into which the user's other leg is inserted. 2 includes a leg massage unit 2000b, wherein the control unit 1200 independently measures the length of one leg of the user and the other leg of the user, and whether the length of the one leg and the length of the other leg are the same Based on this, massages according to different modes may be provided.

Hereinafter, each step described above will be described in detail.

The step of receiving the user input may be a step of receiving an input related to a massage to be provided by the user. That is, it may be a step of receiving various commands related to motion control of the massage device 100 . For example, selection of massage module, selection of massage type, selection of massage intensity, selection of massage time, selection of massage site, selection of position and operation of body massage unit 1000, power of massage device 100 selection of on-off, selection of whether to operate the heating function, selection related to sound source reproduction, selection of the position and operation of the leg massage unit 2000, selection of the length of the leg massage unit 2000, automatic It may include, but is not limited to, arbitrary commands for selection of /manual operation, and the like.

The user input receiving step may be performed through the user input unit 1400 . For example, the user may input various commands through the user input unit 1400 provided in the massage device 100 . The description of the user input unit 1400 is the same as described above.

On the other hand, the massage device 100 according to the present invention may provide various modes of massage. Accordingly, the user input may include an input for the user to select at least one mode from among various massage modes.

24 is a diagram for explaining an embodiment of a massage mode provided by a massage device.

Referring to FIG. 24 , the massage device 100 according to the present invention may provide at least one massage mode among a massage mode, an exercise mode, a correction mode, and a rehabilitation mode, and the user may select at least one or more of these modes. have.

The massage mode may be a mode that provides a conventional massage. For example, it may be a mode in which a massage is provided through a ball massage unit or a massage is provided through a roller massage unit. That is, it may be a mode in which a massage is provided by pressing, kneading, or pressing at least a part of the user's body.

The massage mode may provide a massage to the user's legs. In this case, the massage mode may include a general mode and a mode for providing a massage to one leg.

The normal mode may be a mode that provides a massage to both legs of the user.

As an optional embodiment, the normal mode may be a mode in which a massage of the same program is provided to both legs of the user. In this case, the leg massage units 2000a and 2000b on both sides may be controlled in the same manner or may be controlled with a predetermined time difference. That is, it is possible to provide a massage to both legs of the user with the same intensity and for the same time.

As another optional embodiment, the normal mode may be a mode in which different programs of massage are provided to both legs of the user. For example, it may be a mode for providing a massage by differently setting the intensity or massage providing time for both legs of the user, the type of the massage module 1700 used, the control method of the massage module 1700, the massage region, and the like. . In this case, the leg massage units 2000a and 2000b on both sides may be individually controlled, and the user may set different operation settings for the leg massage units 2000a and 2000b on both sides.

The one-leg massage mode may be a mode that provides a massage to only one of the user's legs. That is, as an embodiment, in the step of providing the massage ( S130 and S240 ), the massage may be provided only through any one of the first leg massage unit 2000a and the second leg massage unit 2000b .

To this end, the controller 1200 may provide a massage through only one of the first leg massage unit 2000a and the second leg massage unit 2000b.

For example, there may be a case in which it is difficult for a user to receive a massage due to a wound or injury to a leg. In this case, when a massage is provided to both legs of the user at the same time, there is a risk that the user's injury may become severe. Accordingly, the above-described problem can be solved by providing a massage to only one leg.

In addition, there may be cases in which the user wants to receive a massage on only one leg, or cannot receive the massage because he does not have one leg. In this case, it is possible to widen the selection range of the user's massage program and to reduce power consumption by providing a massage to only one leg.

One leg massage mode may be performed by manually selecting the user. For example, the massage apparatus 100 may include an on/off button for selecting whether to drive massage of only one leg, and the user may select whether to drive massage of only one leg. Alternatively, the user input unit 1400 may be provided with a means for selecting whether to drive only one leg massage.

As another embodiment, the one-leg massage mode may be automatically performed as needed.

For example, when only one leg of the user is recognized, the massage apparatus 100 may provide a massage to only the recognized leg.

To this end, the leg massage unit 2000 is disposed inside the leg massage unit 2000 and detects the user's leg and recognizes whether the user's leg is accommodated in the leg massage unit 2000. The leg recognition sensor unit (or leg detection sensor unit). In this case, the leg recognition sensor unit may include at least one leg recognition sensor.

For example, the leg recognition sensor unit may include at least one leg recognition sensor among a first leg recognition sensor (or a first leg detection sensor) and a second leg recognition sensor (or a second leg detection sensor). The first leg massage unit 2000a includes a first leg recognition sensor disposed inside the first leg massage unit 2000a (eg, the first accommodation space 2110), and the second leg massage unit 2000a ( 2000a) may include a second leg recognition sensor disposed inside the second leg massage unit 2000a (eg, the second accommodation space 2130).

The first leg recognition sensor detects one leg of the user and recognizes whether one leg is accommodated in the first leg massage unit 2000a, and the second leg recognition sensor detects the user's other leg and thus the second leg massage unit It can be recognized whether the other leg is accommodated in (2000b). Preferably, a plurality of leg recognition sensors may be provided in each accommodation space 2110. 2130, but the present invention is not limited thereto. For example, each leg recognition sensor is not limited in position and number as long as it can recognize whether the user's leg is accepted. As an embodiment, the leg recognition sensor may be a capacitive touch sensor, but is not limited thereto. For example, the leg recognition sensor may be implemented as various sensors capable of recognizing a leg, such as at least one of an infrared sensor and a pressure sensor.

On the other hand, when the leg recognition sensor recognizes only one leg of the user, the massage device may provide a selection option to the user to select whether to receive a massage on only one leg. In this case, the option may be provided as a sound through the audio output module 1500 or may be provided through the user input unit 1400, but is not limited thereto.

Meanwhile, the leg massage unit 2000 may include an air cell (not shown) for firmly fixing the user's leg. The air cell may fix the user's leg so that the position of the user's leg is not changed in the leg accommodation space 2100 formed in the leg massage unit 2000 while the massage is provided.

The exercise mode may be a mode for allowing the user to perform an exercise through the massage device 100 .

In this case, the exercise mode may include a rotational exercise mode, a linear exercise mode, and a bicycle mode.

The rotation exercise mode may be an exercise mode that allows the leg massage unit 2000 to be rotated by the user's power.

Referring to FIG. 10 , for example, the user may perform a rotational movement by rotating the leg massage unit 2000 in a clockwise direction (R direction) with his/her own power. At this time, the leg angle actuator 2270 does not provide a force for rotation of the leg massage unit 2000, or provides a force to resist the rotation direction, so that the user can rotate the leg massage unit 2000 by his/her own power. be able to Accordingly, the user can enjoy the exercise effect of leg extension through this exercise mode. That is, it is possible to perform an exercise for developing the front thigh muscles including the quadriceps.

As another example, the user may perform a rotational movement by rotating the leg massage unit 2000 in a counterclockwise direction (opposite to R) by the user's force. At this time, the leg angle actuator 2270 does not provide a force when the leg massage unit 2000 tries to rotate in the counterclockwise direction, or provides a force to resist the rotational direction, so that the user can use his/her own power to the leg massage unit. (2000) can be rotated. Accordingly, the user can enjoy the exercise effect of leg curl through this exercise mode. That is, it is possible to perform an exercise for developing the muscles of the back of the thigh including the flexor hamstrings.

In this case, in order for the user to lift the leg massage unit 2000 , the user's leg needs to be firmly accommodated and fixed in the leg massage unit 2000 . To this end, the leg massage unit 2000 may include an air cell (not shown) for firmly fixing the user's leg. The air cell may fix the user's leg so that the position of the user's leg is not changed in the leg accommodation space 2100 formed in the leg massage unit 2000 .

The linear motion mode may be an exercise mode that allows the leg massage unit 2000 to be linearly moved by the user's power.

For example, the user may perform a linear motion while pushing the leg massage unit 2000 in the longitudinal direction by the user's power. At this time, the leg length adjustment actuator 2520 does not provide a force or provides a force in a direction in which the length of the leg massage unit 2000 is shortened, so that the user pushes the leg massage unit 2000 with their own power to perform the movement. be able to do Accordingly, the user can enjoy an exercise effect such as a red press (leg press) through this exercise mode. That is, it is possible to perform an exercise for developing the front thigh muscles including the quadriceps.

As described above, the air cell may fix the user's leg so that the position of the user's leg is not changed in the leg accommodation space 2100 formed in the leg massage unit 2000 .

The bicycle mode may be a mode that provides a bicycle exercise to the user. That is, similar to riding a bicycle, it may be an exercise mode in which the user crosses both legs and pushes.

For example, the user may perform a bicycle exercise by crossing the leg massage units 2000 on both sides. At this time, the leg angle actuator 2270 does not provide a force or provides a force in the opposite direction to which the user applies the force, so that the user can exercise while pushing to cross the leg massage unit 2000 with his/her own force. .

As an optional embodiment, when one leg massage unit receives a force in an outward direction, the leg massage unit 2000 may apply a force inward to the opposite leg massage unit. That is, when one leg massage unit is pushed, the opposite leg massage unit may be pulled. Through this, the user can perform a bicycle exercise while applying a force to both legs crosswise as if performing an actual bicycle exercise.

As another embodiment, the leg massage unit 2000 compares the magnitude of the force applied to both leg massage units 2000 from the user so that the side to which the greater force is applied is pushed in the longitudinal direction, and a relatively smaller The side on which the force is applied can be pulled in the opposite direction. Through this, the user can perform a bicycle exercise while applying a force to both legs crosswise, just like performing an actual bicycle exercise.

Similarly in the bicycle mode, the air cell may fix the user's leg so that the position of the user's leg is not changed in the leg accommodation space 2100 formed in the leg massage unit 2000 .

On the other hand, the exercise mode may be performed by manually selecting the user. For example, the massage apparatus 100 may include a button for selecting whether to perform the exercise mode, and the user may select whether to perform the exercise mode through this. Alternatively, a means for selecting whether to perform the exercise mode may be provided in the user input unit 1400 .

On the other hand, the exercise mode may be automatically performed according to the magnitude of the load applied to the massage device (100). This will be described later.

The correction mode may be a mode for correcting the user's body type. Preferably, when the lengths of both legs of the user are different, it may be a mode for correcting the lengths of both legs to be the same.

In this case, the correction mode may include a pelvic correction mode and a length extension mode.

The pelvic correction mode may be a mode performed when the user's leg length is recognized as different due to the user's pelvis being misaligned. In this case, the massage device 100 may apply force to at least one of the user's buttocks, thighs, calves, and feet so that the distorted pelvis is correctly corrected.

Meanwhile, the pelvic correction mode may be performed until it is recognized that the length of both legs of the user is the same. In this case, whether the length of both legs of the user is the same may be determined by measuring through the sensor unit 1800 as will be described later.

