KR20220077879A - A massage apparatus determining a control value for the independent movement leg massage unit - Google Patents

Abstract

The present invention relates to a massage device, and the massage device according to an embodiment of the present disclosure provides a controller for controlling the massage device, and a body massager for massaging at least a part of the user's body based on the control of the controller and a leg massage unit disposed below the body massage unit to provide a leg massager 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 It includes a first leg massage unit for massaging and a second leg massage unit for massaging the other leg of the user, wherein the first and second leg massage units can move independently of each other, and the control unit is configured to respond to the user's biometric information. a first control value for controlling the first leg massage unit and a second control value for controlling the second leg massage unit to determine the user's physical state indicating whether the user is flexible based on the physical state can be decided

Description

A MASSAGE APPARATUS DETERMINING A CONTROL VALUE FOR THE INDEPENDENT MOVEMENT LEG MASSAGE UNIT

The present invention relates to a massage device for determining a control value for an independent leg massage unit, and more particularly, to a massage device for determining a control value to control each leg massage unit corresponding to both legs.

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.

In addition, the problem to be solved by the present invention is to provide a massage device for stretching and exercising a user's body by individually controlling each leg massage unit.

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 controller for controlling the massage device, and a body massager that provides a body massager for massaging at least a part of the user's body based on the control of the controller and a leg massage unit disposed below the body massage unit and providing a leg massage for massaging the user's leg based on the control of the controller, wherein the leg massage unit massages one leg of the user It includes a first leg massage unit and a second leg massage unit for massaging the other leg of the user, wherein the first and second leg massage units can move independently of each other, and the control unit is configured to perform the first leg massage unit based on the user's biometric information. determine the user's body state indicating whether the user is flexible, and determine a first control value to control the first leg massage unit and a second control value to control the second leg massage unit based on the body state have.

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 .
37 is a view for explaining a rotation module of the leg massage unit 2000 according to an embodiment of the present invention.
FIG. 38 is an enlarged view of part A of FIG. 37 .
FIG. 39 is a view for explaining the principle of rotation of the leg massage unit 2000 of FIG. 37 .
40 is a view for explaining a rotation module of the leg massage unit 2000 according to another embodiment of the present invention.
FIG. 41 is an enlarged view of part B of FIG. 40 .
42 is a diagram schematically illustrating the rotation module of FIG. 40 .
43 is a view for explaining the principle of rotation of the leg massage unit 2000 of FIG. 40 .
44 is a view for explaining a rotation module of the leg massage unit 2000 according to another embodiment of the present invention.
45 is a view for explaining the principle of rotation of the leg massage unit 2000 of FIG.
46 is a view for explaining a rotation module of the leg massage unit 2000 according to another embodiment of the present invention.
FIG. 47 is a view for explaining the operation of the airbag 2110d of FIG. 46 . Specifically, FIG. 47(a) is a diagram schematically illustrating a state in which the airbag 2110d is deflated, and FIG. 47(b) is a diagram schematically illustrating a state in which the airbag 2110d is inflated.
FIG. 48 is a view for explaining the principle of rotation of the leg massage unit 2000 of FIG. 46 .
49 is a view for explaining the leg massage unit 2000 according to another embodiment of the present invention.
50 is a view for explaining an embodiment of the leg massage unit 2000 including a safety sensor.
FIG. 51 is a view showing only one leg massage unit 2000 of the leg massage unit 2000 of FIG. 50 .
FIG. 52 is a view showing the leg massage unit 2000 of FIG. 50 viewed from a different viewing angle.
53 is a view for explaining an air cell included in the body massage unit according to an embodiment of the present disclosure.
54 is a diagram illustrating a stretching and exercise mode provided by the massage device according to an embodiment of the present disclosure.
FIG. 55 is a diagram for explaining an example of the stretching and exercise mode shown in FIG. 54 .
FIG. 56 is a flowchart for explaining the iliopsoas stretching mode shown in FIG. 54 .
57 is a view for explaining the operation of the iliopsoas stretching mode shown in FIG. 54 . Specifically, Fig. 57a shows the entire operation of the iliopsoas stretching mode, Fig. 57b shows Motion 1b of Fig. 57a, Fig. 57c shows Motion 1c of Fig. 57a, Fig. 57d shows Motion 1d of Fig. 57a, and Fig. 57e represents Motion 1e of FIG. 57A.
58 is a flowchart for explaining the iliopsoas stretching mode shown in FIG. 56 .
59 is a flowchart illustrating the hamstring stretching mode shown in FIG. 54 .
FIG. 60 is a view for explaining the operation of the hamstring stretching mode shown in FIG. 54 . Specifically, Figure 60a shows the entire operation of the hamstring stretching mode, Figure 60b shows the Motion 2b of Figure 60a, Figure 60c shows the Motion 2c of Figure 60a, Figure 60d shows the Motion 2d of Figure 60a.
FIG. 61 is a flowchart illustrating the hamstring stretching mode shown in FIG. 59 .
FIG. 62 is a flowchart for explaining the waist stretching mode shown in FIG. 54 .
FIG. 63 is a view for explaining the operation of the waist stretching mode shown in FIG. 54 . Specifically, Fig. 63a shows the entire operation of the waist stretching mode, Fig. 63b shows the Motion 3b of Fig. 63a, Fig. 63c shows the Motion 3c of Fig. 63a, Fig. 63d shows the Motion 3d of Fig. 63a, 63e Motion 3e of FIG. 63a is shown, and 63f shows Motion 3f of FIG. 63a.
FIG. 64 is a flowchart for explaining the waist stretching mode shown in FIG. 62 .
FIG. 65 is a flowchart for explaining the bicycle mode shown in FIG. 54 .
FIG. 66 is a view for explaining the operation of the bicycle mode shown in FIG. 54 . Specifically, Fig. 66a shows the overall operation of the bicycle mode, Fig. 66b shows Motion 4b of Fig. 66a, Fig. 66c shows Motion 4c of Fig. 66a, Fig. 66d shows Motion 4d of Fig. 66a, 66e shows the figure It represents Motion 4e of 66a.
67 shows an example for explaining a method for the control unit to determine a control value for controlling the massage device according to an embodiment. Specifically, FIG. 67A is a flowchart of an operation of determining a control value, FIG. 67B is a flowchart of an operation of determining a control value according to a physical state, and FIG. 67C is a flowchart of an operation of determining a control value according to difficulty, FIG. 67d shows a flowchart of an operation of determining a control value according to a physical condition and difficulty.
68 is a view for explaining a structure in which leg massage units on both sides are connected in the massage device 100 ′ according to an embodiment.
69 is a view for explaining a structure in which the leg massage units 2000 ″ on both sides are connected in the massage device 100 ″ according to another embodiment of the present invention.
70 is an exploded perspective view of a configuration constituting the connection structure of FIG.
71 is a diagram schematically illustrating a side holder 2320' according to an embodiment of the present invention.
FIG. 72 is a view for explaining a cushioning action on both sides of the leg massage unit 2000 ″ of FIG. 69 .
73 is a view schematically showing a side holder 2320 ″ according to another embodiment of the present invention.
74 is a view schematically illustrating the first elastic member 2350 ″ of FIG. 70 .
FIG. 75 is a view for explaining a cushioning action in the center of the leg massage unit 2000 ″ of FIG. 69 .
FIG. 76 is a diagram schematically illustrating the center holder 2340 ″ of FIG. 70 .

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 at one end (or lower, lower side) of the body massage unit 1000 , and may provide a leg massage for massaging the user's legs based on the control of the control unit 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 framework of , and a user input unit 1400 for receiving an input of any type from a user. The body massage unit 1000 may form a space of any shape for accommodating the user. 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 includes a leg receiving space (Space; S) in which the user's legs are accommodated, and includes a calf massage unit 2400 and a foot massage unit 2600 as a configuration for massaging the user's legs. can

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. In this case, the first leg massage unit 2000a may be disposed on one side of the leg massage unit 2000 , and the second leg massage unit 2000b may be disposed on the other side of the leg massage unit 2000 .

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 lower end of the body massage unit 1000 and include a first accommodating space (Space 1; S1) 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 leg massage unit 2000aa and a first lower leg massage unit 2000ab, but is not limited thereto. The first upper leg 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 leg massage unit 2000ab is the first leg It may be disposed on the other end (preferably, the lower end) of the massage unit 2000a to correspond to the lower part 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 the upper part of one leg (eg, 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 the lower part of one leg (eg, 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 lowest (or lowest) end 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 (Space 2; S2) 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 leg massage unit 2000ba and a second lower leg massage unit 2000bb, but is not limited thereto. The second upper leg 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 leg massage unit 2000bb is the second leg It may be disposed on the other end (preferably, the lower end) of the massage unit 2000b to correspond to the lower part 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 leg massage unit 2000ba may massage the upper part of the other leg (eg, at least one of a calf and a knee of the other leg). For example, the second upper leg massage unit 2000ba includes a second calf air cell (not shown) disposed on the inner side of the second upper leg massage unit 2000ba, and the inside of the second upper leg massage unit 2000ba. It may include at least one of the second calf massage units 2430 disposed on the rear side. In this case, the inner side surface of the second upper leg massage unit 2000ba is a region (or position) corresponding to both sides (or at least one side surface) of the calf of the other leg among the entire inner area of the second upper leg massage unit 2000ba. ) can be The inner rear surface of the second upper leg massage unit 2000ba may be a region corresponding to the rear calf of the other leg among the entire inner region of the second upper leg massage unit 2000ba.

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

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 a 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 controlled to rotate (or rotate) independently of each other by being connected to a rotation module (or a rotation module; 2270, see FIG. 14 ), respectively. At this time, the rotation module 2270 rotates (or rotates) 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 . have. 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.

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 (or one lower side (or lower one side) of the body massage unit 1000) and the side 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 moves the first leg massage unit 2000a in at least one of clockwise and counterclockwise directions (or upward and downward directions of the massage device 100 ) based on the control of the controller 1200 . in at least one direction).

The second rotation module 2273 may be disposed on at least one of the rear (or the other lower side (or the other lower side) of the body massage unit 100) and the side 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 sides 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 description, 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 a link bar (or a link member; 2250) for transmitting 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 include a leg frame 2210 including a rotating shaft and a sliding bar (or power transmission member; 2230 ; see FIGS. 9 and 10 ) connected to the leg frame 2210 . ) may be included.

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 . For example, the link bar 2250 may be disposed at one end of the leg angle actuator 2270 . The link bar 2250 may be connected to at least one actuator (or the leg angle actuator 2270 ) 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 . For example, the massage device 100 may include a leg angle actuator 2270 for rotating the leg massage unit 2000 . In this case, the leg angle actuator 1910 may be disposed inside the body massage unit 1000 , and may be connected to, for example, the main frame 1100 . The leg angle actuator 2270 may be driven to extend in one direction, whereby the leg massage unit 2000 may be rotated.

A leg rotation wheel 2240 may be provided on one side of the link bar 2250 . For example, the link bar 2250 may include a leg rotation wheel 2240 in a portion in contact with the leg massage unit 200 .

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 . In this case, the leg frame 2100 may be disposed on the rear side of the leg massage unit 2000 . The sliding bar 2230 may provide a path through which the leg rotation wheel 2240 of the link bar 2250 moves.

The sliding bar 2230 may 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 . 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.

As an embodiment, the massage device 100 may include two leg angle actuators 2270 , and each leg angle actuator 2270 includes a first leg massage unit 2000a and a second leg massage unit 2000b. ) can be rotated.

That is, the first leg massage unit 2000a and the second leg massage unit 2000b may include a leg frame 2210 and a sliding bar 2230, respectively, and the two leg angle actuators 2270 are the legs of both sides. Each of the massage units 2000 may be connected to rotate the leg massage units 2000 on both sides individually.

In order to rotate the first leg massage unit 2000a and the second leg massage unit 2000b, a rotating shaft is required. It may include a member constituting the.

However, it is preferable that the rotation shafts of the first leg massage unit 2000a and the second leg massage unit 2000b are arranged to form a straight line with each other. When the rotation axis of the first leg massage unit 2000a and the rotation axis of the second leg massage unit 2000b do not form a straight line, the leg massage unit 2000 rotates unsuitably for a person's body, so that the user's leg may rotate. Problems can arise that cause discomfort or pain.

Accordingly, the first leg massage unit 2000a and the second leg massage unit 2000b each include a shaft member, and may be connected to each other so that their respective rotation axes form a straight line.

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 . In this case, the first adjustment module 2500a may be disposed behind the first leg massage unit 2000a.

As an example, the first adjustment module 2500a moves the first leg massage unit 2000a in at least one direction among the upper (or upper direction) and the lower side (or lower direction) of the first leg massage unit 2000a. The first length of the first leg massage unit 2000a may be adjusted. 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 . In this case, the second adjustment module 2500b may be disposed behind the second leg massage unit 2000b.

For example, the second 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 is moved 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 the user's leg by using a different type of photo sensor PS or by the principle of driving the existing photo sensor PS.

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 the second sensor receives a preset size of load. 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 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.

Also, 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 broaden 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 S1), 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 S2).

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 S1. S2, 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 S formed in the leg massage unit 2000 during the provision of the massage.

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) by his/her own force. 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 S 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 S 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 S 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 so as to be contracted 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 legs are 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 is detected inside the leg massage units 2000a and 2000b for a threshold time or longer. 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 legs are 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 user with the leg massage.

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 massage 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 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 of a body massage, a first leg massage, and a second leg massage, based on whether a 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. For the first and second threshold times, the above-described threshold time may be applied. 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 inside the first leg massage unit 2000a for more than a first threshold time, the controller 1200 determines that the user's one leg is accommodated in the first leg massage unit 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 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 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 that provides 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 massage among 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 control unit 1200 for providing an exercise mode to the user through the leg massage units 2000a and 2000b capable of independently moving in detail. 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 adjustment force sensing unit 2800 applies 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 adjustment 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 of the leg massage units clockwise or counterclockwise by controlling the operation of the rotation module corresponding to any one of the leg massage units based on the rotation speed and the 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 control unit 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 adjusting forces, the controller 1200 may determine that the first and second adjusting 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 being 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 control the operation of the first adjustment module 2500a so that the first length is not adjusted to fix the first length.

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 the 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 out.

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 a state in which the seat portion in contact with the user's buttocks becomes parallel.

The controller 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 calculated. 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 control unit 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.

FIG. 37 is a view for explaining a rotation module of the leg massage unit 2000 according to an embodiment of the present invention, and FIG. 38 is an enlarged view of part A of FIG. 37 .

37 and 38 , in describing the operation of the leg massage unit 2000 according to the present embodiment, the leg massage unit 2000 is referred to as a first leg massage unit 2000a and a second leg massage unit ( 2000a ). 2000b), and that the leg massage unit 2000 may include any configuration means that the first leg massage unit 2000a and the second leg massage unit 2000b may each include the configuration. can

In addition, in describing the rotation module according to the present embodiment, referring to the rotation module 2270 is to refer to the first and second rotation modules 2271 and 2273, and that the rotation module may include any configuration is the first And it may mean that the second rotation module (2271, 2273) may include the configuration, respectively.

The rotation module according to the present embodiment is disposed on the body massage unit 1000 and may be a type of rotation module using a motor. In this case, the rotation module may be disposed on both sides of the lower end of the body massage unit 1000 .

As an embodiment, the rotation module may include a leg angle motor 2110a, a power transmission member 2120a, and a pulley 2130a.

The leg angle motor 2110a may be a means for receiving power to generate a rotational force for rotating the leg massage unit 2000 .

The leg angle motor 2110a may be disposed in the body massage unit 1000 , and may be specifically connected to the main frame 1100 .

The leg massage unit 2000 may include a shaft member forming a rotation shaft for rotation. The shaft member may be disposed on one side of the leg massage unit 2000, for example, may be disposed at a position adjacent to the user's knee. Accordingly, the leg massage unit 2000 can be rotated about the shaft member as an axis by receiving a force from the leg angle motor 2110 .

As an embodiment, the leg angle motor 2110a may be disposed below the shaft member, and specifically, may be disposed below the leg connecting frame. Accordingly, the leg angle motor 2110a may be disposed at a position relatively close to the leg massage unit 2000 , and a space for the leg angle motor 2110a may be secured in the body massage unit 1000 .

The power transmission member 2120a may be a means for transmitting the rotational force generated from the leg angle motor 2110a to the leg massage unit 2000 . For example, the leg angle motor 2110a may include a gear rotated by receiving power, and the power transmission member 2120a may be in contact with the gear and rotate together to correspond to the rotation of the gear.

As an embodiment, the power transmission member 2120a may be a timing belt. Accordingly, the timing belt may include teeth meshing with the gear, and accordingly, the rotational force generated from the leg angle motor 2110a may be easily transmitted.

As an optional embodiment, the power transmission member 2120a may be made of a rubber material. As another example, the power transmission member 2120a may be made of a metal material, for example, a chain including a metal.

The pulley 2130a may be a means for transmitting the rotational force received from the power transmission member 2120a to the leg massage unit 2000 .

The pulley 2130a may be installed to interlock with the shaft member of the leg massage unit 2000, and for example, may be coupled to each other to rotate together with the shaft member.

Accordingly, the pulley 2130a may rotate together with the shaft member by the rotational force transmitted from the power transmission member 2120a, and accordingly, the leg massage unit 2000 may rotate.

The power transmission member 2120a may be disposed to surround at least a portion of the gear and the pulley 2130a of the leg angle motor 2110a. Accordingly, even if the leg angle motor 2110a and the pulley 2130a are spaced apart by a predetermined distance, the rotational force generated from the leg angle motor 2110a may be transmitted to the pulley 2130a.

As an optional embodiment, the diameter of the gear of the leg angle motor 2110a may be smaller than the diameter of the pulley 2130a. Therefore, when the gear rotates relatively much, the pulley 2130a can rotate relatively little, so that the rotation of the leg massage unit 2000 can be made slowly.