The length extension mode may be a mode performed when the user's leg length is different. For example, it may be a massage mode in the form of lengthening the side of the short leg. For example, when the sensor unit 1800 measures the length of the user's leg and recognizes that the user's leg length is different, the massage device 100 may provide a massage intensively to the leg recognized as the shorter side. That is, the massage device 100 may provide a relatively stronger massage to a short leg than a long leg, or may provide a massage for a long time. Alternatively, the massage device 100 may selectively provide a massage only to a short leg. In this case, the provided massage may be a massage that applies a force in a direction to lengthen the user's legs, or may be a massage that provides stretching or pressing, but is not limited thereto.

The calibration mode can be performed by manually selecting the user. For example, the massage apparatus 100 may include a button for selecting whether to perform the correction mode, and the user may select whether to perform the correction mode through this. Alternatively, a means for selecting whether to perform the calibration mode may be provided in the user input unit 1400 .

On the other hand, when the sensor unit 1800 recognizes that the user's leg length is different, the massage apparatus 100 may provide a selection option to the user to select whether to drive the calibration mode. In this case, the option may be provided as a sound through the audio output module 1500 or may be provided through the user input unit 1400, but is not limited thereto. Meanwhile, whether the lengths of both legs of the user are different may be determined by measuring by the sensor unit 1800 . This will be described later.

The rehabilitation mode may be a mode for providing rehabilitation exercise for the user's body. Preferably, when the user wants to do a rehabilitation exercise after being injured in a leg, it may be a mode for providing a rehabilitation exercise to the user.

For example, the rehabilitation mode may provide a rehabilitation exercise by allowing the user to perform a linear motion or a rotational motion by pushing the leg massage unit 2000 with their own power. In this case, the method and principle of performing the linear motion and the rotational motion are the same as described above.

Meanwhile, in the rehabilitation mode, a force applied by the user to the leg massage unit 2000, that is, a load applied to the leg massage unit 2000, may be measured in real time to improve rehabilitation efficiency. For example, when the user's leg is gradually recovered and a greater force can be applied to the leg massage unit 2000, the leg massage unit 2000 increases the force applied in the opposite direction to the user's applied force so that the user Rehabilitation efficiency can be improved by gradually improving the intensity of the exercise to be performed.

Meanwhile, the rehabilitation mode may be manually selected and performed by the user. For example, the massage apparatus 100 may include a button for selecting whether to perform the correction mode, and the user may select whether to perform the rehabilitation mode through this. Alternatively, a means for selecting whether to perform the rehabilitation mode may be provided in the user input unit 1400 .

The step of recognizing body information may be a step of recognizing body information on at least a part of the user's body through the sensor unit 1800 . For example, whether the user is seated, the user's body type, the user's body abnormality, the user's body contact, the user's body location information, fingerprint information, face information, voice information, iris information, weight information, electrocardiogram information , it may be a step of measuring or recognizing the degree of body composition.

As an optional embodiment, the step of recognizing body information may include recognizing whether the user's leg is accepted and measuring the length of the user's leg.

In this case, when the sensor unit 1800 recognizes that the user's leg is accommodated, the massage apparatus 100 may provide a selection option to the user to select whether to start the massage.

Alternatively, when the sensor unit 1800 recognizes that only one of the user's legs is accommodated, the massage device 100 may provide a selection option to the user to select whether to massage only one leg as described above. have.

Alternatively, when the sensor unit 1800 recognizes that the user's leg length is different, the massage device 100 may provide a selection option to the user to select whether or not to perform the calibration mode as described above. .

The step of measuring the length of the user's leg may be a step of measuring the length of the user's leg inserted into the leg massage unit 2000 . As an embodiment, measuring the length of the user's leg may be performed while adjusting the length of the leg massage unit 2000 . For example, when the leg massage unit 2000 is moved to contract from a position where it is maximally extended along the length of the user's leg, and the leg massage unit 2000 is contracted to a position corresponding to the length of the user's leg, at that time The length of the leg massager 2000 may be determined as the user's leg length. In this case, whether the leg massage unit 2000 is contracted to a position corresponding to the length of the user's leg may be determined according to whether the user's sole is in contact with a sensor provided in the leg massage unit 2000 .

For example, the length of time the leg length adjustment actuator 2520 is driven is measured until the user's sole comes into contact with the sensor provided in the leg massage unit 2000, or the motor included in the leg length adjustment actuator 2520. By measuring the number of revolutions, the length of the user's legs can be measured. Alternatively, the user's leg length may be measured by measuring the value of the load applied by the user's sole to the sensor provided in the leg massage unit 2000 .

Specifically, the step of measuring the length of the user's leg may be performed through the first sensor and the second sensor, and may be performed simultaneously with the step of adjusting the massage device. For example, while adjusting the length of the leg massage unit 2000 through the step of adjusting the massage device, the user's leg length may be measured.

That is, the step of measuring the length of the user's leg may be performed through the sensor unit 1800 , and in detail, the length of the user's leg inserted into the leg massage unit is first measured according to information collected through the first sensor. It may include a measuring step (S110) and a second measuring step (S120) of the firstly measured length of the user's leg according to the information collected through the second sensor. Thereafter, the massage apparatus 100 may perform a step (S130) of providing a massage to the user based on the second measured length of the user's leg.

Meanwhile, a process of measuring a user's leg length while adjusting the length of the leg massage unit 2000 using the first sensor and the second sensor will be described in detail later.

Meanwhile, the step of measuring the user's leg length may be performed for both legs of the user, respectively.

For example, the step of measuring the length of one leg of the user ( S110 ) includes the step of first measuring the length of one leg according to information collected through the first sensor included in the plurality of sensors and the plurality of sensors It may include the step of measuring the length of one leg secondary according to the information collected through the second sensor included in the.

In addition, the step of measuring the length of the user's other leg ( S120 ) includes the step of first measuring the length of the other leg according to information collected through the first sensor included in the plurality of sensors and the plurality of sensors It may include the step of measuring the length of the second leg according to the information collected through the second sensor.

To this end, the control unit 1200 first measures the length of one leg according to the information collected through the first sensor included in the first leg massage unit 2000a, and includes the first leg massage unit 2000a. The length of one leg may be secondarily measured according to the information collected through the second sensor. In addition, the controller 1200 first measures the length of the other leg according to the information collected through the first sensor included in the second leg massage unit 2000b, and uses the second sensor included in the second leg massage unit. The length of the other leg can be measured secondary according to the information collected through it.

The adjusting of the massage device may be a step of adjusting the massage device 100 based on body information. For example, it may be a step of adjusting the relative position of each component of the massage device 100 to correspond to the user's body type. Alternatively, the relative position and intensity of each component of the massage apparatus 100 may be adjusted according to a massage program customized according to the user.

As an optional embodiment, adjusting the massage device may include adjusting the length of the leg massage unit 2000 to correspond to the user's leg length. In this case, the step of measuring the length of the user's leg and the step of adjusting the length of the leg massage unit 2000 may be simultaneously performed. For example, while adjusting the length of the leg massage unit 2000, when the adjustment is completed so that the length of the leg massage unit 2000 corresponds to the user's leg length, the length of the leg massage unit 2000 at that time is set to the user's length. It can be determined by the length of the legs.

The step of adjusting the length of the leg massage unit 2000 may be performed through a leg length adjusting means. At this time, the leg length adjusting means is the same as described above.

Meanwhile, the step of adjusting the length of the leg massage unit 2000 may be performed while measuring the user's leg length in real time, and this may be performed through the sensor unit 1800 . To this end, the sensor unit 1800 may include a first sensor for recognizing whether the user's leg is in contact and a second sensor for measuring the magnitude of a load applied to the photosensor PS or the massage device 100 . In this case, the contents of the first sensor and the second sensor are the same as described above.

Specifically, the step of adjusting the massage device includes the step of first adjusting the position of the leg massage unit 2000 according to the information collected through the first sensor, the first adjusting the leg according to the information collected through the second sensor It may include a step of secondly adjusting the position of the massage unit 2000 .

For example, the step of first adjusting the position of the leg massage unit 2000 is a step of adjusting the position of the leg massage unit 2000 based on whether the user's leg is in contact with the leg massage unit 2000 . can That is, in the step of first adjusting the position of the leg massage unit 2000, the leg length of the user may be roughly measured using the first sensor, and the leg massage unit 2000 may roughly correspond to the length of the user's leg. may be a step of adjusting the length of

Specifically, when the first sensor recognizes that the user's leg is in contact, the length adjustment of the leg massage unit 2000 may be temporarily stopped, and the massage device 100 may The length value may be recognized as a rough value of the user's leg length. For example, when the length adjustment of the leg massage unit 2000 is stopped, by measuring the driving time of the leg length adjustment actuator 2520 or the number of revolutions of the motor included in the leg length adjustment actuator 2520 , the user's leg The length can be roughly measured. In this step, the precision of the measurement may be relatively reduced, but the length of the leg massage unit 2000 may be roughly adjusted quickly.

To this end, the controller 1200 may adjust the position of the leg massage unit 2000 based on whether or not the user's leg is in contact with the leg massage unit 2000 .

The step of secondarily adjusting the length of the leg massage unit 2000 may be precisely performed through the photosensor PS. As another example, the step of secondarily adjusting the length of the leg massage unit 2000 is to adjust the position of the leg massage unit 2000 based on the magnitude of the load applied to the leg massage unit 2000 by the user's legs. may be a step. That is, in the step of secondly adjusting the position of the leg massage unit 2000, the leg length of the user can be precisely measured using the second sensor, and the leg massage unit 2000 can precisely correspond to the length of the user's leg. may be a step of adjusting the length of

Specifically, when the second sensor measures the magnitude of the load applied by the user's leg and reaches a preset value, the length adjustment of the leg massage unit 2000 may be stopped, and the massage device 100 may The length value of the massage unit 2000 may be recognized as the user's leg length value.

To this end, the controller 1200 may adjust the position of the leg massage unit based on the magnitude of the load applied to the leg massage unit 2000 by the user's legs.

As another example, as the second sensor, the user's leg length may be measured using both a load measuring sensor and a photosensor.

For example, while adjusting the length of the leg massage unit 2000, when a part of the user's body, preferably the sole of the user's foot, comes into contact with the sensor for measuring the load, the amount of load applied to the sensor is a preset value. If this is the case, the length adjustment of the leg massage unit 2000 may be stopped, and the current length of the leg massage unit 2000 may be determined as the length of the user's leg by using the photosensor. Through this, it is possible to more precisely measure the length of the user's leg.

Meanwhile, the measurement of the load amount may be performed by further including a separate load amount detection sensor in the leg massage unit 2000 . Alternatively, it may be performed by measuring the load (current amount) that drives the leg length adjustment actuator 2520 .