That is, even when the leg angle motor 2110a rotates rapidly, the pulley 2130a can rotate slowly, and accordingly, the leg massage unit 2000 can also rotate slowly, increasing the safety of the user using the massage device. can be obtained In addition, the leg massage unit 2000 can rotate smoothly to provide a user with a comfortable feeling of use.

FIG. 39 is a view for explaining the principle of rotation of the leg massage unit 2000 of FIG. 37 .

Referring to FIG. 39 , the power transmission member 2120a may rotate together by driving the leg angle motor 2110a. For example, the power transmission member 2120a may rotate together to correspond to a rotation direction of a gear disposed at one end of the leg angle motor 2110a.

Specifically, when the gear of the leg angle motor 2110a rotates clockwise based on FIG. 39, the power transmission member 2120a may rotate clockwise to correspond to the rotation direction of the leg angle motor 2110a, Accordingly, the pulley 2130a connected to the power transmission member 2120a may also rotate clockwise to correspond thereto. Accordingly, the leg massage unit 2000 may also rotate clockwise to correspond to the rotation direction of the pulley 2130a, and eventually the leg massage unit 2000 may be lifted.

Conversely, when the gear of the leg angle motor 2110a rotates counterclockwise with reference to FIG. 39, the power transmission member 2120a may rotate counterclockwise to correspond to the rotation direction of the leg angle motor 2110a, and , accordingly, the pulley 2130a connected to the power transmission member 2120a may also rotate counterclockwise to correspond thereto. Accordingly, the leg massage unit 2000 may also rotate counterclockwise to correspond to the rotation direction of the pulley 2130a, and eventually the leg massage unit 2000 will come down.

Figure 40 is a view for explaining the rotation module of the leg massage unit 2000 according to another embodiment of the present invention, Figure 41 is an enlarged view of the portion B of Figure 40, Figure 42 is the rotation module of Figure 40 It is a schematic drawing.

40 to 42 , the rotation module according to the present embodiment is disposed on the body massage unit 1000 and may be a type of rotation module using a motor and a screw. In this case, the rotation module may be disposed in a region corresponding to each leg massage unit among the entire lower region of the body massage unit 1000 .

As an embodiment, the rotation module may include a leg angle motor 2110b, a power transmission member 2120b, a lead screw 2130b, a screw pulley housing 2140b, and a wheel 2150b.

The leg angle motor 2110b may be a means for receiving power to generate a rotational force for rotating the leg massage unit 2000 .

The leg angle motor 2110b may be disposed in the body massage unit 1000 , and may be connected to, for example, the main frame 1100 . At this time, in order for the screw pulley housing 2140b to move up and down by the leg angle motor 2110b as described later, a space for the screw pulley housing 2140b to move up and down in the body massage unit 1000 must be secured. And, for this purpose, it is preferable that the leg angle motor 2110b is disposed relatively below.

Therefore, for this, the main frame 1100 may further include a driving frame to which the rotation module is connected. Specifically, the driving frame may be installed to extend from the main frame 1100 toward the bottom. A support having a width may be disposed at one end of the driving frame, and a leg angle motor 2110b, a lead screw 2130b, and a screw pulley housing 2140b may be connected to the support.

The power transmission member 2120b may be a means for transmitting the rotational force generated from the leg angle motor 2110b to the lead screw 2130b. For example, the leg angle motor 2110b may include a gear rotated by receiving power, and the power transmission member 2120b may be in contact with the gear and rotate together to correspond to the rotation of the gear.

As an embodiment, the power transmission member 2120b may be a timing belt. Accordingly, the timing belt may include teeth meshing with the gear, and thus the rotational force generated from the leg angle motor 2110b may be easily transmitted.

As an optional embodiment, the power transmission member 2120b may be made of a rubber material. As another example, the power transmission member 2120b may be made of a metal material, for example, a chain including a metal.

The lead screw 2130b may receive power from the power transmission member 2120b to rotate, and may be a means for moving the screw pulley housing 2140b up and down by rotation.

As an embodiment, a rotating part disposed to be in contact with the power transmission member 2120b may be disposed at one end of the lead screw 2130b.

That is, the power transmission member 2120b may come in contact with both the leg angle motor 2110b and the rotating parts of the lead screw 2130b and transmit the rotation generated by the leg angle motor 2110b to the lead screw 2130b.

As an optional embodiment, the diameter of the gear of the leg angle motor 2110b may be smaller than the diameter of the rotating part. Therefore, when the gear rotates relatively much, the rotation part can rotate relatively little, so that the rotation of the leg massage part 2000 can be made slowly.

That is, even when the leg angle motor 2110b rotates rapidly, the lead screw 2130b can rotate slowly, and accordingly, the leg massage unit 2000 can also rotate slowly, and the safety of the user using the massage device. can be obtained. In addition, the leg massage unit 2000 can rotate smoothly to provide a user with a comfortable feeling of use.

The screw pulley housing 2140b may be a means for rotating the leg massage unit 2000 while moving up and down along the lead screw 2130b by the rotation of the lead screw 2130b. In this case, the screw pulley housing 2140b may include a through hole through which the lead screw 2130b is inserted, and the lead screw 2130b may be disposed to pass through the screw pulley housing 2140b.

A spiral groove may be formed on the surface of the lead screw 2130b , and a thread may be formed on the surface of the through hole formed in the screw pulley housing 2140b to engage with the spiral groove formed in the lead screw 2130b .

Accordingly, as the lead screw 2130b rotates, the screw pulley housing 2140b may move up and down by the screw threads meshing therewith.

Since the screw pulley housing 2140b moves up and down by the rotation of the lead screw 2130b, the lift moving direction of the screw pulley housing 2140b may be parallel to the longitudinal direction of the lead screw 2130b.

As an optional embodiment, the driving frame may be formed to have a length in a direction parallel to the moving direction of the screw pulley housing 2140b. That is, the driving frame and the lead screw 2130b may be formed to extend parallel to each other. In addition, a guide groove may be formed along the length of one surface of the driving frame, and the screw pulley housing 2140b may include a protrusion inserted into the guide groove. Accordingly, when the screw pulley housing 2140b moves up and down, the protrusion can move along the guide groove. That is, the driving frame can guide the moving direction of the screw pulley housing 2140b.

The wheel 2150b may be disposed on one side of the screw pulley housing 2140b and may be a means for rolling along one side of the leg massage unit 2000 .

As an embodiment, the leg massager 2000 may further include a leg supporter 2160b disposed on the rear surface, and the wheel 2150b may move along the leg supporter 2160b. Specifically, the leg support part 2160b may be disposed on the rear surface of the leg massage part 2000 and may be formed to extend along the length direction of the leg massage part 2000 .

When the screw pulley housing 2140b moves up and down as the lead screw 2130b rotates, the wheel 2150b rolls along the leg supporter 2160b to lift the leg massager 2000 . That is, the leg support 2160b may provide a path through which the wheel 2150b may move while rolling.

As an optional embodiment, the leg supporter 2160b may include a curved surface corresponding to the wheel 2150b so as not to deviate from the path while the wheel 2150b moves. For example, the support portion may include a curved surface concave toward the inside so that the wheel 2150b can be seated, and the wheel 2150b can move while being seated on the concave curved surface while rolling.

In this way, the screw pulley housing 2140b does not directly lift the leg massage unit 2000 while moving up and down, but lifts it using the rotation of the wheel 2150b so that the leg massage unit 2000 can rotate smoothly and , it is possible to provide a comfortable feeling of use to the user.

43 is a view for explaining the principle of rotation of the leg massage unit 2000 of FIG. 40 .

Referring to FIG. 43 , the screw pulley housing 2140b may move up and down by driving the leg angle motor 2110b. For example, the moving direction of the screw pulley housing 2140b may depend on the rotating direction of the leg angle motor 2110b.

In this case, the rotation direction of the leg angle motor 2110b and the movement direction of the screw pulley housing 2140b may be determined according to the direction of the spiral formed in the lead screw 2130b. That is, when the direction of the spiral formed on the lead screw 2130b is opposite to the direction, the rotation direction of the leg angle motor 2110b and the movement direction of the screw pulley housing 2140b may be opposite to each other.

Specifically, when the leg angle motor 2110b rotates in a predetermined direction, the lead screw 2130b may rotate in a direction corresponding thereto. By rotation of the lead screw 2130b, the screw pulley housing 2140b may move in a direction corresponding thereto, for example, may rise. Accordingly, the wheel 2150b disposed on one side of the screw pulley housing 2140b may move while rolling the surface of the leg support unit 2160b, and the leg massage unit 2000 may be lifted.

Conversely, when the leg angle motor 2110b rotates in the opposite direction, the lead screw 2130b may also rotate in the corresponding direction. By rotation of the lead screw 2130b, the screw pulley housing 2140b may move in a direction corresponding thereto, for example, may descend. Accordingly, the wheel 2150b disposed on one side of the screw pulley housing 2140b moves while rolling the surface of the leg support unit 2160b, and the leg massage unit 2000 descends.

44 is a view for explaining a rotation module of the leg massage unit 2000 according to another embodiment of the present invention.

Referring to FIG. 44 , the rotation module according to the present embodiment may be a type rotation module using an actuator.

As an embodiment, the rotation module may include a leg angle actuator 2110c and a link unit 2120c.

The leg angle actuator 2110c may be a means for receiving power to generate a force for rotating the leg massage unit 2000 . For example, the leg angle actuator 2110c may be a means for receiving electric power to expand and contract in the longitudinal direction, and to rotate the leg massage unit 2000 by expansion and contraction.

The leg angle actuator 2110c may be disposed in the body massage unit 1000 , and may be connected to, for example, the main frame 1100 .

As an embodiment, the leg angle actuator 2110c may be disposed below the leg connection frame. Accordingly, the leg angle actuator 2110c may efficiently rotate the leg massage unit 2000 and may be efficiently disposed in the internal space of the body massage unit 1000 .

The link unit 2120c may be a means for lifting the leg massage unit 2000 by transmitting the force generated from the leg angle actuator 2110c to the leg massage unit 2000 . To this end, the link unit 2120c may be connected to the leg massage unit 2000 and the leg angle actuator 2110c.

As an embodiment, the leg massage unit 2000 may include a leg support unit 2130c disposed on the rear surface of the leg massage unit 2000 . In this case, the leg support 2130c may be connected to the link unit 2120c. Accordingly, as the leg angle actuator 2110c expands and contracts, the link unit 2120c may move together, and as the leg support 2130c connected to the link unit 2120c moves, the leg massage unit 2000 may rotate.

The link unit 2120c may have a joint structure. For example, the link unit 2120c may include the bent portion 2121c, and the link unit 2120c may be folded based on the bent portion 2121c. Accordingly, the leg angle actuator 2110c may stably rotate the leg massage unit 2000 .

Specifically, the link unit 2120c may be connected to the main frame 1100 , the leg angle actuator 2110c and the leg supporter 2130c. In this case, the respective connecting portions of the link unit 2120c may be all rotatably connected. Accordingly, when the leg angle actuator 2110c expands and contracts, the link unit 2120c is folded based on the bent portion 2121c and is connected to the main frame 1100, the leg angle actuator 2110c and the connected part and the leg support part ( 2130c) and the connected parts can be rotated, respectively.

45 is a view for explaining the principle of rotation of the leg massage unit 2000 of FIG.

Referring to FIG. 45 , by the operation of the leg angle actuator 2110c, the link unit 2120c may be unfolded or folded simultaneously with rotation, whereby the leg massage unit 2000 may be raised or lowered.

Specifically, referring to FIG. 45 , when the leg angle actuator 2110c extends, the link unit 2120c of the portion connected to the leg angle actuator 2110c rotates clockwise to be parallel with the leg angle actuator 2110c. and, accordingly, the link unit 2120c may rotate in a direction away from the main frame 1100 . At the same time, the link unit 2120c may be unfolded based on the bent portion 2121c, and the leg massage unit 2000 may be lifted while the link unit 2120c is unfolded.

Conversely, when the leg angle actuator 2110c is contracted, the link unit 2120c of the portion connected to the leg angle actuator 2110c may rotate in a direction perpendicular to the leg angle actuator 2110c, that is, counterclockwise. , accordingly, the link unit 2120c may rotate in a direction closer to the main frame 1100 . At the same time, the link unit 2120c may be folded based on the bent portion 2121c, and the leg massage unit 2000 descends while the link unit 2120c is folded.

46 is a view for explaining the rotation module of the leg massage unit 2000 according to another embodiment of the present invention, FIG. 47 is a view for explaining the operation of the airbag 2110d of FIG. Specifically, FIG. 47(a) is a diagram schematically illustrating a state in which the airbag 2110d is deflated, and FIG. 47(b) is a diagram schematically illustrating a state in which the airbag 2110d is inflated.

46 and 47 , the rotation module according to the present embodiment may be a rotation module of the type using the airbag 2110c.

As an embodiment, the rotation module may include an airbag 2110d and an airbag support 2120d. Also, the leg massage unit 2000 may include a leg support unit 2130d disposed on the rear surface of the leg massage unit 2000 . The leg support 2130d may directly contact the airbag 2110d.

The airbag 2110d may be a means to inflate when supplied with air, or to contract when air is discharged. For example, the airbag 2110d may be configured to deploy in a fan-shaped direction when air is supplied. Conversely, the airbag 2110d may be configured such that the unfolded portion contracts and folds when air is discharged.

Accordingly, the airbag 2110d may be disposed on the rear surface of the leg massage unit 2000 to rotate the leg massage unit 2000 by expansion and contraction.

The airbag support 2120d may be provided in the body massager 1000 to support the airbag 2110d. For example, the airbag support 2120d may be connected to the main frame 1100 and disposed below the leg connecting frame.

The airbag 2110d may be supported by being coupled to the airbag support 2120d, and when air is supplied, the portion coupled to the airbag support 2120d is fixed and the remaining portion expands away from the main frame 1100. can

In this case, the airbag 2110d may be coupled to the airbag support 2120d so that the unfolded portion is disposed below, and the portion serving as the axis of the sector is disposed above. Accordingly, the leg massage unit 2000 may be expanded in a direction to stably push up due to the supply of air.

As an alternative embodiment, the airbag 2110d may be coupled such that one surface thereof is in contact with the airbag support 2120d. For example, one surface of the airbag 2110d may completely contact the airbag support 2120d, and accordingly, when the airbag 2110d is inflated, the airbag 2110d is firmly fixed to the airbag support 2120d to massage the legs. The unit 2000 may be stably lifted.

FIG. 48 is a view for explaining the principle of rotation of the leg massage unit 2000 of FIG. 46 .

Referring to FIG. 48 , as an optional embodiment, a plurality of airbags 2110d may be provided, and the airbag support 2120d may be formed in a shape forming a step to correspond to the number of the provided airbags 2110d.

Referring to FIG. 48 , a plurality of airbags 2110d may be disposed in a vertical direction, and a step may be formed in the airbag support unit 2120d in a direction away from the leg massage unit 2000 from bottom to top. At this time, as the angle between the leg massage part 2000 and the airbag support part 2120d is smaller, the airbag 2110d disposed at the lower end is relatively involved.

For example, when the leg massage unit 2000 is lifted from a fully folded state, the lowermost airbag 2110d may inflate. After that, after the leg massage unit 2000 is lifted to a certain extent, the lowermost airbag 2110d is spaced apart from the leg support unit 2130d of the leg massage unit 2000, and from then on, it is disposed above it. As the airbag 2110d expands, the leg massage unit 2000 is lifted. Accordingly, the angle at which the leg massage unit 2000 can be lifted to the maximum may be determined by the airbag 2110d disposed at the uppermost end.

Conversely, when the leg massage unit 2000 is lowered, the airbag 2110d disposed at the uppermost end may be involved. For example, in a state in which the leg massage unit 2000 is maximally lifted, only the airbag 2110d disposed at the uppermost end comes into contact with the leg massage unit 2000 . Thereafter, as the airbag 2110d disposed at the uppermost stage contracts, the leg massage unit 2000 is lowered, and when the leg massage unit 2000 is lowered by more than a predetermined angle, the airbag 2110d disposed at the next stage and The leg support 2130d is disposed. As such, as the leg massage unit 2000 is lowered, the leg support unit 2130d comes into contact with the airbag 2110d disposed at the lower end.

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

Referring to Figure 49, the massage device according to the present embodiment may include a buffer member (2110e). For example, the leg massage unit 2000 may include a buffer member 2110e disposed on the rear surface.

The cushioning member 2110e is disposed on the back surface of the leg massage unit 2000 and may be a means for alleviating shock or vibration generated by colliding with the body massage unit 1000 when the leg massage unit 2000 is completely folded.

As an embodiment, the buffer member 2110e may be made of a material having elasticity. For example, the buffer member 2110e may include at least one of rubber, synthetic resin, and sponge. Accordingly, when the leg massage unit 2000 is folded, vibration or shock generated by colliding with the body massage unit 1000 may be alleviated. However, the material constituting the cushioning member 2110e is not limited thereto, and any material that has elasticity and can mitigate the impact may be used, of course.

As an embodiment, the buffer member 2110e may be disposed on the rear surface of the first leg massage unit 2000a and the second leg massage unit 2000b, respectively. Accordingly, it is possible to relieve vibration or shock caused by folding with respect to each of the first leg massage unit 2000a and the second leg massage unit 2000b.

The leg massage unit 2000 may further include a position adjustment sensor 1810 . For example, the position adjustment sensor 1810 may be a sensor for setting the initial position of the leg massage unit 2000 .

Specifically, the initial position may be a position in which the leg massage unit 2000 is folded. In this case, the position adjustment sensor 1810 may recognize whether the leg massage unit 2000 folded at a specific point in time is at a preset position.