On the other hand, when the user's leg comes into contact with one of the plurality of sensors while measuring the user's leg length, the length adjustment of the leg massage unit 2000 may be stopped and the user's leg length may be measured, but in another example As such, it is also possible to measure the load or measure the length of a user's leg through a photosensor while reducing the moving speed of the leg massage unit 2000 without stopping the length adjustment of the leg massage unit 2000 .

Of course, the above-described steps of measuring the length of the user's legs and adjusting the length of the leg massage unit 2000 may be performed individually for both legs of the user.

25 is a view for explaining another embodiment of the operation method of the massage device according to the present invention.

Referring to FIG. 25 , the step of measuring the length of the user's leg may further include a step (S230) of thirdly measuring the length of the user's leg, which is secondarily measured through a second sensor, and providing a massage. Step S240 may be a step of providing a massage to the user based on the third measured length of the user's leg. That is, the length of one leg of the user inserted into the first leg massage unit is measured ( S210 ) according to information collected through a plurality of sensors included in the first leg massage unit, and the plurality of legs included in the second leg massage unit is measured ( S210 ). The length of the user's other leg inserted into the second leg massage unit may be measured (S220), and the second measured length of the user's leg may be thirdly measured (S230) according to the information collected through the sensors.

To this end, after the second measurement is performed, the controller 1200 may thirdly measure the secondly measured length of the user's leg according to information collected through the second sensor.

Here, the step of thirdly measuring the user's leg ( S230 ) may be performed in the same manner as the step of thirdly adjusting the position of the leg massager, which will be described later.

That is, the step of adjusting the massage device as needed may further include the step of thirdly adjusting the position of the secondly adjusted leg massage unit according to the information collected through the second sensor. In this case, the step of providing the massage may provide the massage to the user based on the third-adjusted position of the leg massage unit 2000 .

Specifically, the third adjustment step may be a step of moving the lower leg massage units 2000ab and 2000bb in the longitudinal direction by a predetermined distance after the second adjustment step and returning them to their original positions. That is, the third adjustment step may be a step of checking whether the length of the leg massage unit 2000 adjusted through the first adjustment step and the second adjustment step corresponds to the actual user's leg length.

To this end, the controller 1200 may thirdly adjust the position of the secondly adjusted leg massage unit 2000 according to the information collected through the second sensor after the second adjustment is performed.

For example, the length of the leg massage unit 2000 adjusted through the first adjustment step and the second adjustment step due to various factors, such as the user's leg mounted obliquely, or a mechanical error of the massage device occurs, is actually It may not correspond to the user's leg length.

Therefore, in order to measure this, the massage device 100 measures the load applied to the second sensor by the user's leg after the lower leg massage units 2000ab and 2000bb move away from each other by a predetermined distance in the third adjustment step and return to their original position. You can check whether the size of is the same as before. In this case, if the magnitude of the load applied to the second sensor is constant before and after the third adjustment step is performed, it may be determined that the length of the leg massager 2000 is adjusted to correspond to the length of the user's leg. Conversely, when the magnitude of the load applied to the second sensor is changed before and after the third adjustment step, the length of the leg massage unit 2000 adjusted through the first adjustment step and the second adjustment step does not correspond to the user's leg length. It can be recognized that, if necessary, the first adjustment step and the second adjustment step may be performed again.

Meanwhile, as an embodiment, adjusting the massage device may be performed automatically when the massage device 100 recognizes that the user is seated.

For example, when the operation of the massage apparatus 100 is set to be performed automatically, when the user is seated on the massage apparatus 100, the massage apparatus 100 automatically recognizes whether the user is seated, and based on this, the massage apparatus 100 automatically recognizes whether the user is seated. Device 100 may be automatically calibrated.

Meanwhile, the step of adjusting the massage device may be performed by moving each component of the massage device 100 from the reference position. In this case, the reference position may be set using at least one of the aforementioned Hall sensor, limit sensor, and encoder.

For example, the massage device 100 may set a reference position using at least one of a hall sensor, a limit sensor, and an encoder, and each component of the massage device 100 may move to the reference position. After that, the step of recognizing the user's body information or the step of adjusting the massage device may be performed.

The step of providing the massage ( S130 , S240 ) may be a step of providing a massage to the user through the massage providing module. For example, it may be a step of providing a massage to the user's body while the massage module 1700 moves along the main frame 1100 according to a signal input by the user. Alternatively, the leg massage unit 2000 rotates according to a signal input by the user, or the massage module 1700 and the foot massage module included in the leg massage unit 2000 move or operate while providing a massage to the user. have.

In addition, the steps of providing the massage ( S130 and S240 ) may be steps of providing the massage according to different modes based on whether the length of the user's one leg and the length of the user's other side are the same. To this end, the controller 1200 may provide a massage according to different modes based on whether the length of the user's one leg is equal to the length of the other leg.

For example, as described above, when the length of one leg of the user and the length of the other leg are the same, the massage according to the general mode may be provided. Also, for example, when the length of one leg of the user and the length of the other leg are different from each other, a massage according to any one of a one leg massage mode, an exercise mode, a correction mode, and a rehabilitation mode may be provided.

In this case, when the length of the user's one leg and the length of the other leg are the same, the controller 1200 may provide the massage according to the general mode. Also, when the length of one leg of the user and the length of the other leg are different from each other, the controller 1200 may provide a massage according to any one of a one leg massage mode, an exercise mode, a correction mode, and a rehabilitation mode. Steps of providing a massage (S130, S240) may further include a leg length correction step, if necessary. For example, when the sensor unit 1800 detects that the length of the current leg massage unit 2000 does not correspond to the user's leg while providing the massage, the leg length adjustment means is operated to activate the leg massage unit 2000 . length can be corrected.

In this case, the step of correcting the leg length by the leg length adjusting means may be performed in the same manner as the step of adjusting the length of the leg massage unit 2000 described above, unless there is a special circumstance. For example, a calibration step may be performed using the first sensor and the second sensor.

In this case, it goes without saying that the leg massage units 2000a and 2000b on both sides can be individually controlled. That is, when correction is required only on one leg, the correction step may be performed only on the leg massage unit 2000 corresponding thereto.

Meanwhile, when a load greater than or equal to a preset size is sensed on the massage device 100 , the massage device 100 may stop the currently provided massage. That is, when a load greater than a preset size is sensed in at least one of the first leg massage unit 2000a and the second leg massage unit 2000b, the currently provided massage may be stopped.

To this end, when a load greater than or equal to a preset size is sensed in at least one of the first leg massage unit 2000a and the second leg massage unit 2000b, the controller 1200 may stop the currently provided massage.

For example, the storage unit 1300 may include control information for controlling the operation of the massage device 100 , and may include at least one or more load values for controlling the operation of the massage device 100 . have. The control unit 1200 may control whether to stop the massage by using the control information included in the storage unit 1300 .

As an optional embodiment, a load value for adjusting the length of the leg massage unit 2000 may be set in the control information as described above. For example, when the same load value as the preset load value is applied to the second sensor, the operation of the leg length adjusting means is stopped, and the massage device 100 sets the length value of the leg massage unit 2000 at that time to the user's It can be recognized by the length of the legs.

As an optional embodiment, the control information may include a load value for stopping the provision of the massage. Preferably, the load value at this time may be a greater value than the load value for adjusting the length of the leg massage unit 2000 . Accordingly, when the user applies a force equal to or greater than the preset load value to the second sensor, the massage device 100 may stop the currently provided massage. As an embodiment, when the user pushes the leg massage unit 2000 with a force greater than or equal to a preset load value, the massage device 100 stops the currently provided massage and the user uses the leg massage unit 2000 with his/her own leg strength. can be moved

Accordingly, when the user's body is caught in a specific part of the massage device, the user may stop the operation of the massage device 100 to freely control each configuration of the massage device 100 . That is, in a dangerous situation, the user can change the position of each component of the massage device 100 by himself.

Alternatively, according to this, the user may stop the massage operation of the massage device 100 by applying a force greater than or equal to a preset load to the massage device 100 , and automatically execute the exercise mode.

Meanwhile, the massage device 100 may detect when a part of the user's body is caught in the massage device 100 and stop the operation. That is, when the user is likely to be injured, the operation of the massage device 100 may be urgently stopped.

On the other hand, when the operation of the massage device 100 is forcibly terminated, such as when the power supplied to the massage device 100 is stopped due to a power failure, etc., the massage device 100 is a state before providing a massage through a separately provided internal battery, For example, it can be restored to a reference state and safely shut down.

26 is a flowchart illustrating a massage providing operation of the controller according to an embodiment of the present disclosure.

The controller 1200 may determine whether to provide the leg massage based on whether the user's leg is accommodated in the leg massage units 2000a and 2000b.

For example, the controller 1200 may determine whether the user's leg is accommodated in the leg massage units 2000a and 2000b based on whether the user's leg is sensed for a threshold time or longer through the leg detection sensor unit (S2610). ). In this case, the threshold time may be a criterion for determining whether the user's legs are accommodated in the leg massage units 2000a and 2000b. The threshold time may be preset and stored in the storage unit 1300 , but is not limited thereto. For example, the threshold time may be stored in an external device distinct from the massage device 100 , or may be input through an external device and provided (or transmitted) to the controller 1200 . In this case, the threshold time may be input or set by a user and an administrator who manages the massage device 100 , and may be stored in at least one of the storage unit 1300 and an external device or provided to the control unit 1200 .

Specifically, the leg detection sensor unit may detect the user's leg when the user's leg is accommodated in the leg massage units 2000a and 2000b. The leg detection sensor unit may transmit a signal to the controller 1200 when the user's leg is detected. In this case, the leg detection sensor unit may transmit a signal to the controller 1200 until the user's leg is not detected. The signal may be a signal indicating that the user's leg is accommodated in the leg massage units 2000a and 2000b.

The controller 1200 may determine whether the user's leg is accommodated in the leg massage units 2000a and 2000b based on a signal transmitted from the leg detection sensor unit. For example, the control unit 1200 may determine that the user's leg is detected in the leg massage units 2000a and 2000b for a threshold time or longer based on whether a signal transmitted from the leg detection sensor unit is received for a threshold time or longer. have.

When the signal transmitted from the leg detection sensor unit is received for more than a threshold time, the controller 1200 may determine that the user's leg has been detected inside the leg massage units 2000a and 2000b for more than a threshold time. When the signal transmitted from the leg detection sensor unit is not received for more than a threshold time, the controller 1200 may determine that the user's leg is not detected inside the leg massage units 2000a and 2000b for more than a threshold time.

When the user's leg is sensed inside the leg massage units 2000a and 2000b for more than a threshold time, the controller 1200 may determine that the user's leg is accommodated in the leg massage units 2000a and 2000b.

When the user's leg is not detected inside the leg massage units 2000a and 2000b for more than a threshold time, the controller 1200 may determine that the user's leg is not accommodated in the leg massage units 2000a and 2000b.

The controller 1200 may determine whether to provide a leg massage based on a result of determining whether to accept the leg ( S2630 ).