As an embodiment, the position adjustment sensor 1810 may recognize whether the first leg massage unit 2000a and the second leg massage unit 2000b are positioned side by side. That is, the position adjustment sensor 1810 may recognize whether the first leg massage unit 2000a and the second leg massage unit 2000b are rotated to have a deviation from each other when they are in their initial positions.

To this end, the position adjustment sensor 1810 may be provided in the first leg massage unit 2000a and the second leg massage unit 2000b, respectively. Specifically, the position adjustment sensor 1810 may be disposed on a side surface of the first leg massage unit 2000a and the second leg massage unit 2000b facing each other.

As an optional embodiment, each of the position adjustment sensors 1810 disposed in the first leg massage unit 2000a and the second leg massage unit 2000b may recognize each other, and recognize that they do not face each other in the correct position. In this case, the position adjustment sensor 1810 may recognize that the two leg massage units 2000 are displaced from each other.

As an embodiment, the leg massage unit 2000 may further include a positioning frame 2120e.

The positioning frame 2120e may be a means for setting the first leg massage unit 2000a and the second leg massage unit 2000b to be placed in the correct positions.

As an embodiment, the positioning frame 2120e may be disposed to be connected to the main frame 1100 , and specifically disposed on the lower side of the main frame 1100 , corresponding to the heel portion of the leg massage unit 2000 . It can be placed in a position where

Accordingly, when the leg massage unit 2000 comes into contact with the positioning frame 2120e, it may be determined that the leg massage unit 2000 is located at the initial position.

As an optional embodiment, the positioning frame 2120e may be disposed at a position in contact with the buffer member 2110e. Accordingly, when the leg massage unit 2000 is folded and returned to the initial position, the buffer member 2110e may be in contact with the positioning frame 2120e. That is, when the buffer member 2110e comes into contact with the positioning frame 2120e, the shock caused by the folding of the leg massage unit 2000 may be alleviated and the initial position of the leg massage unit 2000 may be set.

FIG. 50 is a view for explaining an embodiment of the leg massage unit 2000 including a safety sensor, and FIG. 51 is a view showing only one leg massage unit 2000 of the leg massage unit 2000 of FIG. 50 . and FIG. 52 is a view showing the leg massage unit 2000 of FIG. 50 as viewed from a different viewing angle.

The leg massage unit 2000 according to the present embodiment may further include at least one safety sensor for detecting that at least a part of the user's body is pinched.

When the leg massage unit 2000 rotates, the user's body has a problem in that it may be caught in a specific position of the massage device. For example, a problem in which the user's body is caught between both sides of the leg massage unit 2000 and the body massage unit 1000 or between the first leg massage unit 2000a and the second leg massage unit 2000b may occur.

To solve this, the leg massage unit 2000 may further include a safety sensor for recognizing that at least a part of the user's body is caught in the above-described position.

Referring to FIG. 50 , as an embodiment, the safety sensor may include first safety sensors 1820 disposed on both sides of the leg massage unit 2000 . Specifically, the first safety sensor 1820 may be disposed on the outside of the first leg massage unit 2000a and the outside of the second leg massage unit 2000b, respectively, and the first leg massage unit 2000a and the second leg massage unit 2000a Among the side surfaces of the leg massage unit 2000b, it may be disposed at a position corresponding to the outside of the calf.

Accordingly, the first safety sensor 1820 may recognize that the user's body is caught between the leg massage unit 2000 and the body massage unit 1000 as the leg massage unit 2000 rotates.

Referring to FIG. 51 , as an embodiment, the safety sensor may include a second safety sensor 1830 disposed between the first leg massage unit 2000a and the second leg massage unit 2000b. Specifically, the second safety sensor 1830 may be disposed on the inner surface of the first leg massage unit 2000a and the second leg massage unit 2000b facing each other, respectively, and the first leg massage unit 2000a and Among the inner surfaces of the second leg massage unit 2000b, it may be disposed at a position corresponding to the inner side of the calf.

As an optional embodiment, the leg massage unit 2000 corresponding to the user's right leg is the first leg massage unit 2000a, and the leg massage unit 2000 corresponding to the user's left leg is the second leg massage unit 2000b. ), the second safety sensor 1830 may be respectively disposed on the upper left and lower right sides of the calf inner surface of the first leg massage unit 2000a with reference to FIG. 20 . Also, the second safety sensor 1830 may be disposed at a position corresponding to the first leg massage unit 2000a among the inner calf surfaces of the second leg massage unit 2000b.

Accordingly, when the first leg massage unit 2000a and the second leg massage unit 2000b independently rotate to cross each other, it is possible to quickly recognize that the user's body is caught. For example, the first leg massage unit 2000a is in a folded state, and the first leg massage unit 2000a and the second leg massage unit 2000b are intersected with each other in the opened state of the second leg massage unit 2000b. In the case of rotation, the user's body first comes into contact with the portion where the second safety sensor 1830 is disposed on the upper left side of the first leg massage unit 2000a with reference to FIG. 51 , and the second leg massage unit 2000b is first in contact with the portion where the lower second safety sensor 1830 is disposed. Therefore, the second safety sensor 1830 can recognize this before the user's body is caught abnormally, so that the user's safety can be secured.

As an embodiment, the safety sensor may include a third safety sensor 1840 disposed inside the foot massage unit. Specifically, the third safety sensor 1840 is disposed on the inner surface of the first leg massage unit 2000a and the second leg massage unit 2000b facing each other, respectively, the foot massage of the first leg massage unit 2000a The part and the second leg massage part 2000b may be respectively disposed on the inner surface of the foot of the foot massage part.

Therefore, when the user's body is caught between the foot massage unit of the first leg massage unit 2000a and the foot massage unit of the second leg massage unit 2000b, the third safety sensor 1840 can quickly recognize this. have.

As an optional embodiment, the third safety sensor 1840 may be arranged to have a length along the length direction of the instep of the foot massage unit. Accordingly, even if the user's body is caught in any position between the foot massage unit of the first leg massage unit 2000a and the foot massage unit of the second leg massage unit 2000b, it can be recognized.

Referring to FIG. 52 , as an embodiment, the safety sensor may include a fourth safety sensor 1850 disposed on the rear surface of the leg massage unit 2000 . Specifically, the fourth safety sensor 1850 may be disposed on the rear surface of the first leg massage unit 2000a and the rear surface of the second leg massage unit 2000b, respectively, and the first leg massage unit 2000a and the second leg massage unit 2000a It may be disposed at a position corresponding to the back of the calf of the leg massage unit 2000b.

Accordingly, when the fourth safety sensor 1850 rotates so that the first leg massage unit 2000a and the second leg massage unit 2000b cross each other, the user's body moves between the first leg massage unit 2000a and the second leg massage unit 2000a. It can be recognized that it is caught between the leg massage units 2000b.

As an optional embodiment, a plurality of fourth safety sensors 1850 may be disposed on the rear surfaces of the first leg massage unit 2000a and the second leg massage unit 2000b. Accordingly, when the leg massage unit 2000 is folded from an unfolded state, it is possible to more quickly and precisely recognize that the user's body is caught between the rear surface of the leg massage unit 2000 and the body massage unit 1000 .

As an embodiment, the safety sensor may include a fifth safety sensor 1860 disposed on the bottom surface of the foot massage unit. Specifically, the fifth safety sensor 1860 may be disposed on the bottom surface of the foot massage unit of the first leg massage unit 2000a and the foot massage unit of the second leg massage unit 2000b, respectively, and the first leg massage unit ( 2000a) and the foot massage unit of the second leg massage unit 2000b may be disposed at positions corresponding to the soles of the feet.

Therefore, the fifth safety sensor 1860 is the user's contact between the bottom surface of the foot massage unit and the ground or between the bottom surface of the foot massage unit and the body massage unit 1000 when the leg massage unit 2000 comes down from the lifted state. It can recognize that the body is pinched.

As such, the leg massage unit 2000 may include a safety sensor to prevent a safety accident that may occur due to the user's body being caught. In particular, since the leg massage unit 2000 includes a plurality of safety sensors at a plurality of positions, it is possible to quickly and precisely recognize the user's body in any position.

53 is a view for explaining an air cell included in the body massage unit according to an embodiment of the present disclosure.

The body massage unit 1000 may include an air cell 1900 for massaging the user's body. For example, the air cell 1900 is disposed on one side of the body massage unit 1000, the first air cell 1910 for massaging one side of the user's body, and the other side of the body massage unit 1000 is disposed on the other side of the user's body It may include a second air cell 1930 for massaging.

The first air cell 1910 includes at least one air cell among a first shoulder air cell 1911 , a first back air cell 1913 , a first pelvic air cell 1915 , and a first thigh air cell 1917 , and the second The air cell 1930 may include at least one air cell among the second shoulder air cell 1931 , the second back air cell 1933 , the second pelvic air cell 1935 , and the second thigh air cell 1937 .

The first shoulder air cell 1911 is disposed in an area corresponding to one side of the user's shoulder among the entire area of one side of the body massage unit 1000 (eg, an upper area of one side of the body massage unit 1000), and is one side of the user's shoulder can be massaged. The second shoulder air cell 1931 is disposed in an area corresponding to the other side of the user's shoulder among the entire area of the other side of the body massage unit 1000 (eg, the upper area of the other side of the body massage unit 1000), and the other side of the user's shoulder can be massaged. In this case, the first and second shoulder air cells 1911 and 1931 may be disposed on both sides of the user's shoulder (or the upper surface of both sides of the shoulder) to pressurize both sides of the user's shoulder to massage (or fix) the user's shoulder.

The first back air cell 1913 is disposed in an area corresponding to one side of the user's back among the entire area on one side of the body massage unit 1000 (eg, an area between the upper end of one side and the lower end of one side of the body massage unit 1000 ) It is possible to massage one side of the user's back. The second back air cell 1933 is disposed in an area corresponding to the other side of the user's back among the entire area on the other side of the body massage unit 1000 (eg, the area between the upper end of the other side and the lower end of the other side of the body massage unit 1000 ). It is possible to massage the other side of the user's back. At this time, the first and second back air cells 1913 and 1933 may be disposed on the back of the user's back and press the back of the user to massage the user's back (or the user's back of the body massage unit 1000 ). can be pushed forward).

The first pelvic air cell 1915 is disposed in an area corresponding to one side of the user's pelvis among the entire area on one side of the body massage unit 1000 (eg, a lower area of one side of the body massage unit 1000), and is located on one side of the user's pelvis. can be massaged. The second pelvic air cell 1935 is disposed in an area corresponding to the other side of the user's pelvis among the entire area of the other side of the body massage unit 1000 (eg, the lower area of the other side of the body massage unit 1000), and the other side of the user's pelvis can be massaged. In this case, the first and second pelvic air cells 1915 and 1935 may be disposed on both sides of the user's pelvis to pressurize both sides of the user's pelvis to massage (or fix) the user's pelvis.

The first thigh air cell 1917 is disposed in a region corresponding to the thigh of one leg of the user among the entire region of one side of the body massage unit 1000 (or the central region of the lower central region of the body massage unit 1000). You can massage the thigh of one leg of the The second thigh air cell 1937 is disposed in an area corresponding to the thigh of the user's other leg among the entire area of the other side of the body massage unit 1000 (or the central other side area among the lower center area of the body massage unit 1000). You can massage the thigh of the other leg. At this time, the first and second thigh air cells 1917 and 1937 are disposed on the back of the user's thigh to press the back of the thigh to massage the user's one side and the other thigh (or the user's back with the body massage unit 1000). ) can be pushed forward).

54 is a diagram illustrating a stretching and exercise mode provided by the massage device according to an embodiment of the present disclosure.

The massage apparatus 100 may provide a stretching mode for stretching the user's body and a bicycle mode (or leg rehabilitation mode) for exercising the user's legs. In this case, the stretching mode may be a mode for stretching at least one of the user's legs and waist. The bicycle mode may be a mode used by a user with a normal leg for leg exercise or a mode used by a user with an abnormal leg due to various injuries such as a knee injury for leg rehabilitation.

For example, the stretching mode is a iliopsoas stretching mode (or iliopsoas relaxation mode) for stretching the iliopsoas muscle of the leg, a hamstring stretching mode (or hamstring relaxation mode) for stretching the hamstring of the leg, and a waist stretching mode (or rolling) for stretching the lower back stretching mode) may include at least one stretching mode.

Specifically, the controller 1200 may execute each stretching mode and/or a bicycle mode or automatically execute each stretching mode and/or a bicycle mode based on the user's response. In this case, the user's response may be a response (or signal) for executing the stretching mode and/or the bicycle mode.

The controller 1200 may provide each stretching mode and/or a bicycle mode to the user by controlling the operation of the massage apparatus 100 according to the massage map for each stretching mode and/or the massage map for the bicycle mode. At this time. A massage map for each stretching mode and a bicycle mode may be pre-stored in the storage unit 1300 .

For example, the controller 1200 may provide the iliopsoas stretching mode to the user by controlling the operation of the massage apparatus 100 based on the massage map for the iliopsoas stretching mode. Through this, the control unit 1200 stretches the user's iliopsoas muscle to relax the iliopsoas muscle, thereby straightening the bent back and reducing excessive stress transmitted to the lumbar spine, thereby alleviating low back pain.

As another example, the controller 1200 may provide the hamstring stretching mode to the user by controlling the operation of the massage apparatus 100 based on the massage map for the hamstring stretching mode. Through this, the controller 1200 stretches the user's hamstring to relax the hamstring muscle, thereby preventing muscle shortening and injury.

As another example, the controller 1200 may provide the waist stretching mode to the user by controlling the operation of the massage apparatus 100 based on the massage map for the waist stretching mode. Through this, the controller 1200 stretches the user's waist to relax the muscles around the lumbar spine, thereby improving the mobility of the muscles around the lumbar spine to reduce back pain.

The controller 1200 may provide the bicycle mode to the user by controlling the operation of the massage apparatus 100 based on the massage map for the bicycle mode. Through this, the massage device 100 may induce the normal leg to be maintained in a healthy state by exercising the normal leg, and may induce the abnormal leg to be restored to a healthy state by rehabilitating the abnormal leg. The massage device 100 may prevent joint contracture by maintaining and enhancing the flexibility and movement of the joints (pelvis, knee, and ankle) by exercising the legs (or rehabilitating the legs) through repetitive joint movements. In other words, the bicycle mode may be a leg exercise mode and a leg rehabilitation mode (or knee rehabilitation mode).

FIG. 55 is a diagram for explaining an example of the stretching and exercise mode shown in FIG. 54 .

The controller 1200 reclines the massage device 100 as shown in FIG. 28 , and provides a massage (or relaxation massage) for relaxing the user's body in the reclining state of the massage device 100, followed by stretching. and/or a bicycle mode may be provided to the user.

For example, the controller 1200 may perform stretching and/or a bicycle mode, and then recline the massage device 100 ( S5510 ). In this case, the controller 1200 may obtain the length of one leg and the other leg of the user and adjust the length of each leg massage unit as described above. The reclined massage device 100 may be in a state in which the body massage unit 1000 is inclined in a rearward direction of the massage device 100 and the leg massage unit 2000 is rotated upward of the massage device.

In a state in which the massage device 100 is reclined, the controller 1200 provides a massage (or relaxation massage) to the user through at least one massage unit among the body massage unit 1000 , the leg massage unit 2000 , and the arm massage unit 3000 . can be provided (S5530). For example, the control unit 1200 includes at least one air cell and massage module 1700 included in the body massage unit 1000 , at least one air cell and massage member included in the leg massage unit 2000 , and an arm massage unit. A massage may be provided through at least one of the at least one air cell included in the reference numeral 3000 . In this case, the massage may be provided at an average massage intensity and an average massage speed among the massage intensity and speed that the massage apparatus 100 can provide to relax the user's body.

The controller 1200 controls the operation of the massage device 100 according to a stretching mode and/or a bicycle mode in a state in which the massage device 100 is reclined, and a massage is provided to the user, thereby providing the user with a stretching mode and/or A bicycle mode may be provided (S5550). For example, the controller 1200 may perform an operation corresponding to a stretching mode and/or a bicycle mode in a state in which the massage device 100 is reclined and a massage is provided.

Through this, the controller 1200 reclines the massage device 100 to secure a space for stretching the user's leg and a space for exercising the user's leg, thereby limiting the space for stretching the user's leg and exercising the leg. It is possible to increase the leg stretching effect and leg movement effect by resolving the space limitation for The controller 1200 may relax the user's body to prevent injuries according to the stretching mode and the exercise mode, and may increase the leg stretching effect and the leg exercise effect.

As described above, the controller 1200 reclines the massage device 100 and provides a relaxation massage, and then provides a stretching mode and/or a bicycle mode to the user, but is not limited thereto. For example, the controller 1200 may provide a stretching mode and/or a bicycle mode in a state in which only the massage is not provided without reclining the massage device 100 . After reclining the massage device 100 , the controller 1200 may provide a stretching mode and/or a bicycle mode without providing a massage in the reclining state of the massage device 100 . The controller 1200 may provide a massage in a state in which the massage device 100 is not reclined, and then provide a stretching mode and/or a bicycle mode.

FIG. 56 is a flowchart for explaining the iliopsoas stretching mode shown in FIG. 54 , and FIG. 57 is a diagram for explaining the operation of the iliopsoas stretching mode shown in FIG. 54 . Specifically, Fig. 57a shows the entire operation of the iliopsoas stretching mode, Fig. 57b shows the Motion 1b of Fig. 57a, Fig. 57c shows the Motion 1c of Fig. 57a, Fig. 57d shows the Motion 1d of Fig. 57a, and Fig. 57e represents Motion 1e of FIG. 57A.

56 and 57 , the controller 1200 may provide the iliopsoas stretching mode to the user by executing the iliopsoas stretching mode and controlling the operation of the massage apparatus 100 as an operation corresponding to the iliopsoas stretching mode. However, the controller 1200 may control the operation of the massage device 100 in the iliopsoas stretching mode without performing at least one of the reclining operation and the massage providing operation or performing the reclining operation and the massage providing operation as described above. .

Hereinafter, for convenience of explanation, it is assumed that the controller 1200 reclines the massage device 100 and provides the iliopsoas stretching mode to the user.

The controller 1200 may adjust the length of each leg massage unit based on the length of each leg (S5610). For example, the controller 1200 adjusts the length of the first leg massage unit 2000a based on the length of one leg of the user as in Motion 1a of FIG. 57 , and the second leg massager 2000a based on the length of the user's other leg. The length of the leg massage unit 2000b may be adjusted. After adjusting the lengths of the first and second leg massage units 2000a and 2000b, the controller 1200 may stop the first and second adjusting modules 2500a and 2500b.

Specifically, the control unit 1200 drives the first and second adjustment modules 2500a and 2500b to move each leg massage unit in the downward direction of each leg massage unit, so that each leg massage unit can be placed at the lowermost end of each leg massage unit. have. The controller 1200 may move each leg massage unit upward through each adjustment module based on the length of each leg so that the length of each leg massage unit is the same as the length of each leg. After adjusting the length of each leg massage unit, the controller 1200 may stop each adjustment module.

The control unit 1200 adjusts the length of any one of the first and second leg massage units 2000a and 2000b whose length is adjusted, or adjusts the length of both the first and second leg massage units 2000a and 2000b. Adjusted to a different length (or readjusted; S5630), by rotating the length-adjusted (or readjusted length) leg massage unit can stretch the user's leg (S5650).

Hereinafter, the operation of the above-described iliopsoas stretching mode will be described in detail.

As an example, the controller 1200 adjusts (or readjusts) the length of any one of the first and second leg massage units 2000a and 2000b as in Motion 1b and 1c of FIG. 57 (or readjusts; S5630a), By rotating any one of the leg massage units (S5650a), the leg corresponding to any one of the one leg and the other leg may be stretched. In this case, the controller 1200 may fix a position of the other leg massage unit different from any one of the first and second leg massage units 2000a and 2000b. A leg corresponding to any one of the leg massage units may be a stretching target leg, which the massage device 100 wants to stretch among the user's one leg and the other leg.

First, the control unit 1200 drives the adjustment module corresponding to any one of the first and second adjustment modules 2500a and 2500b of the leg massage unit in a state where the position of the remaining leg massage unit is fixed as shown in Motion 1b of FIG. 57 . By adjusting the length of any one of the leg massage units, the leg corresponding to any one of the leg massage units can be stretched.

For example, the control unit 1200 drives the adjustment module corresponding to any one of the first and second adjustment modules 2500a and 2500b to the lower side of any one of the leg massage units. By moving to, it is possible to lengthen the length of any one leg massage unit. The controller 1200 may adjust the length of one of the leg massage units to be longer, and then stop the adjustment module corresponding to any one of the leg massage units.

Specifically, the controller 1200 may move any one leg massage unit in a downward direction of any one leg massage unit based on the first reference length. In this case, the first reference length may be a reference indicating a degree to which the stretching target leg is pulled in order to stretch the stretching target leg. In other words, the first reference length may be a movement length (or movement distance) to move any one leg massage unit in the downward direction of any one leg massage unit.

For example, the first reference length may be variously preset and stored in the storage unit 1300 by at least one of various objects and companies, such as a doctor, a user, and/or a manufacturer or seller of a massage device. The first reference length may be preset to a length at which the stretching target leg can be sufficiently stretched by the movement of the leg massage unit by pulling a lot of the stretching target leg. The first reference length may be set to about 10 cm, but is not limited thereto. For example, the controller 1200 may determine the first reference length based on the stretching difficulty selected by the user. The first reference length determination operation will be described in detail below.

Through this, the controller 1200 can stretch the target leg by pulling the stretch target leg sufficiently to stretch the stretch target leg sufficiently.

However, before adjusting the length of any one leg massage unit, the controller 1200 may inflate at least one air cell included in any one leg massage unit to fix the leg corresponding to any one leg massage unit. have. The control unit 1200 moves any one leg massage unit in a downward direction by driving a control module corresponding to any one leg massage unit in a state in which the leg corresponding to any one leg massage unit is fixed. can do it

For example, the controller 1200 may pre-inflate at least one air cell included in the lower leg massage part of any one leg massage part to fix the lower part of the leg corresponding to any one leg massage part. The control unit 1200 drives the adjustment module corresponding to any one leg massage unit in a state in which the lower part of the leg corresponding to any one leg massage unit is fixed in the downward direction of any one leg massage unit. can be moved to For reference, the controller 1200 may post-inflate at least one air cell included in the upper leg massage part of any one leg massage part before rotating any one leg massage part.

Through this, the control unit 1200 precisely holds the lower part of the stretch target leg and pulls a lot of the stretch target leg, so that the stretching target leg is stretched more accurately than when the lower part of the stretching target leg is not fixed, thereby increasing the stretching effect on the stretching target leg. can be increased

Thereafter, the controller 1200 adjusts the length of any one leg massage part to be long, and then rotates any one leg massage part in the downward direction of the massage device 100 as in Motion 1c of FIG. 57 to massage any one leg. It is possible to re-stretch the leg corresponding to the part.

For example, the control unit 1200 stops the adjustment module corresponding to any one leg massage unit, and then rotates the rotation module corresponding to any one of the first and second rotation modules 2271 and 2273 to the leg massage unit. By driving, any one of the leg massage units may be rotated in the downward direction of the massage device 100 . After rotating any one leg massage unit, the controller 1200 may stop the rotation module corresponding to any one leg massage unit.

Specifically, the control unit 1200 may rotate any one of the leg massage units in the downward direction of the massage device 100 based on the first rotation angle. At this time, the first rotation angle may be a rotation angle to rotate any one of the leg massage units in order to stretch the iliopsoas muscle of the surrogate to be stretched (or a rotation angle to rotate any one of the leg massage units in the downward direction of the massage device 100). have. For example, the first rotation angle may be variously preset and stored in the storage unit 1300 by at least one of various objects and companies, such as a doctor, a user, and/or a manufacturer or seller of a massage device.

The first rotation angle may be preset to an angle capable of sufficiently stretching the iliopsoas muscle of the leg to be stretched by lowering any one leg massage unit (or leg to be stretched) a lot. The first rotation angle may be set to about 50 degrees, but is not limited thereto. For example, the controller 1200 may determine the first rotation angle based on the difficulty of stretching. The first rotation angle determination operation will be described in detail below.

Through this, the controller 1200 can stretch the iliopsoas muscle of the stretch target leg by pulling a lot of the stretch target leg and then lowering the stretch target leg a lot to sufficiently stretch the iliopsoas muscle of the stretch target leg.

However, before rotating any one leg massage unit, the controller 1200 expands the unexpanded air cell among at least one air cell included in any one leg massage unit to fix the leg corresponding to any one leg massage unit. can do it In this case, the unexpanded air cell may be at least one air cell included in the upper leg massage unit of any one leg massage unit as described above.

For example, the control unit 1200 adjusts the length of any one of the leg massage units (or after stopping the adjustment module corresponding to any one of the leg massage units), the upper leg massage unit of any one of the leg massage units It is possible to fix the upper part of the leg corresponding to any one of the leg massage units by later inflating the included at least one air cell. The control unit 1200 drives a rotation module corresponding to any one leg massage unit in a state in which the upper and lower parts (or upper and lower parts) of the leg corresponding to any one leg massage unit are fixed, so that any one leg massage unit is a massage device. It can be rotated in the downward direction of (100).

Through this, the control unit 1200 accurately stretches the iliopsoas muscle of the stretching target leg by lowering the stretching target leg by accurately grasping the upper and lower portions of the stretching target leg, rather than when the stretching target leg is not fixed or only the lower part of the stretching target leg is fixed. It is possible to increase the stretching effect on the iliopsoas muscle of the leg to be stretched.

As another example, the controller 1200 massages the rest of the legs different from the length of any one of the first and second leg massage units 2000a and 2000b and any one of the leg massage units as in Motion 1d and 1e of FIG. 57 . The lengths of the parts are adjusted to be different from each other (or readjusted; S5630b), and one and the other leg massage units are rotated in different directions (S5650b) to stretch the legs corresponding to any one of the leg massage units. In this case, the leg corresponding to any one of the leg massage units may be a leg to be stretched. The leg corresponding to the remaining leg massage unit may be a stretching auxiliary leg that assists in stretching the stretch target leg.

First, the control unit 1200 adjusts the length of any one leg massage unit as described above, and adjusts corresponding to the rest of the leg massage units among the first and second adjustment modules 2500a and 2500b as shown in Motion 1d of FIG. 57 . By driving the module to adjust the length of the rest of the leg massage units, it is possible to assist in stretching the legs corresponding to any one of the leg massage units.

For example, the control unit 1200 may adjust the length of the remaining leg massage units to be shorter by driving the adjustment module corresponding to the remaining leg massage units to move the remaining leg massage units in an upward direction of the remaining leg massage units. In this case, the controller 1200 may move the remaining leg massage units to the uppermost end of the remaining leg massage units. After adjusting the length of the rest of the leg massage units, the controller 1200 may stop the adjustment module corresponding to the rest of the leg massage units.

Through this, the control unit 1200 can increase the stretching effect on the stretching target leg by pulling the stretching target leg while pushing the stretching auxiliary leg and stretching the stretching target leg more than when only the stretching target leg is pulled. have. In other words, the controller 1200 may increase the stretching effect on the stretching target leg by assisting the stretching of the stretching target leg with the stretching auxiliary leg.

However, before adjusting the length of the rest of the leg massage units to be shorter, the controller 1200 may inflate at least one air cell included in the rest of the leg massage units to fix the legs corresponding to the rest of the leg massage units. In this case, the controller 1200 may inflate at least one air cell included in the other leg massage unit while inflating at least one air cell included in any one leg massage unit. The controller 1200 may move the remaining leg massage units in an upward direction of the remaining leg massage units while the legs corresponding to the remaining leg massage units are fixed.

For example, the controller 1200 expands at least one air cell included in the lower leg massage unit of the other leg massage unit while inflating at least one air cell included in the lower leg massage unit of any one leg massage unit to inflate the remaining legs. The lower part of the leg corresponding to the massage part may be fixed. The controller 1200 may drive the adjustment module corresponding to the rest of the leg massage units in a state where the lower part of the legs corresponding to the rest of the leg massage units is fixed to move the remaining leg massage units in the upper direction of the rest of the leg massage units.

Through this, the control unit 1200 precisely assists the stretching of the stretching target leg by accurately holding the stretching auxiliary leg and pushing the stretching auxiliary leg, more accurately assisting the stretching of the stretching target leg than when the lower part of the stretching auxiliary leg is not fixed, thereby increasing the stretching effect on the stretching target leg. can do it

Thereafter, the controller 1200 adjusts the length of any one and the other leg massage units, and then rotates any one leg massage unit in the downward direction of the massage device 100 as shown in Motion 1e of FIG. 57 , while the other leg massage units By rotating the massage device 100 in the upward direction, it is possible to re-assist the stretching of the leg corresponding to any one of the leg massage units.

For example, the control unit 1200 stops the first and second adjustment modules 2500a and 2500b and rotates any one of the leg massage units, while the remaining legs of the first and second rotation modules 2271 and 2273 are rotated. By driving a rotation module corresponding to the massage unit, the rest of the leg massage unit may be rotated in an upward direction of the massage device 100 . After rotating one and the other leg massage units, the controller 1200 may stop the rotation module corresponding to any one and the other leg massage units.

Specifically, the controller 1200 may rotate the rest of the leg massage unit in an upward direction of the massage device 100 based on the second rotation angle. In this case, the second rotation angle may be a rotation angle at which the rest of the leg massage unit is rotated (or a rotation angle at which the remaining leg massage unit is rotated in the upward direction of the massage device 100) in order to assist the stretching of the iliopsoas muscle of the leg to be stretched. . For example, the second rotation angle may be variously preset and stored in the storage unit 1300 by at least one of various objects and companies, such as a doctor, a user, and/or a manufacturer or seller of a massage device.

The second rotation angle may be preset to an angle capable of sufficiently assisting the stretching of the iliopsoas muscle of the leg to be stretched by lifting the rest of the leg massage unit (or stretching auxiliary leg) a lot. The second rotation angle may be preset to about 30 degrees, but is not limited thereto. For example, the controller 1200 may determine the second rotation angle based on the difficulty of stretching. The second rotation angle determination operation will be described in detail below.

Through this, the control unit 1200 increases the stretching effect on the stretching target leg by stretching the iliopsoas muscle of the stretching target leg more than when only the stretching target leg is pulled down while lifting the stretching auxiliary leg. can In other words, the controller 1200 may increase the stretching effect on the stretching target leg by re-assisting the stretching of the stretching target leg with the stretching auxiliary leg.

When rotating the remaining leg massage unit, the controller 1200 may rotate the remaining leg massage unit without inflating at least one air cell included in the upper leg massage unit of the remaining leg massage unit. For example, the control unit 1200 rotates any one of the leg massage units in the downward direction of the massage device 100 in a state where the upper and lower parts of the legs corresponding to the one of the leg massage units are fixed while corresponding to the other leg massage units. In a state in which the lower part of the leg is fixed, the rest of the leg massage unit may be rotated in the upward direction of the massage device 100 .

58 is a flowchart for explaining the iliopsoas stretching mode shown in FIG. 56 .

As described above, the controller 1200 adjusts the length of each leg massage unit based on the length of each leg (S5610), and each leg massage unit (or any one of the first and second leg massage units 2000a and 2000b). of the leg massage unit) may be adjusted (S5630), and each leg massage unit (or any one of the leg massage units) may be rotated (S5650).

However, before adjusting the length of each leg massage unit (or any one of the leg massage units) as described above, the control unit 1200 may be configured to the lower leg massage unit of each leg massage unit (or any one of the leg massage units). At least one included air cell may be inflated to fix the lower part of the leg corresponding to each leg massage unit (or any one of the leg massage units) (S5631). After fixing the lower part of the leg corresponding to each leg massage unit (or any one of the leg massage units), the control unit 1200 determines the length of each leg massage unit (or any one of the leg massage units) before adjusting the length. The user's pelvis may be fixed by expanding the first and second pelvic air cells 1915 and 1935 (S5633). The control unit 1200 controls each leg massage unit (or any one of the leg massage units) as described above in a state where the lower part of the leg corresponding to each leg massage unit (or any one of the leg massage units) and the user's pelvis are fixed. can adjust the length (S5635).

Through this, the control unit 1200 pulls a lot of the stretching target leg in a state where the user's pelvis is fixed, or pulls the stretching target leg while pulling a stretching auxiliary leg and pulling a lot of the stretching target leg than when the user's pelvis is not fixed. By stretching more accurately, it is possible to increase the stretching effect on the leg to be stretched.

In addition, the control unit 1200 before rotating each leg massage unit (or any one leg massage unit) (or after adjusting the length of each leg massage unit (or any one leg massage unit), each leg massage unit (or after stopping the adjustment module corresponding to any one of the leg massage units), the first and second shoulder air cells 1911 and 1931 may be inflated to fix the user's upper body (S5651). The controller 1200 may rotate each leg massage unit (or any one of the leg massage units) while the user's upper body is fixed ( S5655 ).

As described above, the control unit 1200 adjusts the length of each leg massage unit (or any one leg massage unit), expands the shoulder air cell, and rotates each leg massage unit (or any one leg massage unit) can be done, but is not limited thereto. For example, the control unit 1200 may inflate at least one air cell included in the lower leg massage unit of each leg massage unit (or any one of the leg massage units) while inflating the first and second shoulder air cells 1911 and 1931 ). can be inflated. The controller 1200 may adjust the length of at least one leg massage unit in a state in which the lower part of the leg corresponding to each leg massage unit (or any one of the leg massage units) and the upper body of the user are fixed.

Through this, the control unit 1200 performs at least one of a length adjustment operation and a rotation operation for each leg massage unit (or any one of the leg massage units) in a state in which the user's upper body is fixed, thereby fixing the user's upper body. By performing at least one motion more accurately than the case where it does not, the stretching effect on the iliopsoas muscle of the leg to be stretched can be increased.

However, before rotating each leg massage unit (or any one of the leg massage units) in a state where the user's upper body is fixed, the control unit 1200 contracts the first and second pelvic air cells 1915 and 1935 to control the user's The pelvis may not be fixed (S5653). At this time, the control unit 1200 may inflate at least one air cell included in the upper leg massage unit of the leg massage unit to be rotated in the downward direction of the massage device 100 among each leg massage unit (or any one of the leg massage units). have. In other words, the controller 1200 may not fix the user's pelvis while fixing the upper part of the leg to be stretched.

The control unit 1200 may rotate at least one leg massage unit in a state in which the upper and lower portions of the stretching target leg, the lower portion of the stretching auxiliary leg, and the user's upper body are fixed, and the user's pelvis is not fixed (S5655). ).

Through this, the control unit 1200 raises the stretching auxiliary leg in a state in which the user's pelvis is not fixed, grabs the stretching target leg, and safely stretches the iliopsoas muscle of the stretching target leg rather than when the user's pelvis is fixed, so that the user's It is possible to prevent possible injuries to the body (eg, iliopsoas muscle), and to secure safety in the iliopsoas stretching mode. For example, when the control unit 1200 rotates the leg massage unit in a state in which the user's pelvis is fixed, a load may be applied to both sides of the user's pelvis and the user's legs, thereby causing injury to the user's body. Accordingly, the controller 1200 prevents possible injuries to the user's body (eg, the iliopsoas muscle of the stretch target leg) while stretching the iliopsoas muscle of the stretch target leg by grabbing the stretch target leg in a state in which the user's pelvis is not fixed. can do.