When it is determined that the user's leg is accommodated in the leg massage units 2000a and 2000b, the controller 1200 may determine to provide the user with a leg massage. When it is determined that the user's leg is not accommodated in the leg massage units 2000a and 2000b, the controller 1200 may determine not to provide the leg massage to the user.

The controller 1200 controls the operation of at least one of the body massage unit 1000 and the leg massage units 2000a and 2000b based on the determination result of whether to provide the leg massage, thereby controlling at least one of the body massage and the leg massage. of may be provided to the user (S2650).

When it is decided to provide the leg massage, the controller 1200 may drive both the body massage unit 1000 and the leg massage units 2000a and 2000b to provide both the body massage and the leg massage to the user. For example, the control unit 1200 provides a body massage by activating (or driving) at least one of the massage module 1700 and the air cell included in the body massage unit 1000, and provides a body massage to the leg massage units 2000a and 2000b. A leg massage may be provided by activating the included massage member.

When it is determined not to provide the leg massage, the controller 1200 may provide the body massage to the user by driving the body massager 1000 in a state in which the leg massagers 2000a and 2000b are not driven.

In addition, the controller 1200 may further control the operation of the leg massage units 2000a and 2000b by re-determining whether to periodically provide the leg massage for a time during which at least one of the body massage and the leg massage is provided.

For example, the controller 1200 may re-determine whether the user's leg is accommodated in the leg massage units 2000a and 2000b based on whether the leg is sensed for a threshold time or longer through the leg detection sensor unit. The re-decision operation of the controller 1200 may be the same as the above-described determination operation, but is not limited thereto.

The controller 1200 may re-determine whether to provide the leg massage based on the judgment result. The recrystallization operation of the controller 1200 may be the same as the above-described determination operation, but is not limited thereto.

When it is re-determined not to provide the leg massage while the leg massage is being provided, the control unit 1200 stops the operation of the leg massage units 2000a and 2000b while maintaining the operation of the body massage unit 1000 to massage the legs. A body massage may be provided to the user in a state in which the body massager is not provided.

When it is re-determined to provide the leg massage while the leg massage is not provided, the controller 1200 drives the leg massage units 2000a and 2000b while maintaining the operation of the body massage unit 1000 to perform body massage and leg massage. All massages can be provided to the user.

When it is re-determined to provide a leg massage while the leg massage is being provided or to not provide a leg massage while the leg massage is not provided, the controller 1200 controls the body massage unit 1000 and the leg massage unit 2000a, 2000b), the massage provided to the user may be continuously provided.

As described above, the controller 1200 may provide at least one of a body massage and a leg massage based on whether both legs of the user are accommodated in the leg massage units 2000a and 2000b, but is not limited thereto. The controller 1200 may provide at least one massage from among the body massage, the first leg massage, and the second leg massage based on whether the leg is accommodated in each of the leg massage units 2000a and 2000b.

As described above, since the leg massage units 2000a and 2000b can move independently, the controller 1200 provides at least one leg massage among the first leg massage and the second leg massage, and provides or provides a body massage. may not Hereinafter, the operation of providing a leg massage of the controller 1200 will be described in detail.

27 is a flowchart illustrating an operation of providing a leg massage of a controller according to an embodiment of the present disclosure.

The controller 1200 is configured to perform the first leg massage and the second massage based on whether one leg of the user is accommodated in the first leg massage unit 2000a and whether the user's other leg is accommodated in the second leg massage unit 2000b. You can decide whether to offer a leg massage or not.

For example, the controller 1200 determines whether the user's one leg is accommodated in the first leg massage unit 2000a based on whether the user's one leg is detected for a first threshold time or longer through the first leg detection sensor. A first determination may be performed (S2710).

The control unit 1200 determines whether the user's other leg is accommodated in the second leg massage unit 2000b based on whether the user's other leg is detected for a second threshold time or longer through the second leg detection sensor. A determination may be performed (S2710).

The above-described first determination and second determination are applicable to the determination operation illustrated in FIG. 26 , and thus a detailed description thereof will be omitted. However, the controller 1200 may simultaneously perform the first determination and the second determination. The above-described threshold time may be applied to the first and second threshold times. However, the first and second threshold times may be set to be different or identical to each other.

The controller 1200 may determine whether to provide the first leg massage and the second leg massage based on the first judgment and the second judgment ( S2730 ).

When the user's one leg is sensed in the first leg massager 2000a for more than a first threshold time, the controller 1200 determines that the user's one leg is accommodated in the first leg massager 2000a, You may decide to offer a leg massage. When one leg of the user is not detected in the first leg massage unit 2000a for more than a first threshold time, the controller 1200 determines that the user's one leg is not accommodated in the first leg massage unit 2000a, It may be decided not to provide the first leg massage.

When the user's other leg is sensed inside the second leg massage unit 2000b for more than the second threshold time, the controller 1200 determines that the user's other leg is accommodated in the second leg massage unit 2000b and the second leg massage unit 2000b. You may decide to offer a leg massage. When the user's other leg is not detected in the second leg massage unit 2000b for more than a second threshold time, the controller 1200 determines that the user's other leg is not accommodated in the second leg massage unit 2000b. It may be decided not to provide a second leg massage.

The controller 1200 provides at least one leg massage among the first and second leg massages to the user by controlling the operations of the first leg massage unit 2000a and the second leg massage unit 2000b based on the determination result. It can be done (S2750).

When providing at least one leg massage among the first and second leg massages, the controller 1200 controls the first leg massage unit 2000a based on the length of the leg corresponding to at least one leg massage among the one leg and the other leg. ) and the second leg massage unit 2000b, by controlling the operation of the leg massage unit corresponding to at least one leg massage unit, it is possible to provide at least one leg massage.

When it is determined to provide any one leg massage from the first leg massager and the second leg massager, the controller 1200 may include a leg massager corresponding to any one of the first leg massager and the second leg massager. It can be determined by the target leg massage unit. In this case, the target leg massage unit may be a leg massage unit providing a leg massage.

The controller 1200 may provide at least one leg massage among the first and second leg massages to the user by controlling the operation of the target leg massage unit based on the length of the leg accommodated in the target leg massage unit.

For example, the controller 1200 may acquire the length of the leg accommodated in the target leg massage unit through a measurement sensor corresponding to the target leg massage unit among the first and second measurement sensors. The controller 1200 may adjust the length of the target leg massage unit based on the length of the leg accommodated in the target leg massage unit through an adjustment module corresponding to the target leg massage unit among the first and second adjustment modules 2500a and 2500b. .

The controller 1200 may provide any one massage corresponding to the target leg massage unit among the first and second leg massages to the user by driving the massage member of the target leg massage unit whose length is adjusted.

When it is determined to provide both the first leg massage and the second leg massage, the controller 1200 controls the first leg massage unit and the second leg massage unit based on the length of one leg and the length of the other leg, so that the first A leg massage and a second leg massage may be provided to the user.

For example, the controller 1200 may obtain the length of one leg through the first measurement sensor and obtain the length of the other leg through the second measurement sensor.

The controller 1200 may adjust the length of the first leg massage unit 2000a based on the length of one leg, and may adjust the length of the second leg massage unit 2000b based on the length of the other leg. The controller 1200 may simultaneously adjust the lengths of the first and second leg massage units 2000a and 2000b through the first and second adjustment modules 2500a and 2500b or perform them with a time difference.

The controller 1200 drives the first massage member of the first leg massage unit 2000a of which the length is adjusted and the second massage member of the second leg massage unit 2000b of which the length is adjusted to massage the first and second legs. can be provided to users. In this case, the control unit 1200 may drive the first and second massage members to be interlocked or not interlocked with each other.

When it is determined not to provide both the first leg massage and the second leg massage, the controller 1200 stops the operation of the first leg massage unit and the second leg massage unit to provide both the first leg massage and the second leg massage to the user. may not be provided to

28 shows an example for explaining the reclining operation of the control unit according to an embodiment of the present disclosure.

The controller 1200 may provide at least one of a body massage and a leg massage in a state in which the massage device 100 is reclining.

For example, the body massage unit 1000 may include a seating detection sensor that detects the user's seating in an area corresponding to the user's buttocks among the entire area of the body massage unit 1000 . In this case, the seated detection sensor may be implemented as a pressure sensor, but is not limited thereto.

The control unit 1200 may recline the massage device 100 by detecting the user's seating through the seating detection sensor. For example, the controller 1200 tilts the body massage unit 1000 to the rear of the massage device 100 based on the user's shoulder position (operation A), and rotates the leg massage unit 2000 clockwise (B). action) can be made.

The controller 1200 may perform the massage providing operation described in FIGS. 26 and 27 in a state in which the massage device 100 is reclined as shown in FIG. 28 , but is not limited thereto. For example, the controller 1200 may perform the first determination and the second determination while reclining the massage apparatus 100 . Accordingly, the above-described threshold time (eg, at least one of the first threshold time and the second threshold time) may be set similarly to the time for the controller 1200 to recline the massage device 100 . .

In addition, the control unit 1200 may return the leg massage unit that does not provide a leg massage among the first and second leg massage units 2000a and 2000b to a basic state before reclining is performed. For example, the control unit 1200 rotates the leg massage unit that does not provide a leg massage counterclockwise, and adjusts the length of the leg massage unit to a length corresponding to the basic state, so that the leg massage unit that does not provide the leg massage is in a basic state. can be returned to The control unit 1200 may stop the operation of the leg massage unit returning to the basic state to prevent power consumption of the massage apparatus 100 .

Hereinafter, a sensor included in the massage device 100 to provide an exercise mode providing operation and an exercise mode of the controller 1200 that provides an exercise mode to the user through the leg massage units 2000a and 2000b capable of independently moving is detailed. to explain clearly.

29 is a top view of a leg massage unit for explaining a rotational force sensing unit according to an embodiment of the present disclosure.

The massage device 100 may include a rotational force sensing unit 2700 that senses (or measures, senses) the user's rotational force. In this case, the rotational force may be a force that rotates at least one of the first leg massager 2000a and the second leg massager 2000b.

The rotational force may include at least one rotational force among a first rotational force for rotating the first leg massager 2000a with one leg by the user, and a second rotational force for rotating the second leg massager 2000b with the user's other leg. can

For example, the first rotational force is a first upper rotational force for rotating the first leg massage unit 2000a in a clockwise direction (or an upward direction of the massage device 100), and a counterclockwise rotation of the first leg massager 2000a. It may include a first lower rotational force for rotating in a reflection (or a downward reflection of the massage device 100). In other words, the first rotational force may be a force by which the user rotates the first leg massage unit 2000a clockwise with one leg or counterclockwise.