As described above, the control unit 1200 operates the first and second pelvic air cells 1915 and 1935 while expanding at least one air cell included in the upper leg massage unit of the leg massage unit to be rotated in the downward direction of the massage device 100 . It can shrink, but is not limited thereto. For example, after contracting the first and second pelvic air cells 1915 and 1935, the controller 1200 may include at least one The air cell can be inflated. The control unit 1200 expands at least one air cell included in the upper leg massage unit of the leg massage unit to be rotated in the downward direction of the massage device 100, and then contracts the first and second pelvic air cells 1915 and 1935. can

In addition, after rotating each leg massage unit (or any one of the leg massage units), the controller 1200 may maintain the operation of the massage device 100 for an operation maintenance time (S5670). For example, the control unit 1200 may maintain the operation of the massage apparatus 100 by rotating each leg massage unit (or any one of the leg massage units) and stopping the massage apparatus 100 for an operation maintenance time. . In this case, the operation maintenance time may be a reference indicating the degree of maintaining the operation of the massage device 100 in order to maintain the stretching state of the stretching target leg. In other words, the operation maintenance time may be a time for stopping the operation of the massage device 100 to maintain the operation of the massage device 100 .

For example, the operation maintenance time may be variously preset and stored in the storage unit 1300 by at least one of various objects and companies, such as a doctor, a user, and/or a manufacturer or seller of a massage device. The operation maintenance time may be preset as a time during which the motion of the massage device 100 is maintained so that the leg to be stretched can be maintained in a stretched state for a sufficient time. The operation maintenance time may be preset to about 10 seconds, but is not limited thereto. For example, the controller 1200 may determine the duration of the motion based on the difficulty of stretching. The operation maintenance time determination operation will be described in detail below.

Through this, the controller 1200 maintains the motion of the massage device 100 to maintain the stretching posture of the leg to be stretched, by stretching the leg to be stretched for a sufficient time than when not maintaining the motion of the massage device 100 . , it is possible to increase the stretching effect on the target leg to be stretched.

However, before maintaining the operation of the massage device 100 , the controller 1200 may re-inflate the first and second pelvic air cells 1915 and 1935 to re-fix the user's pelvis. The controller 1200 may maintain the operation of the massage device 100 in a state in which the user's pelvis is re-fixed.

For example, the control unit 1200 rotates each leg massage unit (or any one leg massage unit), stops the rotation module corresponding to each leg massage unit (or any one leg massage unit), and then The first and second pelvic air cells 1915 and 1935 may be re-inflated to re-fix the user's pelvis. The controller 1200 may stop the massage device 100 in a state in which the user's pelvis is re-fixed to maintain the operation of the massage device 100 .

Through this, the controller 1200 maintains the motion of the massage device 100 in a state in which the user's pelvis is re-fixed to maintain a stretching posture of the leg to be stretched, thereby maintaining the massage device 100 in a state in which the user's pelvis is not fixed. ) by stretching the stretch target leg for a sufficient time more accurately than when the motion is maintained, it is possible to increase the stretching effect on the stretch target leg.

In addition, the controller 1200 controls the thigh air cell corresponding to the leg massage unit rotated in the downward direction of the massage device 100 among the first and second thigh air cells 1917 and 1937 while the operation of the massage device 100 is maintained. by expanding the leg corresponding to the leg massage unit rotated in the downward direction of the massage device 100 may be further stretched (S5690). In other words, the controller 1200 may expand the thigh air cell corresponding to the stretch target leg to pressurize the thigh of the stretch target leg, thereby further extending the iliopsoas muscle of the stretch target leg.

Through this, the control unit 1200 presses the thigh of the leg being stretched to further stretch the iliopsoas muscle of the leg to be stretched, and by further stretching the iliopsoas muscle of the leg to be stretched than when the thigh of the leg to be stretched is not pressed, Stretching can increase the effect of stretching the target leg.

As described above, the control unit 1200 controls the length adjustment operation of each leg massage unit by interworking with each other, but is not limited thereto, and controls the rotation operation of each leg massage unit by interlocking with each other, but is not limited thereto. For example, the controller 1200 may sequentially control the length adjustment operation of each leg massage unit. The controller 1200 may sequentially control the rotational operation of each leg massage unit.

FIG. 59 shows a flowchart for explaining the hamstring stretching mode shown in FIG. 54 , and FIG. 60 shows a diagram for explaining the operation of the hamstring stretching mode shown in FIG. 54 . Specifically, Fig. 60a shows the entire operation of the hamstring stretching mode, Fig. 60b shows the Motion 2b of Fig. 60a, Fig. 60c shows the Motion 2c of Fig. 60a, Fig. 60d shows the Motion 2d of Fig. 60a.

59 and 60 , the controller 1200 may provide the hamstring stretching mode to the user by executing the hamstring stretching mode and controlling the operation of the massage apparatus 100 with an operation corresponding to the hamstring stretching mode. However, the controller 1200 may control the operation of the massage device 100 in the hamstring stretching mode without performing at least one of the reclining operation and the massage providing operation or performing the reclining operation and the massage providing operation as described above. .

Hereinafter, for convenience of explanation, it is assumed that the controller 1200 reclines the massage device 100 and provides a hamstring stretching mode to the user.

The controller 1200 may adjust the length of each leg massage unit based on the length of each leg as in Motion 2a of FIG. 60 ( S5910 ). Since the above-described operation is applicable to the operation of adjusting the leg massage unit according to the length of each leg, a detailed description thereof will be omitted.

The controller 1200 may fix the position of any one of the first and second leg massage units 2000a and 2000b of which the length is adjusted (S5930). For example, the control unit 1200 controls the first and second adjustment modules (2500a, 2500b), the first and second rotation modules (2271, 2273) of the first and second rotation modules (2271, 2273) corresponding to any one of the leg massage unit adjustment module and rotation module By not adjusting the length and angle of any one of the leg massage units by stopping, the position of any one of the leg massage units can be fixed. In this case, the length of any one leg massage unit may be a length adjusted based on the length of the leg corresponding to any one leg massage unit. The angle of any one leg massage unit may be the angle of the leg massage unit 2000 of the reclined massage device 100 .

The control unit 1200 stretches the user's legs by rotating the other leg massage units different from any one of the first and second leg massage units 2000a and 2000b in a state where the position of any one leg massage unit is fixed. It can be done (S5950).

Hereinafter, the operation of the above-described hamstring stretching mode will be described in detail.

As an example, the controller 1200 rotates the rest of the leg massage units in the upward direction of the massage device 100 in a state where the position of any one leg massage unit is fixed as shown in Motion 2b of FIG. can be stretched (S5950a). In this case, the leg corresponding to the rest of the leg massage unit may be a stretching target leg that the massage device 100 wants to stretch among the user's one side and the other leg.

For example, the control unit 1200 drives a rotation module corresponding to the remaining leg massage unit among the first and second rotation modules 2271 and 2273 in a state where the position of one of the leg massage units is fixed, and thus the rest of the leg massage units. The massage device 100 may be rotated in an upward direction. After rotating the rest of the leg massage units, the controller 1200 may stop the rotation module corresponding to the rest of the leg massage units.

Specifically, the controller 1200 may rotate the rest of the leg massage unit in an upward direction of the massage device 100 based on the third rotation angle. In this case, the third rotation angle may be a rotation angle at which the rest of the leg massage unit is rotated in order to stretch the hamstring of the leg to be stretched (or a rotation angle at which the remaining leg massage unit is rotated in the upward direction of the massage device 100 ). For example, the third rotation angle may be variously preset and stored in the storage unit 1300 by at least one of various objects and companies, such as a doctor, a user, and/or a manufacturer or seller of a massage device.

The third rotation angle may be preset to an angle capable of sufficiently elongating the hamstring of the stretching target leg by lifting a large amount of the rest of the leg massage unit (or stretching target leg). The third rotation angle may be set to about 50 degrees, but is not limited thereto. For example, the controller 1200 may determine the third rotation angle based on the difficulty of stretching. The third rotation angle determining operation will be described in detail below.

Through this, the controller 1200 may stretch the hamstring of the stretching target leg by sufficiently elongating the hamstring of the stretching target leg by lifting a lot of the stretching target leg.

However, before rotating the rest of the leg massage units, the controller 1200 may inflate at least one air cell included in the rest of the leg massage units to fix the legs corresponding to the rest of the leg massage units. The controller 1200 may drive the rotation module corresponding to the remaining leg massage units in a state in which the legs corresponding to the remaining leg massage units are fixed to rotate the remaining leg massage units in the upward direction of the massage apparatus 100 .

For example, the controller 1200 controls at least one leg massage unit included in at least one of the upper and lower leg massage units of the other leg massage units in a state where the position and length of the other leg massage units are fixed. By inflating the air cell, it is possible to fix at least one of the upper and lower parts of the legs corresponding to the rest of the leg massage units. The control unit 1200 drives the rotation module corresponding to the remaining leg massage unit in a state in which at least one of the upper and lower parts of the leg corresponding to the rest of the leg massage unit is fixed, so that the rest of the leg massage unit is located on the upper side of the massage device 100 . direction can be rotated.

Through this, the control unit 1200 precisely grabs at least one of the upper and lower parts of the stretch target leg and lifts the stretch target leg a lot, so that the hamstring of the stretching target leg is stretched more accurately than when the stretching target leg is not fixed. It is possible to increase the stretching effect on the hamstring of the leg to be stretched.

As another example, the controller 1200 adjusts the length of the other leg massage units in a state where the position of any one leg massage unit is fixed as shown in Motion 2c and 2d of FIG. 60 (S5950b), and the other leg massage units massage device 100 By rotating it upward (S5950c), the leg corresponding to the rest of the leg massage unit can be stretched. In this case, the leg corresponding to the rest of the leg massage unit may be a leg to be stretched.

First, the control unit 1200 drives an adjustment module corresponding to the rest of the leg massage units among the first and second adjustment modules 2500a and 2500b in a state where the position of any one leg massage unit is fixed as shown in Motion 2c of FIG. 60 . By adjusting the length of the rest of the leg massage unit, it is possible to assist the leg corresponding to the rest of the leg massage unit.

For example, the control unit 1200 drives the adjustment module corresponding to the remaining leg massage unit among the first and second control modules 2500a and 2500b to move the remaining leg massage unit in the downward direction of the remaining leg massage unit, so that the remaining leg The length of the massage part can be adjusted to a longer length. The controller 1200 may adjust the length of the rest of the leg massage units to be longer, and then stop the adjustment module corresponding to the rest of the leg massage units.

Specifically, the controller 1200 may move the remaining leg massage units in a downward direction based on the second reference length. In this case, the second reference length may be a reference indicating the degree to which the stretching target leg is pulled in order to relieve tension of the hamstring of the stretching target leg. In other words, the second reference length may be a movement length (or movement distance) for moving the other leg massage units in the downward direction of the other leg massage units.

For example, the second reference length may be variously preset and stored in the storage unit 1300 by at least one of various objects and companies, such as a doctor, a user, and/or a manufacturer or seller of a massage device. The second reference length may be preset to a length capable of supporting stretching of the stretching target leg by relieving tension in the hamstring of the stretching target leg by slightly pulling the stretching target leg by the movement of the leg massage unit. The second reference length may be set to about 5 cm, but is not limited thereto. For example, the controller 1200 may determine the second reference length based on the difficulty of stretching. The second reference length determination operation will be described in detail below.

Through this, the control unit 1200 may increase the stretching effect of the stretching target leg by pulling the stretch target leg slightly to relieve tension in the hamstring of the stretching target leg.

However, before adjusting the length of the remaining leg massage units, the controller 1200 may inflate at least one air cell included in the remaining leg massage units to fix the legs corresponding to the remaining leg massage units. The controller 1200 may move the remaining leg massage units in a downward direction of the remaining leg massage units by driving the adjustment module corresponding to the remaining leg massage units in a state in which the legs corresponding to the remaining leg massage units are fixed.

For example, the controller 1200 may pre-inflate at least one air cell included in the lower leg massage unit of the remaining leg massage unit to fix the lower part of the leg corresponding to the remaining leg massage unit. The control unit 1200 may move the remaining leg massage units in a downward direction of the remaining leg massage units by driving the adjustment module corresponding to the remaining leg massage units in a state where the lower portions of the legs corresponding to the remaining leg massage units are fixed. For reference, the controller 1200 may post-inflate at least one air cell included in the upper leg massage unit of the remaining leg massage unit before rotating the remaining leg massage unit.

Through this, the control unit 1200 precisely holds the lower part of the stretch target leg and slightly pulls the stretch target leg, so that the stretching target leg is more accurately stretched than when the lower part of the stretching target leg is not fixed, thereby increasing the stretching effect on the stretching target leg. can be increased In other words, the controller 1200 may increase the stretching effect on the stretching target leg by slightly extending the length of the stretching target leg to relieve the tension of the stretching target leg, thereby assisting the stretching of the stretching target leg.

Thereafter, the control unit 1200 adjusts the length of the remaining leg massage unit to be longer, and then rotates the remaining leg massage unit in the upward direction of the massage device 100 as shown in Motion 2d of FIG. can be stretched.

For example, the control unit 1200 stops the adjustment module corresponding to the rest of the leg massage unit, and then drives the rotation module corresponding to the remaining leg massage unit among the first and second rotation modules 2271 and 2273 to drive the remaining leg. The massage unit may be rotated in an upward direction of the massage device 100 . After rotating the rest of the leg massage units, the controller 1200 may stop the rotation module corresponding to the rest of the leg massage units. Since the above-described operation is applicable to the rotation operation of the rest of the leg massage unit, a detailed description thereof will be omitted.

Through this, the control unit 1200 precisely pulls the stretch target leg and then lifts a lot of the stretch target leg to stretch the hamstring of the stretch target leg more than when only the stretch target leg is lifted a lot, so that the stretching target leg It can increase the effect of stretching on the hamstrings.

However, before rotating the remaining leg massage unit, the controller 1200 may expand the unexpanded air cell among at least one air cell included in the remaining leg massage unit to fix the leg corresponding to the remaining leg massage unit. In this case, the unexpanded air cell may be at least one air cell included in the upper leg massage unit of the remaining leg massage unit as described above.

For example, the control unit 1200 adjusts the length of the remaining leg massage unit (or after stopping the adjustment module corresponding to the remaining leg massage unit), at least one air cell included in the upper leg massage unit of the remaining leg massage unit After expansion, it is possible to fix the upper part of the leg corresponding to the rest of the leg massage part. The controller 1200 may drive the rotation module corresponding to the rest of the leg massage units while the upper and lower parts of the legs corresponding to the rest of the leg massage units are fixed to rotate the rest of the leg massage units in the upward direction of the massage device 100 .

Through this, the control unit 1200 precisely grabs the upper and lower portions of the stretching target leg and lifts the stretching target leg, so that the stretching target leg is not fixed or the hamstring of the stretching target leg is more precisely fixed than when only the lower part of the stretching target leg is fixed. It is possible to increase the stretching effect on the hamstring of the leg to be stretched by stretching it.

When fixing the upper part of the leg corresponding to the rest of the leg massage unit, the control unit 1200 moves the upper leg massage unit of the remaining leg massage unit in the upper direction of the remaining leg massage unit, and then includes the upper leg massage unit of the remaining leg massage unit. At least one air cell may be inflated.

For example, the control unit 1200 controls the remaining leg massage unit corresponding to the remaining leg massage unit before inflating at least one air cell included in the upper leg massage unit (or after adjusting the length of the remaining leg massage unit). Without stopping the module, the upper leg massage unit of the remaining leg massage unit may be moved in the upward direction of the remaining leg massage unit. Specifically, the control unit 1200 controls the rest of the leg massage units so that the upper leg massage units of the rest of the leg massage units are disposed (or correspond to) at the knee positions of the legs corresponding to the rest of the leg massage units based on the length of the legs corresponding to the rest of the leg massage units. The upper leg massage unit of the leg massage unit may be moved in an upward direction of the other leg massage units. The controller 1200 may move the upper leg massage unit of the remaining leg massage unit in an upward direction of the remaining leg massage unit so that the upper leg massage unit of the remaining leg massage unit is disposed on the uppermost end of the remaining leg massage unit.

The controller 1200 may move the upper leg massage unit of the remaining leg massage unit, stop the adjustment module corresponding to the remaining leg massage unit, and then inflate at least one air cell included in the upper leg massage unit of the remaining leg massage unit. .

Through this, the controller 1200 precisely grabs the knee of the stretching target leg and lifts the stretching target leg, thereby stretching the hamstring of the stretching target leg more accurately than when the stretching target leg knee is not fixed. It can increase the stretching effect for

FIG. 61 is a flowchart illustrating the hamstring stretching mode shown in FIG. 59 .

As described above, the control unit 1200 may adjust the length of each leg massage unit based on the length of each leg (S5910) and rotate the remaining leg massage units without adjusting the length of the remaining leg massage units (S5950b). (S5950a or S5950c).

However, the controller 1200 may fix the user's leg by inflating at least one air cell included in the remaining leg massage unit before adjusting the length of the remaining leg massage unit and/or before rotating the remaining leg massage unit.

In the case of S5950a, the controller 1200 may inflate at least one air cell included in at least one of the upper and lower leg massage units of the remaining leg massage units (S5951a). Preferably, the controller 1200 may inflate at least one air cell included in the upper and lower leg massage units of the remaining leg massage units.

After fixing at least one part of the upper and lower parts of the leg corresponding to the rest of the leg massage unit, the control unit 1200 expands the first and second shoulder air cells 1911 and 1931 before rotating the rest of the leg massage unit. The user's upper body can be fixed (S5952a). The controller 1200 may rotate the rest of the leg massage unit as described above while the user's upper body is fixed (S5953a).