The second rotational force is a second upper rotational force for rotating the second leg massage unit 2000b in a counterclockwise direction (or an upward direction of the massage device 100), and a second rotational force for rotating the second leg massager 2000b counterclockwise (or massage). a second downward rotational force to rotate in a downward reflection of the device 100 . In other words, the second rotational force may be a force by which the user rotates the second leg massage unit 2000b clockwise with the other leg or counterclockwise.

The rotational force detection unit 2700 may include at least one rotational force detection sensor among a first rotational force detection sensor 2710 for detecting a first rotational force and a second rotational force detection sensor 2730 for detecting a second rotational force. The first rotational force sensor 2710 may be included in the first leg massage unit 2000a, and the second rotational force detection sensor 2730 may be included in the second leg massager 2000b.

For example, as shown in FIG. 29 , the first leg massage unit 2000a includes a first outer housing 2000ab-1 surrounding the first lower leg massage unit 2000ab, and the second leg massage unit 2000ab ( 2000b) may include a second outer housing 2000bb-1 surrounding the second lower leg massage unit 2000bb.

The first rotational force detection sensor 2710 is included in the first outer housing 2000ab-1 and the first lower leg massage unit 2000ab, and the second rotational force detection sensor 2730 is the second outer housing 2000bb- 1) and may be included in the second lower leg massage unit 2000bb.

Specifically, the first rotational force detection sensor 2710 is at least one of the first sub rotational force detection sensor 2711 for detecting the first upper rotational force and the second sub rotational force detection sensor 2713 for detecting the first lower rotational force It may include a rotational force detection sensor.

The first sub-rotational force sensor 2711 may be disposed in a region corresponding to the ankle (or lower shin) of the user's one leg (or a region in contact with the ankle) among the entire region of the first outer housing 2000ab-1. . In this case, the region corresponding to the ankle of one leg may be an upper end region (or an upper end surface) of the first outer housing 2000ab - 1 .

The second sub-rotational force detecting sensor 2713 may be disposed in a region corresponding to the heel of one leg (or a region in contact with the heel) of the entire region of the first lower leg massage unit 2000ab. In this case, the region corresponding to the heel of one leg may be an inner lower end region (or an inner lower rear surface) of the first lower leg massage unit 2000ab.

The second rotational force detection sensor 2730 is at least one of the third sub-rotational force detection sensor 2731 for detecting the second upper rotational force and the fourth sub-rotating force detection sensor 2733 for detecting the second lower rotational force. At least one sub-rotational force detection sensor may include

The third sub-rotational force detection sensor 2731 may be disposed in an area corresponding to the ankle of the user's other leg among the entire area of the second outer housing 2000bb-1. In this case, the region corresponding to the ankle of the other leg may be an upper end region of the second outer housing 2000bb-1.

The fourth sub-rotational force detecting sensor 2733 may be disposed in a region corresponding to the heel of the other leg among the entire region of the second lower leg massage unit 2000bb. In this case, the region corresponding to the heel of the other leg may be an inner lower end region of the second lower leg massage unit 2000bb.

The rotational force sensing unit 2700 may sense at least one rotational force among the first and second rotational forces and provide (or transmit) it to the controller 1200 .

For example, the user may apply a force to the leg massager 2000 to rotate the leg massager 2000 clockwise or counterclockwise by bending or straightening the knee of the leg. In this case, the force for counterclockwise rotation may be applied through the ankle of the leg, and the force for counterclockwise rotation may be applied through the heel of the leg.

The rotational force sensor 2700 may detect a force applied to the leg massager 2000 as a rotational force according to the user's bending or bending of the knee.

For example, the first sub-rotation force detection sensor 2711 allows the user to rotate the first leg massage unit 2000a in a counterclockwise direction by stretching the knee of one leg and passing the ankle of the first leg massage unit 2000a. ) may be sensed as the first upper rotational force.

The second sub rotational force detection sensor 2713 allows the user to bend the knee of one leg to rotate the first leg massage unit 2000a counterclockwise to the first leg massage unit 2000a through the heel of the other leg. The applied force may be sensed as the first lower rotational force.

The third sub-rotational force detection sensor 2731 is applied to the second leg massage unit 2000b through the ankle of the other leg by stretching the knee of the other leg in order for the user to rotate the second leg massage unit 2000b in a counterclockwise direction. The force may be sensed as the second upper rotational force.

The fourth sub-rotational force detection sensor 2733 allows the user to bend the knee of the other leg to rotate the second leg massage unit 2000b counterclockwise to the second leg massage unit 2000b through the heel of the other leg. The applied force may be sensed as the second lower rotational force.

30 is a side view of a leg massage unit for explaining an adjustment force sensing unit according to an embodiment of the present disclosure.

The massage apparatus 100 may include an adjustment force sensing unit 2800 that detects the user's adjustment force. In this case, the adjustment force may be a force for adjusting the length of at least one of the first leg massage unit 2000a and the second leg massage unit 2000b.

The adjustment force includes a first adjustment force for the user to adjust the first length of the first leg massage unit 2000a with one leg, and a second adjustment force for the user to adjust the second length of the second leg massage unit 2000b with the other leg. It may include at least one regulating force among them.

For example, the first adjustment force is a first upper adjustment force for adjusting the first length short (or reducing the first length) by pulling the first leg massage unit 2000a upwards of the first leg massage unit 2000a, and It may include a first lower adjustment force for lengthening the first length (or increasing the first length) by pushing the first leg massage unit 2000a downward of the first leg massage unit 2000a. In other words, the first adjustment force may be a force that the user pulls the first leg massage unit 2000a toward the upper side 2000a of the first leg massage unit with one leg or pushes the first leg massage unit 2000a downward.

The second adjustment force includes a second upper adjustment force for adjusting the second length to be shorter by pulling the second leg massage unit 2000b upward of the second leg massage unit 2000b, and a second upper adjustment force for adjusting the second leg massage unit 2000b to the second leg. It may include a second lower adjustment force to lengthen the second length by pushing downward of the massage unit 2000b. In other words, the second adjustment force may be a force that the user pulls the second leg massage unit 2000b toward the upper side 2000b of the second leg massage unit with the other leg or pushes the second leg massage unit 2000b downward.

The adjustment force sensor 2800 may include at least one adjustment force detection sensor from among a first adjustment force detection sensor 2810 for detecting a first adjustment force and a second adjustment force detection sensor 2830 for detecting a second adjustment force. The first adjustment force detection sensor 2810 may be included in the first leg massage unit 2000a, and the second adjustment force detection sensor 2830 may be included in the second leg massage unit 2000b.

For example, the first adjusting force detecting sensor 2810 is included in the first outer housing 2000ab-1 and the first lower leg massage unit 2000ab, and the second adjusting force detecting sensor 2830 is the second It may be included in the outer housing 2000bb-1 and the second lower leg massage unit 2000bb.

Specifically, the first adjustment force detection sensor 2810 includes at least one sub of the first sub adjustment force detection sensor 2811 for detecting the first upper adjustment force and the second sub adjustment force detection sensor 2813 for detecting the first lower adjustment force It may include an accommodative force detection sensor.

The first sub-regulating force detecting sensor 2811 may be disposed in a region corresponding to the instep of the user's one leg (or a region in contact with the instep) of the entire area of the first outer housing 2000ab - 1 . In this case, the region corresponding to the instep of one leg may be an inner upper region (or an inner upper surface, an inner uppermost surface) of the first outer housing 2000ab - 1 .

The second sub-regulating force detecting sensor 2813 may be disposed in a region corresponding to the sole of one leg (or a region in contact with the sole) of the entire region of the first lower leg massage unit 2000ab. In this case, the region corresponding to the sole of the one leg may be the inner lower region (or the inner lower surface, the innermost lower surface) of the first lower leg massage unit 2000ab and may be a region surrounding the first foot massage unit 2610 .

The second adjusting force detecting sensor 2830 is at least one sub adjusting force detecting sensor among the third sub adjusting force detecting sensor 2831 detecting the second upper adjusting force and the fourth sub adjusting force detecting sensor 2833 detecting the second lower adjusting force. may include

The third sub adjustment force detecting sensor 2831 may be disposed in a region corresponding to the instep of the user's other leg among the entire region of the second outer housing 2000bb-1. In this case, the region corresponding to the instep of the other leg may be an inner upper region of the second outer housing 2000bb-1.

The fourth sub adjustment force detecting sensor 2833 may be disposed in a region corresponding to the sole of the other leg among the entire region of the second lower leg massage unit 2000bb. In this case, the region corresponding to the sole of the other leg may be an inner lower region of the second lower leg massage unit 2000bb and may be a region surrounding the second foot massage unit 2630 .

The adjustment force sensing unit 2800 may sense at least one adjustment force among the first and second adjustment forces and provide (or transmit) it to the controller 1200 .

For example, the user may apply a force to adjust the length of the leg massage unit 2000 by pulling the leg massage unit 2000 to the upper side of the leg massage unit 2000 with a leg or pushing it downward of the leg massage unit 2000 . It may be applied to the leg massage unit 2000 . In this case, the pulling force may be applied through the instep of the leg, and the pushing force may be applied through the sole of the leg.

For example, the first sub-adjusting force detection sensor 2811 pulls the first leg massage unit 2000a with one leg in order for the user to adjust the first length to be shorter, and the first leg massage unit 2000a through the instep of one leg. ) may be sensed as the first upper control force.

The second sub-adjusting force detection sensor 2813 is applied to the first leg massage unit 2000a through the sole of one leg by the user pushing the first leg massage unit 2000a with one leg in order to lengthen the first length. The force may be sensed as the first lower adjustment force.

The third sub adjustment force detection sensor 2831 is applied to the second leg massage unit 2000b through the foot of the other leg by pulling the second leg massage unit 2000b with the other leg in order for the user to adjust the second length to be shorter. The force may be sensed as the second upper adjustment force.

The fourth sub-regulating force detection sensor 2833 is applied to the second leg massage unit 2000b through the sole of the other leg by the user pushing the second leg massage unit 2000b with the other leg in order to lengthen the second length. The force may be sensed as the second lower adjustment force.

Each sensor of the above-described rotational force sensing unit 2700 and adjustment force sensing unit 2800 may be a pressure sensor, but is not limited thereto. For example, each sensor may be implemented as a variety of sensors that sense a force provided by a user.

As described above, the rotational force detecting unit 2700 and the adjusting force detecting unit 2800 are installed inside the first and second leg massage units 2000a and 2000b, and the first and second outer housings 2000ab-1 and 2000bb-1. ), but is not limited thereto.

For example, the rotation force sensing unit 2700 may be disposed between each leg massage unit and each rotation module. At this time, the rotational force sensing unit 2700 is a force that each leg massage unit pulls each rotation module forward of the massage device 100 or pushes the massage device 100 backward by the force applied to each leg massage unit. (or pressure) can be sensed as each rotational force. The forward pulling force may be an upper rotational force, and the rearward pushing force may be a downward rotating force.

The adjustment force sensing unit 2800 may be disposed between each leg massage unit and each adjustment module. Preferably, the adjustment force sensing unit 2800 may be disposed between each leg frame and the lead screw of each adjustment module. At this time, the control force sensing unit 2800 is configured to apply the force that each leg massage unit pulls to the upper side of each leg massage unit or pushes the lower side of each leg massage unit to the lower side of each leg massage unit by the force that each leg applies to each leg massage unit as each control force. can detect The upward pulling force may be an upper adjusting force, and the downward pushing force may be a lower adjusting force.

31 illustrates an example for explaining an operation mode providing operation of a controller according to an embodiment of the present disclosure.

The controller 1200 may provide an exercise mode (or rotational exercise mode) in which the user's legs are moved by rotating the leg massager 2000 .

For example, the controller 1200 may receive an input from a user who has selected a rotational exercise mode from among a plurality of massage modes.

The controller 1200 may provide a rotational exercise mode to the user in response to the user's input. The user's input may be a trigger signal for activating a rotational exercise mode among a plurality of massage modes stored in the storage unit 1300 .

For example, the controller 1200 may adjust the length of each leg massage unit in response to a user input for activating the rotational exercise mode. In this case, the control unit 1200 may adjust the length of each leg massage unit in a basic state in which the massage device 100 does not recline, but is not limited thereto. For example, the controller 1200 may recline the massage device 100 and adjust the length of each leg massage unit in a reclining state in which the massage device 100 is reclined.

For the operation of adjusting the length of each leg massage unit, the contents described in FIGS. 26 to 29 may be applied. For example, the controller 1200 may adjust the length of each leg massage unit based on whether each leg is accommodated and the length of each leg.

Hereinafter, for convenience of explanation, it is assumed that the control unit 1200 adjusts the length of each leg massage unit in a basic state in which the massage device 100 is not reclined, and then provides a rotational motion mode.

The controller 1200 may change the state of the massage device 100 that is not reclined to a state that provides a rotational motion mode. The state in which the rotational motion mode is provided is a state in which the leg massage unit 2000 and the rotation module 2270 are activated among the massage units of the massage device 100 and the massage units other than the leg massage unit 2000 are not activated. can mean

For example, the controller 1200 may activate only the leg massage unit 2000 among the massage units of the massage device 100 to provide the user with a rotational movement mode, but is not limited thereto. The controller 1200 may activate at least one arm massager 3000 included in the massage device 100 as well as the leg massager 2000 to increase the exercise effect of the user exercising in the rotational motion mode. . The control unit 1200 expands the air cell included in the activated arm massage unit 3000 to provide a rotational motion mode in a state in which the user's arm (or upper body) is fixed, so that the user can easily use the leg massage unit 2000 . can make it rotate.

The controller 1200 may provide a rotational movement mode based on the user's rotational force in a state in which the leg massager 2000 is activated.

For example, the controller 1200 may determine whether to rotate the first leg massager 2000a and the second leg massager 2000b based on whether a user's rotational force is sensed.

The control unit 1200 may determine whether each rotational force is detected by each leg massage unit through the first rotational force detection sensor 2710 and the second rotational force detection sensor 2730 ( S3110 ).

When the control unit 1200 receives both the first and second rotational forces, the control unit 1200 may determine that the first and second rotational forces are sensed. When the control unit 1200 receives any one of the first and second rotational forces, the controller 1200 may determine that any one of the rotational forces is sensed. When the control unit 1200 does not receive both the first and second rotational forces, the control unit 1200 may determine that the first and second rotational forces are not detected.

The controller 1200 may determine whether to rotate each leg massage unit based on the determination result (S3130).

When both the first rotational force and the second rotational force are sensed, the controller 1200 may determine to rotate both the first leg massager 2000a and the second leg massager 2000b.

When any one of the first rotational force and the second rotational force is sensed, the control unit 1200 controls any one of the first leg massage unit 2000a and the second leg massage unit 2000b corresponding to any one rotational force. It can be determined by rotating the leg massage unit. In this case, the controller 1200 may determine not to rotate the other leg massage units different from any one of the first leg massage units 2000a and 2000b.

When neither the first rotational force nor the second rotational force is sensed, the controller 1200 may determine not to rotate both the first leg massager 2000a and the second leg massager 2000b.

The control unit 1200 controls the rotation of at least one leg massage unit among the first leg massage unit 2000a and the second leg massage unit 2000b based on the determination result to provide an exercise mode for moving the legs to the user. can

When it is determined not to rotate both the first leg massage unit 2000a and the second leg massage unit 2000b, the controller 1200 controls the first leg massage unit 2000a and 2000b so that the first and second leg massage units 2000a and 2000b are not rotated. And by controlling the operation of the second rotation module (2271, 2273) may not provide the exercise mode to the user (S3150). An operation that does not provide a rotational motion mode will be described later below.

When it is determined to rotate at least one leg massage unit among the first leg massage unit 2000a and the second leg massage unit 2000b, the controller 1200 controls the operations of the first and second rotation modules 2271 and 2273 By controlling it, it is possible to provide a rotational exercise mode to the user (S3170). The operation of providing the rotational motion mode will be described later.

FIG. 32 shows an example for explaining the operation of providing the rotational motion mode shown in FIG. 31 .

When any one of the first and second rotational forces is sensed, the controller 1200 controls any one of the legs corresponding to the rotational force of any one of the first leg massager 2000a and the second leg massager 2000b. By determining to rotate the massage unit, it is possible to control the rotation of any one leg massage unit.

For example, when it is determined to rotate any one leg massage unit, the control unit 1200 may re-determine whether to rotate any one leg massage unit based on whether any one rotational force exceeds a critical rotational force ( S3171a). In this case, the critical rotational force may be a criterion for determining the exercise difficulty of the rotational movement mode. The threshold torque may be set based on a user's input. For example, the storage unit 1300 may store a plurality of preset critical rotational forces. The user may set (or select, determine) any one of the critical rotational forces from among the plurality of critical rotational forces as the critical rotational force for the exercise mode.

If any one rotational force does not exceed the critical rotational force, the controller 1200 may re-determine not to rotate any one of the leg massage units. When any one rotational force exceeds the critical rotational force, the controller 1200 may re-determine to rotate any one of the leg massage units.

The controller 1200 may control the rotation of any one leg massage unit based on the recrystallization result.

When it is re-determined not to rotate any one of the leg massage units, the controller 1200 controls the operation of the rotation module corresponding to any one of the first rotation module 2271 and the second rotation module 2273 . Thus, any one of the leg massage units can be fixed without rotating (S3173a). For example, the controller 1200 may fix the position of any one leg massage unit by controlling the operation of the rotation module corresponding to any one leg massage unit so that any one leg massage unit does not rotate.

When it is re-determined to rotate any one leg massage unit, the controller 1200 may rotate any one leg massage unit based on any one rotational force (S3175a).

For example, the control unit 1200 may obtain (or calculate) a difference value between any one of the rotational force and the critical rotational force (S3175a-1). The controller 1200 may determine a rotation speed at which one of the leg massage units is to be rotated based on the difference value (S3175a-2). The controller 1200 rotates any one leg massage unit by controlling the operation of the rotation module corresponding to any one of the first rotation module 2271 and the second rotation module 2273 based on the rotation speed. It can be done (S3175a-3).

For example, the controller 1200 may determine the rotation direction to rotate any one of the leg massage units clockwise or counterclockwise based on whether any one rotational force is an upper or lower rotational force.

The controller 1200 may rotate any one leg massage unit clockwise or counterclockwise by controlling the operation of the rotation module corresponding to any one leg massage unit based on the rotation speed and rotation direction.

FIG. 33 shows another example for explaining the operation of providing the rotational motion mode shown in FIG. 31 .

When both the first and second rotational forces are sensed, the control unit 1200 determines to rotate both the first leg massage unit 2000a and the second leg massage unit 2000b to rotate the first and second leg massage units ( The rotation of 2000a, 2000b) can be controlled.

For example, when the control unit 1200 determines to rotate both the first and second leg massage units 2000a and 2000b, the first leg massage unit based on whether the first rotational force exceeds the first critical rotational force. Whether to rotate (2000a) may be re-determined (S3171b). The controller 1200 may re-determine whether to rotate the second leg massage unit 2000a based on whether the second rotational force exceeds the second critical rotational force (S3171b).

As for the first and second critical rotational forces, all of the contents of the critical rotational force described with reference to FIG. 31 may be applied. However, the first and second threshold rotational forces may be set to be different or identical to each other based on a user's input. For example, the user may set the first and second threshold torques differently when any one of the one leg and the other leg is stronger or weaker than the other leg. In other words, the first critical rotational force may indicate the difficulty of movement for the first leg massager 2000a, and the second critical rotational force may indicate the difficulty of movement for the second leg massager 2000b.

When the first rotational force exceeds the first critical rotational force, the controller 1200 may recrystallize to rotate the first leg massager 2000a. When the first rotational force does not exceed the first critical rotational force, the controller 1200 may recrystallize not to rotate the first leg massager 2000a.

When the second rotational force exceeds the second critical rotational force, the controller 1200 may recrystallize to rotate the second leg massager 2000b. When the second rotational force does not exceed the second critical rotational force, the controller 1200 may recrystallize not to rotate the second leg massager 2000b.

The controller 1200 may control the rotation of the first and second leg massage units 2000a and 2000b based on the recrystallization result.

When it is re-determined not to rotate the first leg massage unit 2000a, the controller 1200 may control the operation of the first rotation module 2271 to fix the first leg massage unit 2000a without rotating. (S3073b). For example, the controller 1200 may control the operation of the first rotation module 2271 so that the first leg massage unit 2000a does not rotate to fix the position of the first leg massage unit 2000a.

When it is re-determined not to rotate the second leg massage unit 2000b, the controller 1200 may control the second rotation module 2273 to fix the second leg massage unit 2000b without rotating (S3173b). ). For example, the controller 1200 may fix the position of the second leg massage unit 2000b by controlling the operation of the second rotation module 2273 so that the second leg massage unit 2000b does not rotate.

When it is re-determined to rotate the first leg massage unit 2000a, the controller 1200 may rotate the first leg massage unit 2000a based on the first rotational force (S3175b).

For example, the controller 1200 may obtain (or calculate) a first difference value between the first torque and the first critical torque (S3175a-1). The controller 1200 may determine a first rotation speed at which to rotate the first leg massage unit 2000a based on the first difference value (S3175a-2). The controller 1200 may rotate the first leg massage unit 2000a by controlling the operation of the first rotation module 2271 based on the first rotation speed (S3175a-3).

For example, the controller 1200 may determine the first rotational direction to rotate the first leg massager 2000a clockwise or counterclockwise based on whether the first rotational force is an upper or lower rotational force. The controller 1200 may rotate the first leg massage unit 2000a clockwise or counterclockwise by controlling the operation of the first rotation module 2271 based on the first rotation speed and the first rotation direction. .