As described above, the controller 1200 may inflate the first and second shoulder air cells 1911 and 1931 after inflating at least one air cell included in the rest of the leg massage unit, but is not limited thereto. For example, the control unit 1200 controls the first and second shoulder air cells 1911 and 1931 while inflating at least one air cell included in at least one leg massage unit among the upper and lower leg massage units of the remaining leg massage units. can be inflated. After inflating the first and second shoulder air cells 1911 and 1931, the control unit 1200 may inflate at least one air cell included in at least one leg massage unit among the upper and lower leg massage units of the remaining leg massage units. have.

Through this, the controller 1200 performs a rotation operation on the rest of the leg massage unit by fixing the user's upper body to perform the rotation operation more accurately than when the user's upper body is not fixed, thereby stretching the hamstring of the leg to be stretched. effect can be increased.

In the case of S5950b and S5950c, before adjusting the length of the remaining leg massage unit, the controller 1200 expands at least one air cell included in the lower leg massage unit of the remaining leg massage unit (S5951b) to adjust the leg corresponding to the remaining leg massage unit. The lower part of the can be fixed.

After fixing the lower part of the leg corresponding to the rest of the leg massage unit, the control unit 1200 inflates the first and second pelvic air cells 1915 and 1935 before adjusting the length of the rest of the leg massage unit to fix the user's pelvis. It can be done (S5952b). The controller 1200 may adjust the length of the rest of the leg massage units as described above while the lower part of the leg corresponding to the rest of the leg massage units and the user's pelvis are fixed (S5953b). Since the above-described operation is applicable to the operation of expanding the pelvic air cell and adjusting the length of the leg massage unit after fixing the accusation, the detailed description will be omitted.

In addition, the control unit 1200 after adjusting the length of the remaining leg massage unit (or after stopping the adjustment module corresponding to the remaining leg massage unit) before rotating the remaining leg massage unit, the first and second shoulder air cells (1911, 1931) to fix the user's upper body (S5951c). Since the above-described operation is applicable to the shoulder air cell expansion operation, a detailed description thereof will be omitted.

The control unit 1200 may rotate the rest of the leg massage unit while the user's upper body is fixed (S5954c). However, before rotating the rest of the leg massage unit in a state where the user's upper body is fixed, the control unit 1200 expands at least one air cell included in the upper leg massage unit of the rest of the leg massage unit to remove the pressure of the leg corresponding to the rest of the leg massage unit. The upper part can be fixed.

The controller 1200 may rotate the rest of the leg massage units while the user's upper body and upper and lower parts of the legs corresponding to the rest of the leg massage units are fixed. However, the control unit 1200 may not fix the user's pelvis by contracting the first and second pelvic air cells 1915 and 1935 before rotating the rest of the leg massage unit (S5953c).

In other words, the control unit 1200 may rotate the rest of the leg massage unit in a state where the upper and lower parts of the stretching target leg and the user's upper body are fixed, and the user's pelvis is not fixed (S5954c).

Through this, the control unit 1200 performs the rotational operation more accurately than when the user's upper body and the upper and lower portions of the stretching target leg are not fixed, and prevents possible injuries during the rotational operation than when the user's pelvis is fixed, thereby stretching. It is possible to increase the effect of stretching on the hamstrings of the target leg.

As described above, the control unit 1200 inflates the first and second shoulder air cells 1911 and 1931, and expands at least one air cell included in the upper leg massage unit of the remaining leg massage unit, and the first and second pelvis. The air cells 1915 and 1935 are contracted, but not limited thereto. For example, the controller 1200 may randomly perform or simultaneously perform a shoulder air cell expansion operation, at least one air cell expansion operation included in the upper leg massage unit of the remaining leg massage unit, and a pelvic air cell contraction operation.

As described above, the controller 1200 may rotate the remaining leg massage units without adjusting the length of the remaining leg massage units (S5953a), or after adjusting the length of the remaining leg massage units, rotate the remaining leg massage units (S5954c) . Since the above-described operation is applicable to the remaining leg massage unit rotation operation, a detailed description thereof will be omitted.

However, before rotating the other leg massage units, the controller 1200 may inflate at least one air cell included in any one leg massage unit to fix the leg corresponding to any one leg massage unit. The control unit 1200 may rotate the remaining leg massage units by driving a rotation module corresponding to the remaining leg massage units in a state in which one leg and the other leg are fixed.

For example, before rotating the other leg massage units, the control unit 1200 expands at least one air cell included in at least one leg massage unit among the upper and lower leg massage units of any one leg massage unit to inflate any one leg. At least one of the upper and lower parts of the leg corresponding to the massage unit may be fixed.

Specifically, the controller 1200 may determine at least one leg massage unit among the upper and lower leg massage units of any one leg massage unit as the target leg massage unit to inflate the air cell based on the stretching difficulty. The controller 1200 may inflate at least one air cell included in the target leg massage unit based on the determination result. The operation of determining the target leg massage unit will be described in detail below.

The controller 1200 performs the above-described air cell expansion operation of any one of the leg massage units in conjunction with at least one operation among S5951a, S5952a, S5951b, S5952b, S5951c, S5952c, and S5953c or S5951a, S5952a, S5951b, S5952b, It may be performed immediately after any one of the operations S5951c, S5952c, and S5953c.

For example, the controller 1200 may inflate at least one air cell included in any one leg massage unit while inflating at least one air cell included in the rest of the leg massage unit. At this time, the control unit 1200 expands at least one air cell included in the upper leg massage unit of the other leg massage unit and at least one of the at least one leg massage unit among the upper and lower leg massage units of any one leg massage unit. The air cell can be inflated. The controller 1200 may inflate at least one air cell included in at least one leg massage unit among the upper and lower leg massage units of any one leg massage unit while inflating the air cells included in the lower leg massage unit of the other leg massage unit. .

Through this, the control unit 1200 stretches the hamstring of the stretching target leg in a state in which the stretching target leg and the non-stretching leg are fixed, thereby stretching the hamstring of the stretching target leg more than when the non-stretching target leg is not fixed. By accurately and more stretching, the effect of stretching on the hamstring of the leg being stretched can be increased.

In addition, after rotating the rest of the leg massage unit, the controller 1200 may maintain the operation of the massage device 100 for an operation maintenance time (S5970). Since the above-described operation is applicable to the operation maintaining operation, a detailed description thereof will be omitted.

FIG. 62 shows a flowchart for explaining the waist stretching mode shown in FIG. 54 , and FIG. 63 shows a diagram for explaining the operation of the waist stretching mode shown in FIG. 54 . Specifically, Fig. 63a shows the entire operation of the waist stretching mode, Fig. 63b shows the Motion 3b of Fig. 63a, Fig. 63c shows the Motion 3c of Fig. 63a, Fig. 63d shows the Motion 3d of Fig. 63a, 63e Motion 3e of FIG. 63a is shown, and 63f shows Motion 3f of FIG. 63a.

62 and 63 , the controller 1200 may provide the waist stretching mode to the user by executing the waist stretching mode and controlling the operation of the massage apparatus 100 as an operation corresponding to the waist stretching mode. However, the controller 1200 may control the operation of the massage device 100 in the waist stretching mode without performing at least one of the reclining operation and the massage providing operation or performing the reclining operation and the massage providing operation as described above. .

Hereinafter, for convenience of explanation, it is assumed that the controller 1200 reclines the massage device 100 and provides a waist stretching mode to the user.

The controller 1200 may adjust the length of each leg massage unit based on the length of each leg as in Motion 3a of FIG. 63 ( S6210 ). Since the above-described operation is applicable to the operation of adjusting the length of each leg massage unit according to the length of each leg, a detailed description thereof will be omitted.

The control unit 1200 rotates any one of the first and second leg massage units 2000a and 2000b of which the length is adjusted ( S6230 ), and the first and second air cells included in the body massage unit 1000 . (1910, 1930) by inflating any one of the air cell can stretch the user's waist (S6250).

Hereinafter, the operation of the above-described waist stretching mode will be described in detail.

As an example, the controller 1200 rotates any one of the first and second leg massage units 2000a and 2000b as shown in Motion 3b of FIG. 63 (S6230a), and as shown in Motion 3c and 3d of FIG. 63 , The user's waist may be stretched by inflating an air cell that does not correspond to any one of the leg massage units among the first and second air cells 1910 and 1930 .

For example, the controller 1200 may fix a position of the other leg massage unit different from any one of the first and second leg massage units 2000a and 2000b. Since the above-described operation is applicable to the position fixing operation of the rest of the leg massage unit, a detailed description thereof will be omitted.

The control unit 1200 drives a rotation module corresponding to any one of the first and second rotation modules 2271 and 2273 in a state in which the rest of the leg massage unit is fixed, so that any one of the leg massage units is the massage device 100 . ) can be rotated in any one of the upper and lower directions. After rotating any one leg massage unit, the controller 1200 may stop the rotation module corresponding to any one leg massage unit.

For example, the controller 1200 may determine any one of the upper direction and the lower direction of the massage device 100 as a rotation direction in which any one of the leg massage units is to be rotated. The controller 1200 may determine any one of the first to third rotation angles as a rotation angle at which any one of the leg massage units is to be rotated. The controller 1200 may rotate any one of the leg massage units based on the rotation direction and the rotation angle to rotate any one of the leg massage units. In this case, the controller 1200 may determine a rotation direction and a rotation angle to rotate any one of the leg massage units based on the stretching difficulty selected by the user. The operation of determining the rotation direction and rotation angle based on the stretching difficulty will be described in detail below.

However, the controller 1200 may inflate at least one air cell included in any one leg massage unit before rotating any one leg massage unit to fix the leg corresponding to any one leg massage unit. At this time, at least one air cell included in the rest of the leg massage unit may not be inflated. The controller 1200 may rotate any one leg massage unit by driving a rotation module corresponding to any one leg massage unit in a state in which the leg corresponding to any one leg massage unit is fixed.

For example, the control unit 1200 controls at least one of the leg massage units included in at least one of the upper and lower leg massage units of any leg massage unit in a state where the position of the remaining leg massage unit and the length of any one leg massage unit are fixed. By inflating the air cell, it is possible to fix at least one of the upper and lower parts of the leg corresponding to any one of the leg massage units. The control unit 1200 may rotate any one leg massage unit by driving a rotation module corresponding to any one leg massage unit in a state where at least one of the upper and lower parts of any one leg massage unit is fixed.

After rotating any one of the leg massage units (or after stopping the rotation module corresponding to any one of the leg massage units), the control unit 1200 controls the rest of the leg massage units among the first and second air cells 1910 and 1930. The corresponding air cells can be inflated.

When the air cell corresponding to the rest of the leg massage unit includes at least one air cell among the back air cell and the thigh air cell while including the pelvic air cell, the control unit 1200 pre-inflates at least one air cell among the back air cell and the thigh air cell to control the user's The user's waist can be re-stretched by stretching the waist and post-inflating the pelvic air cell.

Through this, the control unit 1200 accurately grabs the leg corresponding to any one of the leg massage units and sequentially stretches the user's waist, thereby elongating the user's waist a lot to increase the stretching effect on the user's waist. have.

As another example, the control unit 1200 rotates both the first and second leg massage units 2000a and 2000b in different rotation directions as in Motion 3e and 3f of FIG. 63 (S6230b), Motion 3c of FIG. 63, 3d The user's waist may be stretched by inflating any one of the 3d first and second air cells 1910 and 1930. In this case, any one air cell may be an air cell corresponding to the leg massage unit rotated in the downward direction of the massage device 100 among the first and second leg massage units 2000a and 2000b.

For example, the control unit 1200 rotates any one of the first and second leg massage units 2000a and 2000b in the upward direction of the massage device 100 while rotating the first and second leg massage units 2000a. , 2000b) may be rotated in the downward direction of the other leg massage unit different from any one of the leg massage units of the massage device 100 . In this case, as described above, the controller 1200 may determine the rotational reflection and rotation angle to rotate each leg massage unit based on the stretching difficulty.

However, before rotating each leg massage unit, the controller 1200 may inflate at least one air cell included in each leg massage unit to fix each leg. In this case, the controller 1200 may inflate at least one air cell included in at least one of the upper and lower leg massage units of each leg massage unit to fix at least one of the upper and lower leg massage units. . The control unit 1200 may rotate each leg massage unit by driving a rotation module corresponding to each leg massage unit in a state in which each leg is fixed (or in a state in which at least one of the upper and lower parts of each leg is fixed). have.

After rotating each leg massage unit (or after stopping the rotation module corresponding to each leg massage unit), the control unit 1200 selects the air cells corresponding to the remaining leg massage units among the first and second air cells 1910 and 1930. can be inflated.

Through this, the control unit 1200 precisely grabs the leg corresponding to each leg massage unit, rotates it in different directions, and sequentially stretches the user's waist in a state in which each leg is rotated, thereby reducing the user's waist to one leg. After only rotating, it is possible to increase the stretching effect on the user's waist by stretching more than when the user's waist is rotated.

FIG. 64 is a flowchart for explaining the waist stretching mode shown in FIG. 62 .

As described above, the controller 1200 adjusts the length of each leg massage unit based on the length of each leg (S6210), and rotates at least one leg massage unit among the first and second leg massage units 2000a and 2000b. (S6230), it is possible to inflate the air cell corresponding to the rest of the leg massage unit (S6250). At this time, the at least one leg massage unit may be any one leg massage unit, or any one leg massage unit and the other leg massage unit as described above.

However, before inflating any one air cell (or after rotating at least one leg massage unit), the control unit 1200 inflates at least one shoulder air cell among the first and second shoulder air cells 1911 and 1931 to the user of the upper body can be fixed (S6240). For example, the controller 1200 may inflate both the first and second shoulder air cells 1911 and 1931 to fix the user's upper body. The control unit 1200 expands the shoulder air cells corresponding to the rest of the leg massage units among the first and second shoulder air cells 1911 and 1931, and the upper body corresponding to the rest of the leg massage units among the user's upper body (or the rest of the legs among the user's shoulders). Shoulder corresponding to the massage part) can be fixed. The controller 1200 may inflate an air cell corresponding to the rest of the leg massage unit in a state where the user's upper body is fixed.

Through this, the control unit 1200 rotates the user's waist in a state where the user's upper body is fixed, so that the user's waist is stretched more accurately and more accurately than when the user's upper body is stretched in a state in which the user's upper body is not fixed. It can increase the stretching effect for

In addition, the controller 1200 may inflate the air cells corresponding to the rest of the leg massage units, and then maintain the operation of the massage device 100 for the operation maintenance time (S6270). When the air cell corresponding to the rest of the leg massage unit includes at least one air cell among the back air cell and the thigh air cell, the controller 1200 inflates the at least one air cell, and then performs the first operation in a state in which the at least one air cell is inflated. It is possible to maintain the operation of the massage device 100 for the holding time. The control unit 1200 maintains the operation of the massage device 100 for the first operation maintenance time, expands the pelvic air cell, expands the pelvic air cell, and then massages the pelvic air cell for the second operation maintenance time in the expanded state. The operation of the device 100 may be resumed. In this case, the controller 1200 may determine the first and second operation maintenance times based on the difficulty of stretching. The first and second operation holding times may be the same or different from each other. The operation of determining the first and second operation holding time will be described in detail below.

FIG. 65 is a flowchart illustrating the bicycle mode illustrated in FIG. 54 , and FIG. 66 is a diagram illustrating the operation of the bicycle mode illustrated in FIG. 54 . Specifically, Fig. 66a shows the overall operation of the bicycle mode, Fig. 66b shows Motion 4b of Fig. 66a, Fig. 66c shows Motion 4c of Fig. 66a, Fig. 66d shows Motion 4d of Fig. 66a, 66e shows the figure It represents Motion 4e of 66a.

65 and 66 , the controller 1200 may provide the bicycle mode to the user by executing the bicycle mode and controlling the operation of the massage device 100 with an operation corresponding to the bicycle mode. However, the controller 1200 may control the operation of the massage device 100 in the bicycle mode without performing at least one of the reclining operation and the massage providing operation or performing the reclining operation and the massage providing operation as described above.

Hereinafter, for convenience of explanation, it is assumed that the controller 1200 reclines the massage device 100 and provides a bicycle mode to the user.

The controller 1200 may adjust the length of each leg massage unit based on the length of each leg as in Motion 4a of FIG. 66 ( S6510 ). Since the above-described operation is applicable to the operation of adjusting the length of each leg massage unit according to the length of each leg, a detailed description thereof will be omitted.

The controller 1200 may adjust (or readjust) the lengths of the first and second leg massage units 2000a and 2000b whose lengths are adjusted as in Motion 4b of FIG. 66 ; S6530 . The controller 1200 may rotate the length-adjusted (or readjusted) first and second leg massage units 2000a and 2000b in different directions as in Motion 4c of FIG. 66 ( S6550 ). The controller 1200 may readjust the lengths of the rotated first and second leg massage units 2000a and 2000b as in Motion 4d of FIG. 66 (or readjustment; S6570). The controller 1200 re-rotates each leg massage unit whose length has been readjusted (or readjusted) as in Motion 4e of FIG. 66 in a direction different from the rotation direction in which each leg massage unit rotated (S6590), and the user's leg can exercise

For example, the control unit 1200 drives the first and second adjustment modules 2500a and 2500b as shown in Motion 4b of FIG. 66 to apply the first leg massage unit 2000a whose length is adjusted to the upper side of the first leg massage unit. The second leg massage unit 2000b whose length is adjusted while moving in the first stretching direction, which is any one of the direction and the downward direction, is moved in any one of the upper direction and the lower direction of the second leg massage unit in the second stretching direction. By moving to , it is possible to adjust (or readjust) the length of the first and second leg massage units (2000a, 2000b).

Specifically, the controller 1200 may adjust (or readjust) the length of each leg massage unit based on the third reference length. In this case, the third reference length may be a reference indicating the degree to which the leg is sufficiently exercised. In other words, the third reference length may be a movement length (or movement distance) to which each leg massage unit is moved in order to move each leg. For example, the third reference length may be variously preset and stored in the storage unit 1300 by at least one of various objects and companies, such as a doctor, a user, and/or a manufacturer or seller of a massage device.

The third reference length may be preset to a length at which the user's leg can be sufficiently moved and exercised by the movement of the leg massage unit. The third reference length may be set to about 7.5 Cm, but is not limited thereto. For example, the controller 1200 may determine the third reference length based on the exercise difficulty selected by the user. The third reference length determining operation will be described in detail below.

However, before adjusting (or re-adjusting) the length of each leg massage unit whose length is adjusted, the controller 1200 expands at least one air cell included in each leg massage unit to fix one leg and the other leg. can The controller 1200 controls (or readjusts) the length of each leg massage unit in a state in which one leg and the other leg are fixed (or in a state in which at least one of the upper and lower parts of the one leg and the other leg is fixed). can

For example, the control unit 1200 inflates at least one air cell included in at least one of the upper and lower leg massage units of each leg massage unit to fix at least one of the upper and lower parts of each leg. can Preferably, the controller 1200 may inflate at least one air cell included in the lower leg massage part of each leg massage part to fix the lower part of each leg.

Through this, the controller 1200 precisely grabs and moves the user's leg so that the user's leg is exercised more accurately than when the user's leg is not fixed, thereby increasing the exercise effect on the user's leg.

The control unit 1200 drives the first and second rotation modules 2271 and 2273 as shown in Motion 4c of FIG. 66 to apply the first leg massage unit 2000a moved in the first expansion and contraction direction to the upper side of the massage device 100 . The second leg massage unit 2000b moved in the second stretching direction while rotating in the first rotational direction, which is any one of the direction and the downward direction, is rotated in the first rotational direction among the upward and downward directions of the massage device 100 and It can be rotated in a second rotational direction, which is a different direction.

For example, the controller 1200 may rotate each leg massage unit based on the fourth rotation angle. In this case, the fourth rotation angle may be a reference indicating the degree to which the leg is sufficiently moved. In other words, the fourth rotation angle may be a rotation angle at which each leg massage unit is rotated in order to move each leg. For example, the fourth rotation angle may be variously preset and stored in the storage unit 1300 by at least one of various objects and companies, such as a doctor, a user, and/or a manufacturer or seller of a massage device.

The fourth rotation angle may be preset to an angle at which the user's leg can be sufficiently moved and exercised by the rotation of the leg massage unit. The fourth rotation angle may be set to about 40 degrees, but is not limited thereto. For example, the controller 1200 may determine the fourth rotation angle based on the exercise difficulty selected by the user. The fourth rotation angle determination operation will be described in detail below.

However, when at least one air cell included in the lower leg massage unit of each leg massage unit is inflated before adjusting the length of each leg massage unit, the controller 1200 controls the upper leg massage unit of each leg massage unit before rotating each leg massage unit. It is possible to inflate at least one air cell included in the. For example, the control unit 1200 readjusts the length of each leg massage unit in a state in which the lower part of each leg is fixed, and then expands at least one air cell included in the upper leg massage unit of each leg massage unit to adjust the length of each leg. The upper part can be fixed. The controller 1200 may rotate each leg massage unit while the upper and lower parts of each leg are fixed.

As shown in Motion 4d of FIG. 66 , the controller 1200 rotates the first leg massage unit 2000a rotated in the first rotational direction in a direction different from the first stretching direction among the upper and lower directions of the first leg massage unit. By re-moving the second leg massage unit 2000b rotated in the second rotation direction while re-moving in the direction of the second leg massage unit in the upper direction and the lower direction of the second leg massage unit in a fourth stretching direction different from the second stretching direction, The lengths of the first and second leg massage units 2000a and 2000b may be readjusted (or readjusted). For example, the controller 1200 may readjust (or readjust) the length of each leg massage unit based on the third reference length.

However, before re-adjusting the length of each leg massage unit, the controller 1200 may contract at least one air cell included in the upper leg massage unit of each leg massage unit to not fix the upper part of each leg. The controller 1200 may readjust the length of each leg massage unit in a state in which the lower part of each leg is fixed and the upper part of each leg is not fixed. After performing the air cell contraction operation as described above, the length readjustment operation of each leg massage unit is performed, but is not limited thereto. For example, the control unit 1200 may simultaneously perform an air cell contraction operation and a length readjustment operation of each leg massage unit in conjunction with each other.

The control unit 1200 re-rotates the first leg massage unit 2000a moved in the third stretching direction in the second rotation direction as in Motion 4e of FIG. 66 , and the second leg massage unit 2000b moved in the fourth stretching direction. ) can be re-rotated in the first rotational direction. For example, the controller 1200 may re-rotate each leg massage unit based on the fourth rotation angle.

However, before re-rotating each leg massage unit, the controller 1200 may re-inflate at least one air cell included in the upper leg massage unit of each leg massage unit to re-fix the upper part of each leg. The controller 1200 may re-rotate each leg massage unit while the upper and lower parts of each leg are fixed. After performing the air cell re-expansion operation as described above, the re-rotation operation of each leg massage unit is performed, but is not limited thereto. For example, the controller 1200 may simultaneously perform the air cell re-expansion operation and the re-rotation operation of each leg massage unit by interworking with each other.

Through this, the control unit 1200 causes the user's legs to move in a movement such as riding a bicycle through the length adjustment operation, length readjustment operation, rotation operation, length readjustment operation, and re-rotation operation of each leg massage unit, so that the user's You can exercise your legs.

As described above, when at least one air cell included in the upper leg massage unit of each leg massage unit is contracted and re-expanded, the control unit 1200 may perform contraction and re-expansion operations based on the air cell capacity. For example, the controller 1200 may contract and re-expand the volume of at least one air cell included in the upper leg massage unit of each leg massage unit by 1/2 of the volume, but is not limited thereto. For example, the controller 1200 may contract and re-expand the air cell in various ways, such as 1/3 or 1/5 of the volume of the air cell.

Through this, the control unit 1200 causes the air cell contraction and re-expansion operation, the rotation operation of each leg massage unit, the length readjustment operation, and the re-rotation operation to be performed naturally with each other, so that the user's legs naturally ride a bicycle. By moving it, it is possible to increase the exercise effect on the user's legs.

As described above, the control unit 1200 expands and contracts at least one air cell included in the upper leg massage unit of each leg massage unit during the rotation operation, length readjustment operation, and re-rotation operation of each leg massage unit, but is not limited thereto. . For example, the control unit 1200 inflates at least one air cell included in the upper leg massage unit of each leg massage unit and does not contract it, and performs a rotation operation, a length readjustment operation, and a re-rotation operation of each leg massage unit. can be done

In addition, the controller 1200 controls each leg massage unit length adjustment operation (S6510; Motion 4a), length readjustment operation (S6530; Motion 4b), rotation operation (S6550; Motion 4c), length readjustment operation (S6570; Motion 4d) ), and the re-rotation operation (S6590; Motion 4e) may be sequentially and repeatedly performed to exercise the user's leg. For example, the controller 1200 may sequentially repeat Motion 4a, Motion 4b, Motion 4c, Motion 4d, and Motion 4e. As another example, after performing Motion 4a, the controller 1200 may sequentially repeat Motion 4b, Motion 4c, Motion 4d, and Motion 4e.

As described above, each operation is sequentially performed, but is not limited thereto. For example, the controller 1200 may simultaneously perform Motion 4b and Motion 4c, and simultaneously perform Motion 4d and Motion 4e. For example, the control unit 1200 stops the first and second adjustment modules 2500a and 2500b in a state in which the length of each leg massage unit is adjusted according to the length of each leg, and then the first and second adjustment modules 2500a , 2500b) and the first and second rotation modules 2271 and 2273 may be simultaneously driven. As another example, the control unit 1200 does not stop the first and second adjustment modules 2500a and 2500b in a state in which the length of each leg massage unit is adjusted according to the length of each leg, but the first and second adjustment modules 2500a and 2500b in the driven state. The rotation modules 2271 and 2273 may be driven together. The control unit 1200 rotates each leg massage unit while reading the length of each leg massage unit by driving the first and second adjusting modules 2500a and 2500b and the first and second rotating modules 2271 and 2273 together, Each leg massage unit may be rotated again while readjusting the length of each leg massage unit.

In other words, when repeatedly performing Motion 4b, Motion 4c, Motion 4d, and Motion 4e, the controller 1200 may simultaneously perform Motion 4b and Motion 4c, and simultaneously perform Motion 4d and Motion 4e. The controller 1200 may stop the first and second adjustment modules 2500a and 2500b and the first and second rotation modules 2271 and 2273 when the bicycle mode is terminated.

Through this, the controller 1200 may continuously exercise the user's leg to increase the exercise effect on the user's leg.

In addition, before adjusting (or re-adjusting) the length of each leg massage unit as in operation S6530, the control unit 1200 may inflate the first and second shoulder air cells 1911 and 1931 to fix the user's upper body. . For example, the control unit 1200 expands the first and second shoulder air cells 1911 and 1931 while inflating at least one air cell included in each leg massage unit to fix one and the other leg of the user and the upper body of the user. can do it Preferably, the controller 1200 may perform the shoulder air cell expansion operation while inflating at least one air cell included in the lower leg massage unit of each leg massage unit.

As described above, the control unit 1200 performs the air cell expansion operation and the shoulder air cell expansion operation of each leg massage unit in conjunction with each other, but is not limited thereto. For example, the controller 1200 may perform the shoulder air cell expansion operation before and after the air cell expansion operation of each leg massage unit (or the air cell expansion operation included in the lower leg massage unit of each leg massage unit).

The controller 1200 may adjust the length of each leg massage unit in a state where the user's upper body is fixed. In other words, the control unit 1200 controls one side and the other leg (or the lower part of the one side and the other leg) and the length adjustment operation (or length readjustment operation), rotation operation, and length of each leg massage unit in a state where the user's upper body is fixed. A readjustment operation (or length readjustment operation), and a rerotation operation may be performed.

As described above, the controller 1200 may provide each stretching mode and a bicycle mode. However, the controller 1200 may perform a length adjustment operation for providing each stretching mode and a length adjustment operation for providing a bicycle mode based on a preset length adjustment speed. The controller 1200 may perform a rotation operation for providing each stretching mode and a rotation operation for providing a bicycle mode based on a preset rotation speed. In this case, the preset length adjustment speed may be a speed at which each leg massage unit moves in at least one of an upper direction and a lower direction of each leg massage unit at a rate for adjusting the length of each leg massage unit. The preset rotation speed may be a speed at which each leg massage unit rotates and each leg massage unit moves in at least one of an upward direction and a downward direction of the massage apparatus 100 . The preset length adjustment speed and rotation speed may be preset differently according to each stretching mode and/or bicycle mode and stored in the storage unit 1300, but is not limited thereto. For example, the length adjustment speed and rotation speed corresponding to the bicycle mode may be faster than the length adjustment speed and rotation speed corresponding to each stretching mode, but are not limited thereto. The length adjustment speed and rotation speed corresponding to the waist stretching mode may be faster than the length adjustment speed and rotation speed corresponding to the iliopsoas and hamstring stretching mode, but are not limited thereto. The length adjustment speed and rotation speed corresponding to each mode may be variously set.

As described above, the controller 1200 stretches in a state in which the massage device 100 is reclined and a massage is provided (or at least one of a state in which the massage device 100 is reclined and a state in which a massage is provided). By performing an operation corresponding to the mode and/or the bicycle mode, the user's leg may be stretched or exercised, or the waist may be stretched, but the present invention is not limited thereto. For example, the controller 1200 may omit the operation of adjusting the length of each leg massage unit based on the length of each leg, which is a preceding operation in each mode.

In this case, the controller 1200 may perform a preceding operation in each mode in a state in which the massage device 100 is reclined and a state in which a massage is provided (or at least one state). For example, the controller 1200 controls at least one of a length adjustment operation and a rotation operation of any one leg massage unit in a state in which the massage device 100 is reclined and a massage is provided (or at least one state). or at least one of a length adjustment operation and a rotation operation of each leg massage unit, or an operation of fixing the position of any one leg massage unit may be performed.

67 shows an example for explaining a method for the controller to determine a control value to control the massage device according to an embodiment. Specifically, FIG. 67A is a flowchart of an operation of determining a control value, FIG. 67B is a flowchart of an operation of determining a control value according to a physical state, and FIG. 67C is a flowchart of an operation of determining a control value according to difficulty, FIG. 67d shows a flowchart of an operation of determining a control value according to a physical condition and difficulty.

Referring to FIG. 67A , the controller 1200 may obtain information about the user ( S6710 ). The information about the user includes the user's biometric information, a stretching difficulty selected by the user from among a plurality of stretching difficulties, and a plurality of exercises. Information on at least one of the exercise difficulties selected by the user among the difficulties may be included. The user's biometric information may include information on at least one of the user's age and medical history information. The medical history information may be information on whether the user has a disease in the body and information on whether there is a history of having a disease in the body (or whether the user has a disease in the body). More specifically, the history information may be history information on whether the user has a disease in at least one part of the user's legs and waist, and history information on whether or not he has a disease in at least one part of the user. In this case, the disease is a disease that lowers the exercise ability of at least one part of the joint, and may be various diseases such as a herniated disc, a knee disc, and at least one of a frozen shoulder for at least one part. The plurality of stretching difficulties includes beginner stretching difficulty, beginner stretching difficulty, intermediate stretching difficulty, and advanced stretching difficulty, and the plurality of exercise difficulties includes beginner exercise difficulty, beginner exercise difficulty, intermediate exercise difficulty, and Exercise difficulty for advanced users may be included.

Stretching difficulty for advanced users may be a difficulty level that stretches the user's body the most than stretching difficulty for beginners, beginners, and intermediate users. Intermediate stretching difficulty may be a difficulty level that stretches the user's body less than the advanced stretching difficulty level, but stretches the user's body more than the beginner's and beginner's stretching difficulties. The beginner's stretching difficulty may be a difficulty level that stretches the user's body less than the beginner's stretching difficulty level, but stretches the user's body more than the beginner's stretching difficulty level. The beginner's stretching difficulty level may be a difficulty level for stretching the user's body with less assumption than the beginner's, beginner's, and intermediate stretching difficulty levels.

The exercise difficulty for advanced users may be a difficulty level for exercising the user's body the most than the exercise difficulty for beginners, beginners, and intermediate users. The exercise difficulty level for intermediate users may be a difficulty level in which the body of the user is exercised less than the exercise difficulty level for advanced users, but the user's body is exercised more than the exercise difficulty level for beginners and beginners. The exercise difficulty for beginners may be a difficulty level in which the user's body is exercised less than the exercise difficulty for advanced users and intermediate users, but the user's body is exercised more than the exercise difficulty for beginners. The exercise difficulty level for beginners may be a difficulty level for exercising the user's body with less assumption than the stretching difficulty level for beginners, beginners, and intermediate users.

In other words, the stretching difficulty may be a criterion indicating how much the user's body is to be stretched, and the exercise difficulty may be a criterion indicating how much the user's body will be exercised.

For example, the control unit 1200 may obtain information about the user based on input information input by the user to at least one of the user input unit 1400 and an external device capable of communicating with the massage device 100 . .

Specifically, the user may input input information into at least one device. At least one device may generate an input signal based on input information input by the user and transmit the input signal to the massage device 100 . In this case, the input signal may include input information. The controller 1200 may receive an input signal transmitted from at least one device and obtain input information included in the input signal as information about the user.

The input information includes an execution response for executing at least one of the stretching mode and the exercise mode and the user's identifier information, and for at least one of the user's biometric information, the user's selected stretching difficulty, and the user's selected exercise difficulty. may contain information.

The execution response may be at least one of a stretching mode execution response for executing at least one of the iliopsoas stretching mode, the hamstring stretching mode, and the waist stretching mode and an exercise mode execution response for executing the bicycle mode. The identifier information of the user is information indicating the user and may be various such as at least one of an identification (ID) and a name.

Stretching difficulty and/or exercise difficulty may include a first difficulty level corresponding to the first leg massage unit 2000a and a second difficulty level corresponding to the second leg massage unit 2000b. For example, the first and second difficulty levels may be the same as or different from each other according to a user's input. The first difficulty level is a criterion indicating how much or less control the operation of the first leg massage unit 2000a is, and the second difficulty level indicates how much control the operation of the second leg massage unit 2000a is small. It may be a criterion indicating whether to control.

As described above, the controller 1200 obtains the input information included in the input signal as information about the user, but is not limited thereto. For example, a user may input input information including an execution response and identifier information into at least one device. At least one device may transmit an input signal to the massage device 100 as described above. The controller 1200 may receive an input signal transmitted from at least one device to obtain identifier information included in the input signal. The controller 1200 may acquire information about the user based on the identifier information. For example, the control unit 1200 may obtain information about any one user corresponding to the identifier information from among information about a plurality of arbitrary users as information about the user. In this case, information on a plurality of arbitrary users may be stored in at least one of the storage unit 1200, an external server, and an external storage device. Information on a plurality of random users includes information about at least one of identifier information of each random user, biometric information of each random user, stretching difficulty selected by each random user, and exercise difficulty selected by each random user may include

The controller 1200 may determine a control value to control the massage apparatus 100 based on at least one of the user's physical state determined based on the user's biometric information and the user's selected massage difficulty (S6730). In this case, the user's physical state may indicate whether the user is flexible. The massage difficulty is a massage difficulty for a massage mode to be provided to the user, and may be a criterion indicating how strong or weak the massage is to be provided to the user. For example, the massage difficulty may be a difficulty for at least one of the stretching mode and the exercise mode, and may be a difficulty (or stretching difficulty) for the stretching mode and a difficulty (or exercise difficulty) for the exercise mode. The massage difficulty level may include the first and second difficulty levels as described above.