When it is re-determined to rotate the second leg massage unit 2000b, the controller 1200 may rotate the second leg massage unit 2000b based on the second rotational force (S3175b).

For example, the controller 1200 may obtain (or calculate) a second difference value between the second torque and the second critical torque (S3175a-1). The controller 1200 may determine a second rotation speed at which to rotate the second leg massage unit 2000a based on the second difference value (S3175a-2). The controller 1200 may rotate the second leg massage unit 2000a by controlling the operation of the second rotation module 2273 based on the second rotation speed (S3175a-3).

For example, the controller 1200 may determine the second rotational direction to rotate the second leg massager 2000b clockwise or counterclockwise based on whether the second rotational force is an upper or lower rotational force. The control unit 1200 may rotate the second leg massage unit 2000b clockwise or counterclockwise by controlling the operation of the second rotation module 2273 based on the second rotation speed and the second rotation direction. .

In other words, the controller 1200 may independently rotate each leg massage unit based on each rotation speed and each rotation direction.

As described above, the contents described in steps S3173a and S3173b of the controller 1200 may be applied to S3150.

34 illustrates another example for explaining an operation mode providing operation of the controller according to an embodiment of the present disclosure.

The controller 1200 may provide an exercise mode (or a linear exercise mode) in which the user's legs are exercised by adjusting the length of the leg massage unit 2000 .

For example, the controller 1200 may receive an input from a user who has selected a linear exercise mode from among a plurality of massage modes.

The controller 1200 may provide a linear motion mode to the user in response to the user's input. The user's input may be a trigger signal for activating a linear motion mode among a plurality of massage modes stored in the storage unit 1300 .

For example, the controller 1200 may adjust the length of each leg massage unit in response to a user input for activating the linear motion mode. At this time, the controller 1200 may recline the massage device 100 and adjust the length of each leg massage unit in the reclining state of the massage device 100, but is not limited thereto. For example, the controller 1200 maintains the state of the body massage unit 1000 in a basic state, reclines the leg massage unit 2000 to transform only the leg massage unit 2000 into a reclining state, and then massages each leg. The length of the part can be adjusted.

For the operation of adjusting the length of each leg massage unit, the contents described in FIGS. 26 to 29 may be applied. For example, the controller 1200 may adjust the length of each leg massage unit based on whether each leg is accommodated and the length of each leg.

Hereinafter, for convenience of explanation, it is assumed that the controller 1200 reclines the massage device 100 , adjusts the length of each leg massage unit, and provides a linear motion mode.

The controller 1200 may change the reclined state of the massage device 100 to a state in which a linear motion mode is provided. The state in which the linear motion mode is provided is a state in which the leg massage unit 2000 and the adjustment module 2500 are activated among the massage units of the massage device 100 , and the rest of the massage units except for the leg massage unit 2000 are not activated. can mean

For example, the control unit 1200 may provide a linear motion mode to the user by activating only the leg massage unit 2000 among the massage units of the massage device 100 , but is not limited thereto. The control unit 1200 may activate at least one arm massage unit 3000 included in the massage device 100 as well as the leg massage unit 2000 to increase the exercise effect of the user exercising in the linear motion mode. . The control unit 1200 expands the air cell included in the activated arm massage unit 3000 to provide a linear motion mode in a state in which the user's arm (or upper body) is fixed, so that the user can easily use the leg massage unit 2000 . You can adjust the length.

The controller 1200 may provide a linear motion mode based on the user's control force in a state in which the leg massager 2000 is activated.

For example, the controller 1200 determines whether to adjust the first length of the first leg massager 2000a and the second length of the second leg massager 2000b based on whether the user's control force is sensed. can

The control unit 1200 may determine whether each adjustment force is detected by each leg massage unit through the first adjustment force detection sensor 2810 and the second adjustment force detection sensor 2830 ( S3410 ).

When the controller 1200 receives both the first and second adjustment forces, the controller 1200 may determine that the first and second adjustment forces are sensed. When the controller 1200 receives any one of the first and second adjusting forces, the controller 1200 may determine that any one of the adjusting forces is sensed. When the controller 1200 does not receive both the first and second adjustment forces, the controller 1200 may determine that the first and second adjustment forces are not sensed.

The controller 1200 may determine whether to adjust each length based on the determination result (S3430).

When both the first and second adjustment forces are sensed, the controller 1200 may determine to adjust both the first length and the second length.

When any one of the first and second adjustment forces is sensed, the controller 1200 may determine to adjust any one length corresponding to any one of the first length and the second length. In this case, the controller 1200 may determine not to adjust the remaining length different from any one of the first length and the second length.

When neither of the first and second adjustment forces is sensed, the controller 1200 may determine not to adjust both the first and second lengths.

The controller 1200 may provide the user with a linear motion mode for moving the leg by adjusting at least one of the first and second lengths based on the determination result.

When it is determined not to adjust both the first and second lengths, the control unit 1200 controls the operations of the first and second adjustment modules 2500a and 2500b so that the first and second lengths are not adjusted in a linear motion mode. may not be provided to the user (S3450). An operation that does not provide a linear motion mode will be described later below.

When it is determined to adjust at least one length among the first and second lengths, the controller 1200 may provide a linear motion mode to the user by controlling the operations of the first and second adjusting modules 2500a and 2500b. (S3470). The operation of providing the linear motion mode will be described later.

FIG. 35 shows an example for explaining the linear motion mode providing operation shown in FIG. 34 .

When any one of the first and second adjusting forces is sensed, the control unit 1200 determines to adjust any one length corresponding to any one of the first and second lengths to adjust any one length. can be adjusted

For example, when it is determined that any one length is to be adjusted, the controller 1200 may re-determine whether to adjust any one length based on whether any one adjusting force exceeds a threshold adjusting force (S3471a) . In this case, the threshold adjustment force may be a criterion for determining the exercise difficulty of the linear exercise mode. As for the critical adjustment force, all of the above-described critical rotational force may be applied.

When any one of the regulating forces does not exceed the threshold regulating force, the controller 1200 may re-determine that any one of the lengths is not adjusted. When any one of the regulating forces exceeds the threshold regulating force, the controller 1200 may re-determine that one of the lengths is adjusted.

The controller 1200 may adjust the length of any one based on the recrystallization result.

When it is re-determined not to adjust the length of any one, the control unit 1200 controls the operation of the rotation module corresponding to the length of any one of the first and second adjustment modules 2500a and 2500b to adjust the length of any one It can be fixed without adjusting (S3473a). For example, the controller 1200 may fix any one length by controlling the operation of the adjustment module corresponding to any one length so that any one length is not adjusted.

When it is re-determined to adjust any one length, the controller 1200 may adjust any one length based on any one adjusting force (S3475a).

For example, the controller 1200 may obtain (or calculate) a difference value between any one of the accommodating force and the threshold regulating force (S3475a-1). The controller 1200 may determine an adjustment speed for adjusting any one length based on the difference value (S3475a-2). The controller 1200 may adjust the length of any one of the first and second adjustment modules 2500a and 2500b based on the adjustment speed by controlling the operation of the adjustment module corresponding to the length (S3475a-3). ).

For example, the controller 1200 may determine the adjustment direction to adjust the length of any one of the adjusting forces as the upper direction or the lower direction based on whether the adjusting force is the upper or lower adjusting force. In this case, the upper direction may be an upper direction of the leg massage unit corresponding to any one length, and the lower direction may be a lower direction of the leg massage unit corresponding to any one length.

The control unit 1200 may control the operation of the adjustment module corresponding to any one length based on the adjustment speed and the adjustment direction, thereby adjusting the length of any one in an upward or downward direction to shorten or lengthen the length. .

In other words, when the adjustment direction is the upward direction, the controller 1200 moves the position of the leg massage unit (or the position of the lower leg massage unit) corresponding to any one length upward to adjust the length of any one of the adjustment forces. It can be adjusted shorter than before it is detected. When the adjustment direction is the downward direction, the controller 1200 may move the position of the leg massage unit corresponding to any one length downward to adjust the length of any one length longer than before any one of the adjustment forces is sensed.

FIG. 36 shows another example for explaining the linear motion mode providing operation shown in FIG. 34 .

When both the first and second adjustment forces are sensed, the controller 1200 may determine to adjust both the first and second lengths to adjust the first and second lengths.

For example, when it is determined that both the first and second lengths are to be adjusted, the controller 1200 may re-determine whether to adjust the first length based on whether the first adjustment force exceeds the first threshold adjustment force. (S3471b). The controller 1200 may re-determine whether to adjust the second length based on whether the second adjustment force exceeds the second threshold adjustment force (S3471b). As for the first and second threshold adjustment forces, all of the above-described first and second threshold rotational forces may be applied.

When the first adjustment force exceeds the first threshold adjustment force, the controller 1200 may re-determine to adjust the first length. When the first adjustment force does not exceed the first threshold adjustment force, the controller 1200 may re-determine not to adjust the first length.

When the second adjustment force exceeds the second threshold adjustment force, the controller 1200 may re-determine to adjust the second length. When the second adjustment force does not exceed the second threshold adjustment force, the controller 1200 may re-determine not to adjust the second length.

The controller 1200 may adjust the first and second lengths based on the recrystallization result.

When it is re-determined not to adjust the first length, the controller 1200 may control the operation of the first adjustment module 2500a to fix the first length without adjusting (S3473b). For example, the controller 1200 may fix the first length by controlling the operation of the first adjusting module 2500a so that the first length is not adjusted.

When it is re-determined not to adjust the second length, the controller 1200 may control the second adjustment module 2500b to fix the second length without adjusting (S3473b). For example, the controller 1200 may control the operation of the second adjustment module 2500b so that the second length is not adjusted to fix the second length.

When it is re-determined to adjust the first length, the controller 1200 may adjust the first length based on the first adjusting force (S3475b).

For example, the controller 1200 may obtain (or calculate) a first difference value between the first adjustment force and the first threshold adjustment force (S3475a-1). The controller 1200 may determine a first adjustment speed for adjusting the first length based on the first difference value (S3475a-2). The controller 1200 may adjust the first length by controlling the operation of the first adjusting module 2500a based on the first adjusting speed (S3475a-3).

For example, the controller 1200 may determine the first adjustment direction to adjust the first length as an upward direction or a downward direction based on whether the first adjustment force is an upper or lower adjustment force. In this case, the upper direction may be an upper direction of the first leg massage unit 2000a, and the lower direction may be a lower direction of the first leg massage unit 2000b.

By controlling the operation of the first adjustment module 2500a based on the first adjustment speed and the first adjustment direction, the control unit 1200 may adjust the first length in an upward or downward direction to shorten or lengthen the length. have.

When it is re-determined to adjust the second length, the controller 1200 may adjust the second length based on the second adjusting force (S3475b).

For example, the controller 1200 may obtain (or calculate) a second difference value between the second adjustment force and the second threshold adjustment force (S3475a-1). The controller 1200 may determine a second adjustment speed for adjusting the second length based on the second difference value (S3475a-2). The controller 1200 may adjust the second length by controlling the operation of the second adjusting module 2500b based on the second adjusting speed (S3475a-3).

For example, the controller 1200 may determine the second adjustment direction to adjust the second length as an upward direction or a downward direction based on whether the second adjustment force is an upper or lower adjustment force. In this case, the upper direction may be an upper direction of the first leg massage unit 2000a, and the lower direction may be a lower direction of the first leg massage unit 2000b.

By controlling the operation of the second adjustment module 2500b based on the second adjustment speed and the second adjustment direction, the control unit 1200 may adjust the second length in an upward or downward direction to shorten or lengthen the length. have.

In other words, the controller 1200 may independently adjust the length of each leg massage unit based on each adjustment speed and each adjustment direction.

As described above, the contents described in steps S3473a and S3473b of the control unit 1200 may be applied to S3450.

As described above, the critical torque and the critical control force are set to the critical torque and control force corresponding to the user's input from among the plurality of critical torques and the plurality of critical control forces, but are not limited thereto. For example, the user may directly input the weight (eg, kilogram (Kg)) to be exercised by the user, and set the input values as the threshold torque and the threshold adjustment force. In this case, the user may set additional exercise difficulty by inputting the number of exercises for at least one of rotation and length adjustment. Accordingly, the controller 1200 may rotate each leg massage unit 2000a, 2000b or adjust the length of each leg massage unit 2000a, 2000b when the rotational force and the adjustment force exceed the threshold values as described above. . Also, when the number of rotations and length adjustments for each leg massage unit 2000a and 2000b is greater than or equal to the number of exercises, the controller 1200 sends a notification (eg, a beep sound) indicating the completion of the exercise to the user. can be printed

At this time, the control unit 1200 counts the number of rotations for each leg massage unit 2000a and 2000b when the leg massage units 2000a and 2000b are positioned at a preset rotation position by the user's rotational force to enter the exercise mode. The number of times each of the leg massage units 2000a and 2000b rotated while being provided may be counted. The rotation position may be preset and stored in the storage unit 1300 . For example, the rotation position is the position of each leg massage unit 2000a, 2000b corresponding to the case where the user's knee is stretched. It may be a position (or height) corresponding to the state in which the seat portion in contact with the user's buttocks becomes parallel.

The control unit 1200 counts the number of length adjustments for each leg massage unit 2000a and 2000b when each leg massage unit 2000a, 2000b is positioned at a preset adjustment position by the user's control force to provide an exercise mode. During the period, the number of times the length of each leg massage unit 2000a, 2000b is adjusted may be counted. The adjustment position may be preset and stored in the storage unit 1300 . For example, the adjustment position may be a position (or height) in which each of the leg massage units 2000a and 2000b corresponds to at least one of an uppermost end and a lowermost end of each of the leg massage units 2000a and 2000b.

Also, the controller 1200 may measure the thickness of each leg of the user through the airbag included in each of the leg massage units 2000a and 2000b to measure the change in leg muscles according to the exercise. For example, the controller 1200 may measure the thickness of at least one of calves and thighs of each leg by inflating the airbag to measure the air pressure of the airbag by each leg.

The controller 1200 may provide the user with information on at least one of whether the exercise is completed, the number of exercises, and the thickness of each leg, so that the user can manage each leg.

On the other hand, the method of operation of the massage device 100 according to the present invention described above may be executed by a computer. In addition, a program for executing the method of operation of the present massage device 100 may be recorded in a computer-readable recording medium.

That is, the present invention may include a computer-readable recording medium in which a program for executing the control method of the massage device 100 according to the present invention described above on a computer is recorded.

Although the embodiments of the present disclosure have been described in more detail with reference to the accompanying drawings, the present disclosure is not necessarily limited to these embodiments, and various modifications may be made within the scope without departing from the technical spirit of the present disclosure. . Accordingly, the embodiments disclosed in the present disclosure are for explanation rather than limiting the technical spirit of the present disclosure, and the scope of the technical spirit of the present disclosure is not limited by these embodiments. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. The protection scope of the present disclosure should be construed by the claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present disclosure.

100: massage device 2211: guide rail
1000: body massage unit 2220: rotation shaft member
1100: main frame 2220a: first rotation shaft member
1110: upper frame 2220b: second rotation shaft member
1111: leg gear 2230: sliding bar
1120: base frame 2240: leg rotation wheel
1121: base upper frame 2250: link bar
1122: base lower frame 2260: link bracket
1130: first connection frame 2261: first area
1140: second connection frame 2262: second area
1200: control unit 2270: rotation module
1300: storage 2310: center bushing
1400: user input unit 2320: side bushing
1500: audio output module 2400: calf massage unit
1600: network connection 2510: lead screw
1700: massage module 2520: leg length adjustment actuator
1800: sensor unit 2530: guide bar
2000: leg massage unit 2540: guide roller
2000a: first leg massage unit 2551: guide wheel
2000aa: first upper leg massage unit 2552: guide wheel bracket
2000ab: first lower leg massage unit 2600: foot massage unit
2000b: second leg massage unit 2611, 2613: foot massage actuator
2000ba: second upper leg massage unit 2610: first foot massage unit
2000bb: second lower leg massage unit 2630: second foot massage unit
2100: leg accommodation space CD: massage device control device
2210: leg frame S: anti-clamp sensor

Claims (10)

In the massage device,
a control unit for controlling the massage device;
a body massage unit for massaging at least a portion of the user's body based on the control of the control unit; and
a leg massage unit disposed under the body massage unit and configured to massage the user's legs based on the control of the control unit;
including,
The leg massage unit includes a first leg massage unit for massaging one leg of the user and a second leg massage unit for massaging the user's other leg, each of the first leg massage unit and the second leg massage unit independent movement is possible,
The control unit is configured to determine the first length and the second length of the first leg massage unit based on whether the user's control force for adjusting the length of at least one of the first leg massage unit and the second leg massage unit is sensed. 2 By determining whether to adjust the second length of the leg massage unit, and adjusting at least one of the first length and the second length based on the determination result, an exercise mode for exercising the leg is provided to the user doing,
massage device. The method of claim 1,
The adjusting force includes at least one adjusting force from among a first adjusting force for adjusting the first length and a second adjusting force for adjusting the second length,
The first adjustment force is a force that the user pulls to the upper side of the first leg massage unit with the one leg or pushes the first leg massage unit downward of the first leg massage unit,
The second adjustment force is a force that the user pulls the second leg massage unit upwards to the second leg massage unit with the other leg or pushes the second leg massage unit downwards.
massage device. 3. The method of claim 2,
The massage device includes an adjustment force sensing unit for sensing the adjustment force,
The adjustment force sensing unit includes a first adjustment force detection sensor included in the first leg massage unit to detect the first adjustment force, and a second adjustment force detection sensor included in the second leg massage unit to detect the second adjustment force, and ,
The control unit determines whether each adjustment force is sensed in each leg massage unit through the first adjustment force detection sensor and the second adjustment force detection sensor, and determines whether to adjust each length based on the determination result,
massage device. 4. The method of claim 3,
When both the first adjusting force and the second adjusting force are sensed, the control unit determines to adjust both the first length and the second length,
When any one of the first adjusting force and the second adjusting force is sensed, the control unit determines to adjust any one length corresponding to the one adjusting force among the first length and the second length, and , determining not to adjust the remaining length different from the one length among the first length and the second length,
When neither the first adjustment force nor the second adjustment force is sensed, the control unit determines not to adjust both the first length and the second length,
massage device. 5. The method of claim 4,
When it is determined to adjust the length of any one of the above, the control unit re-determines whether to adjust the length of any one of the lengths based on whether the one of the adjustment forces exceeds a threshold adjustment force, and based on the result of the recrystallization, to adjust the length of one,
massage device. 6. The method of claim 5,
When any one of the adjusting force exceeds the threshold adjusting force, the controller recrystallizes to adjust the length of the one, and adjusts the length of the one on the basis of the one adjustment force,
If any one of the adjusting force does not exceed the threshold adjusting force, the control unit does not adjust the length of any one of the recrystallized to not adjust the length of any one,
The threshold adjustment force is set based on the user's input as a criterion for determining the exercise difficulty of the exercise mode,
massage device. 7. The method of claim 6,
The first leg massage unit includes a first adjustment module for adjusting the first length by moving the position of the first leg massage unit based on the control of the control unit, and the second leg massage unit is controlled by the control unit. By moving the position of the second leg massage unit on the basis of including a second adjustment module for adjusting the second length,
The control unit obtains a difference value between the one adjustment force and the threshold adjustment force, determines an adjustment speed to adjust the one length based on the difference value, and based on the adjustment speed, the first adjustment module and By controlling the operation of the adjustment module corresponding to the length of any one of the second adjustment module to adjust the length of the one,
massage device. 5. The method of claim 4,
When it is determined to adjust both the first length and the second length, the control unit re-determines whether to adjust the first length based on whether the first adjustment force exceeds a first threshold adjustment force, and 2 determining whether to adjust the second length based on whether the second adjusting force exceeds a second threshold adjusting force, and adjusting the first length and the second length based on a result of the recrystallization;
massage device. 9. The method of claim 8,
When the first adjustment force exceeds the first threshold adjustment force, the control unit re-determines to adjust the first length, and adjusts to adjust the first length based on the first adjustment force;
When the first adjustment force does not exceed the first threshold adjustment force, the control unit does not adjust the first length by re-determining not to adjust the first length,
When the second adjustment force exceeds the second threshold adjustment force, the controller recrystallizes to adjust the second length, and adjusts the second length based on the second adjustment force;
When the second adjustment force does not exceed the second threshold adjustment force, the control unit does not adjust the second length by re-determining not to adjust the second length;
The first threshold adjustment force and the second threshold adjustment force are set to be different or the same based on the user's input as a criterion for determining the exercise difficulty of the exercise mode,
massage device. 10. The method of claim 9,
The first leg massage unit includes a first adjustment module for adjusting the first length by moving the position of the first leg massage unit based on the control of the control unit, and the second leg massage unit is controlled by the control unit. By moving the position of the second leg massage unit on the basis of including a second adjustment module for adjusting the second length,
When it is re-determined to adjust the first length, the control unit obtains a first difference value between the first adjustment force and the first threshold adjustment force, and adjusts the first length based on the first difference value. adjusting the first length by determining an adjusting speed and controlling an operation of the first adjusting module based on the first adjusting speed;
When it is re-determined to adjust the second length, the control unit obtains a second difference value between the second adjustment force and the second threshold adjustment force, and a second control unit to adjust the second length based on the second difference value adjusting the second length by determining an adjustment speed and controlling an operation of the second adjustment module based on the second adjustment speed;
massage device.

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