As an example, the controller 1200 may determine a control value to control the massage apparatus 100 based on the user's physical state as shown in FIG. 67B ( S6731 ).

As another example, the controller 1200 may determine a control value to control the massage apparatus 100 based on the massage difficulty as shown in FIG. 67C ( S6733 ).

As another example, the controller 1200 may determine a control value to control the massage apparatus 100 based on the user's physical condition and massage difficulty, as shown in FIG. 67D ( S6735 ).

The control value to control the massage device 100 includes a first control value to control the first leg massage unit 2000a, a second control value to control the second leg massage unit 2000b, and a control value to control the massage device 100 . It may be a third control value to be performed.

For example, the first control value includes a first control length as a reference for adjusting the length of the first leg massage unit 2000a, a first control angle as a reference for rotating the first leg massage unit 2000a, and a first leg massager It may include at least one of a first control speed, which is a speed at which the length of the part 2000a is adjusted, and a first control rotation speed, which is a speed at which the first leg massage part 2000a is rotated. The second control value is a second control length as a reference for adjusting the length of the second leg massage unit 2000b, a second control angle as a reference for rotating the second leg massage unit 2000b, and the second leg massage unit 2000b. It may include at least one of a second control speed that is a speed to adjust the length of and a second control rotation speed that is a speed at which the second leg massage unit 2000b is rotated. The third control value may include a control time, which is a reference for maintaining the operation of the massage device 100 .

The controller 1200 may control the operation of the massage device 100 based on a control value to control the massage device 100 . For example, the controller 1200 may control the operation of the first leg massager 2000a based on the first control value. The controller 1200 may control the operation of the second leg massager 2000b based on the second control value. The controller 1200 may control the operation of the massage apparatus 100 based on the third control value. In other words, the controller 1200 controls the motion of each leg massage unit and the motion of the massage device 100 according to the first to third control values, thereby stretching at least one part of the user's legs and waist, and the user At least one mode may be provided to the user from among the exercise modes for exercising the legs.

Hereinafter, an operation of determining a control value to control the massage device 100 will be described in detail.

Referring to FIG. 67B , the controller 1200 may determine a control value to control the massage apparatus 100 based on the user's physical state ( S6731 ).

First, the controller 1200 may determine the user's physical state indicating whether the user is flexible based on the user's biometric information (S6731a). In this case, the body state is any one of a first state in which the body is very flexible, a second state in which the body is flexible, a third state in which the body is inflexible, and a fourth state in which the body is in a very inflexible state. can be determined by the state of

For example, the controller 1200 may determine the user's first physical state as any one of the first to fourth states based on the information on the user's age.

When the user is less than 20 years of age, the controller 1200 may determine the user's first physical state as a very flexible first state. When the user is in their 20s to 40s, the controller 1200 may determine the user's first physical state as a flexible second state. When the user is in their 50s to 60s, the controller 1200 may determine the user's first physical state as a third state, which is an inflexible state. When the user is in his or her 70s or older, the controller 1200 may determine the user's first physical state as a very inflexible fourth state.

The controller 1200 may determine the user's second physical state as any one of the first to fourth states based on the user's medical history information.

When the user does not have the disease and there is no history of having the disease, the controller 1200 may determine the user's second physical state as the first state. If the user does not have the disease in at least one part of the user's legs and back, but has a history of having the disease in a body part other than at least one part or having the disease in another body part, and/or the user has a body part If the user does not have the disease, but has a history of having the disease, the controller 1200 may determine the user's second physical state as the second state. If the user does not have a disease in at least one of the back and waist, but has a history of having a disease in at least one region, and/or if the user has a disease in the body but has no history of having the disease In this case, the controller 1200 may determine the user's second body state as the third state. When a disease is included in at least one part of the user's back and waist, and/or when the user has a disease in the body and has a history of having a disease, the controller 1200 controls the user's second body state 4 can be determined.

The controller 1200 may determine the final physical state of the user based on at least one of the user's first and second physical states.

When the first and second body states are identical to each other, the controller 1200 may determine the final body state of the user as the first body state or the second body state in the same way as the first and second body states.

When the first and second body states are different from each other, the controller 1200 determines the final physical state of the user as any one of the first and second body states that is less flexible, or the first and second body states can be determined by the intermediate body state of

For example, when the first and second body states are different from each other and are in a state immediately before and/or immediately after each other (eg, the first body state is the first state, the second body state is the second 2 states), the first and second body states are compared, and one of the first and second body states in which the body state is less flexible may be determined as the final body state of the user. When the first body state is less flexible than the second body state, the controller 1200 may determine the final physical state of the user as the first body state. When the second body state is less flexible than the first body state, the controller 1200 may determine the final physical state of the user as the second body state.

As another example, when the first and second body states are different from each other, but not immediately before and/or immediately after each other, the controller 1200 sets the final body state of the user as an intermediate body state between the first and second body states. can decide For example, when there is one intermediate body state between the first and second body states (eg, when the first body state is the first body state and the second body state is the third state) etc.) may determine the final body state of the user as an intermediate body state. When there are two intermediate body states of the first and second body states (eg, the first body state is the first state, the second body state is the fourth state, etc.) The final body state of the user may be determined as any one intermediate body state that is not more flexible among the body states.

Thereafter, the controller 1200 may determine the first, second, and third control values based on the user's physical state (or the user's final physical state) ( S6731b ).

For example, the control unit 1200 may correct a first existing control value preset to control the first leg massage unit 2000a based on a correction value corresponding to a body state (or final body state), so that the first A first new control value in which the existing control value is corrected may be generated. The controller 1200 may determine the first new control value as the first control value. In addition, the controller 1200 corrects a second existing control value preset to control the second leg massage unit 2000b based on a correction value corresponding to the body state (or final body state), thereby controlling the second existing control A second new control value with a corrected value may be generated. The controller 1200 may determine the second new control value as the second control value.

In addition, the control unit 1200 corrects the third existing control value preset to control the massage apparatus 100 based on the correction value corresponding to the physical state (or the final physical state), so that the third existing control value is corrected. A third new control value may be generated. The controller 1200 may determine the third new control value as the third control value.

The first existing control value includes a first existing length preset for adjusting the length of the first leg massage unit 2000a, a first existing angle that is a preset reference for rotating the first leg massage unit 2000a, and a first It may include at least one of a first existing speed that is a preset speed for adjusting the length of the leg massage unit 2000a, and a first existing rotation speed that is a preset speed for rotating the first leg massage unit 2000a. have.

The second existing control value includes a second existing length preset for adjusting the length of the second leg massage unit 2000b, a second existing angle that is a preset reference for rotating the second leg massage unit 2000b, and a second It may include at least one of a second existing speed that is a preset speed for adjusting the length of the leg massage unit 2000b, and a second existing rotation speed that is a preset speed for rotating the second leg massage unit 2000b. have.

The third existing control value may include a preset existing operation maintenance time to maintain the operation of the massage device 100 .

Each existing length may be each of the above-described reference lengths, each existing angle is each of the above-described reference angles, each existing speed is the above-described length adjustment speed, each existing rotational speed is the above-mentioned rotation speed, and the existing operation maintenance time may be the above-described operation holding time.

The above-described correction value corresponding to the user's physical state (or final physical state) may be any one of correction values corresponding to each of the first to fourth states. A correction value corresponding to each of the first to fourth states may be preset and stored in the storage unit 1300 . The correction value corresponding to each state is a correction length to correct each existing length, a correction angle to correct each existing angle, a correction speed to correct each existing speed, a correction rotation speed to correct each existing rotation speed, and maintain the existing operation. It may include at least one of the correction times for which the time is to be corrected. The correction values corresponding to the first and fourth states may be greater than the correction values corresponding to the second and third states.

Specifically, when the user's body state (or final body state) is determined to be the first state or the second state and the user's body is in a flexible state, the controller 1200 sets the first state or the second state to each existing control value. Each new control value may be generated by summing the correction values corresponding to .

When the user's body state is determined to be the third state or the fourth state and the user's body is in an inflexible state, the control unit 1200 subtracts a correction value corresponding to the third state or the fourth state from each existing control value Thus, each new control value can be created.

When determining each control length, the control unit 1200 performs correction corresponding to the user's physical state (or final physical state) to each existing length (eg, at least one reference length among the first to third reference lengths). Lengths can be summed or subtracted to create each new length with each existing length corrected. The controller 1200 may determine each new length as each control length. The correction lengths corresponding to the first and fourth states may be 5 to 10 Cm in the same length as each other, and the correction lengths corresponding to the second and third states may be 2 to 5 Cm in the same length, but is not limited thereto. . For example, the correction lengths corresponding to the first and fourth states may be longer than the correction lengths corresponding to the second and third states.

When determining each control angle, the control unit 1200 corresponds to the user's body state (or final body state) to each existing rotation angle (eg, at least one rotation angle among the first to fourth rotation angles). The correction angles can be summed or subtracted to create each new rotation angle with each existing rotation angle corrected. The controller 1200 may determine each new rotation angle as each control angle. The correction angles corresponding to the first and fourth states may be 5 to 10 degrees at the same angle, and the correction angles corresponding to the second and third states may be 2 to 5 degrees at the same length, but is not limited thereto. For example, the correction angles corresponding to the first and fourth states may be greater than the correction angles corresponding to the second and third states.

When determining each control speed, the controller 1200 may generate each new speed by adding or subtracting a correction speed corresponding to the user's physical condition (or final physical condition) to each existing speed. The controller 1200 may determine each new speed as each control speed. The correction rates corresponding to the first and fourth states may be faster than the correction rates corresponding to the second and third states at the same rate. The correction rates corresponding to the second and third states may be equal to each other and slower than the correction rates corresponding to the first and fourth states.

When determining each control rotation speed, the controller 1200 may generate each new rotation speed by adding or subtracting the corrected rotation speed corresponding to the user's body state (or final body state) to each existing rotation speed. The controller 1200 may determine each new rotation speed as each control rotation speed. The corrected rotation speed corresponding to the first and fourth states may be faster than the corrected rotation speed corresponding to the second and third states at the same speed. The corrected rotational speeds corresponding to the second and third states may be equal to each other and slower than the corrected rotational speeds corresponding to the first and fourth states.

When determining the control time, the controller 1200 controls the user's body state (or final body state) in the existing motion maintenance time (eg, at least one of the motion maintenance time and the first and second motion maintenance times). A new operation holding time may be generated by adding or subtracting the correction time corresponding to . The controller 1200 may determine the new operation maintenance time as the control time. The correction times corresponding to the first and fourth states may be 5 to 10 seconds equal to each other, and the correction times corresponding to the second and third states may be 2 to 5 seconds equal to each other, but is not limited thereto. For example, the correction times corresponding to the first and fourth states may be longer than the correction times corresponding to the second and third states.

As described above, the controller 1200 determines the first to third control values based on the user's physical state (or final physical state), but is not limited thereto. For example, the controller 1200 converts at least one leg massage unit among the upper and lower leg massage units of any one leg massage unit in the hamstring stretching mode to a target leg massage unit based on the user's physical condition (or final body condition). can decide

When the user's body state (or final body state) is at least one of the first state and the second state, the controller 1200 determines both the upper and lower leg massage units of any one leg massage unit as the target leg massage unit. can When the user's physical state (or final physical state) is the third state, the controller 1200 may determine the lower leg massage unit among the upper and lower leg massage units of any one leg massage unit as the target leg massage unit. When the user's physical state (or final physical state) is the fourth state, the controller 1200 may not determine both the upper and lower leg massage units of any one leg massage unit as the target leg massage unit. When the target leg massage unit is not determined, the operation of expanding at least one air cell included in the target leg massage unit may not be performed.

Referring to FIG. 67C , the controller 1200 may determine first to third control values that are control values for controlling the massage apparatus 100 based on the massage difficulty selected by the user (S6733).

First, the controller 1200 may acquire the first and second difficulty levels based on input information input by the user (S6733a). For example, each difficulty level may be determined as one of difficulty for beginners, difficulty for beginners, difficulty for intermediate users, and difficulty for advanced users according to a user's input.

Thereafter, the controller 1200 determines a first control value based on the first difficulty level, determines a second control value based on the second difficulty level, and determines at least one of the first difficulty level and the second difficulty level. A third control value may be determined. When the first and second difficulty levels are equal to each other, the first and second control values may be equal to each other. When the first and second difficulty levels are not equal to each other, the first and second control values may be different from each other.

For example, the control unit 1200 corrects the first existing control value preset to control the first leg massage unit 2000a based on the correction value corresponding to the first difficulty level, whereby the first existing control value is corrected. The first new control value may be generated. The controller 1200 may determine the first new control value as the first control value.

In addition, the control unit 1200 corrects the second existing control value preset to control the second leg massage unit 2000b based on the correction value corresponding to the second difficulty level, thereby making the second existing control value corrected. 2 New control values can be created. The controller 1200 may determine the second new control value as the second control value.

When the iliopsoas stretching mode and the hamstring stretching mode for stretching the user's leg are provided to the user, the control unit 1200 determines the third control value for the difficulty corresponding to the stretch target leg among the first and second difficulty levels. can be decided with The controller 1200 may generate a third new control value in which the third existing control value is corrected by correcting the third existing control value based on the reference difficulty level. The controller 1200 may determine the third new control value as the third control value.

When the waist stretching mode for stretching the user's waist is provided to the user, the controller 1200 may determine one of the higher difficulty levels among the first and second difficulties as the reference difficulty level for determining the third control value. The controller 1200 may generate a third new control value in which the third existing control value is corrected by correcting the third existing control value based on the reference difficulty level. The controller 1200 may determine the third new control value as the third control value.

The correction value corresponding to each of the first and second difficulty levels may be any one correction value from among correction values corresponding to each difficulty level for beginners, beginners, intermediate users, and advanced users. A correction value corresponding to each difficulty level for beginners, beginners, intermediate users, and advanced users may be preset and stored in the storage unit 1300 . The correction values corresponding to each of the difficulty levels for beginners, beginners, intermediate and advanced are a correction length to correct each existing length, a correction angle to correct each existing angle, a correction speed to correct each existing speed, and each existing rotation. It may include at least one of the corrected rotation speed to correct the speed. The correction value corresponding to the difficulty for beginners and the difficulty for advanced users may be greater than the correction value corresponding to the difficulty for beginners and the difficulty for intermediate users.

The correction value corresponding to each difficulty may be any one of correction values corresponding to each of the first to fourth states. A correction value corresponding to each of the first to fourth states may be preset and stored in the storage unit 1300 . The correction value corresponding to each state is a correction length to correct each existing length, a correction angle to correct each existing angle, a correction speed to correct each existing speed, a correction rotation speed to correct each existing rotation speed, and maintain the existing operation. It may include at least one of the correction times for which the time is to be corrected. The correction values corresponding to the first and fourth states may be greater than the correction values corresponding to the second and third states.

Specifically, when at least one difficulty level among the first and second difficulty levels is determined as the intermediate level difficulty level or the advanced level level difficulty level, the control unit 1200 sets the intermediate level difficulty level or the advanced level level level to the existing control value corresponding to the at least one level difficulty level. A new control value corresponding to at least one difficulty level may be generated by adding the corresponding correction values.

When at least one of the first and second difficulty levels is determined to be the beginner difficulty level or the beginner level difficulty level, the control unit 1200 adjusts the existing control value corresponding to the at least one difficulty level to the beginner level difficulty level or the beginner level difficulty level. A new control value corresponding to at least one difficulty level may be generated by subtracting the value.

When determining each control length, the controller 1200 may add or subtract a correction length corresponding to each difficulty to each existing length to generate each new length in which each existing length is corrected. The controller 1200 may determine each new reference length as each control length. Correction lengths corresponding to beginner and advanced level of difficulty (e.g., beginner and advanced stretching difficulty, beginner and advanced exercise difficulty) are equal to each other, 5 to 10 Cm, and beginner and intermediate level of difficulty ( The correction length corresponding to the stretching difficulty for beginners and intermediate users, exercise difficulty for beginners and intermediates) may be 2 to 5 Cm in length equal to each other, but is not limited thereto. For example, the correction length corresponding to the difficulty level for beginners and advanced users may be longer than the correction length corresponding to the difficulty level for beginners and intermediate users.

When determining each control angle, the controller 1200 may generate each new rotation angle by adding or subtracting a correction angle corresponding to each difficulty to each existing rotation angle. The controller 1200 may determine each new rotation angle as each control angle. The correction angle corresponding to the difficulty level for beginners and advanced users is 5 to 10 degrees at the same angle, and the correction angle corresponding to the difficulty level for beginners and intermediate users may be 2 to 5 degrees at the same correction angle, but is not limited thereto. . For example, the correction angle corresponding to the difficulty level for beginners and advanced users may be greater than the correction angle corresponding to the difficulty level for beginners and intermediate users.

When determining each control speed, the controller 1200 may generate each new speed by adding or subtracting a correction speed corresponding to each difficulty to each existing speed. The controller 1200 may determine each new speed as each control speed. The correction speed corresponding to the difficulty level for beginners and advanced users may be faster than the correction rate corresponding to the difficulty level for beginners and intermediate users at the same speed. The correction rates corresponding to the beginner and intermediate level of difficulty may be slower than the correction rates corresponding to the beginner and advanced level of difficulty at the same rate.

When determining each control rotation speed, the controller 1200 may generate each new rotation speed by adding or subtracting the corrected rotation speed corresponding to each difficulty to each existing rotation speed. The controller 1200 may determine each new rotation speed as each control rotation speed. The corrected rotation speed corresponding to the difficulty level for beginners and advanced users may be faster than the corrected rotation speed corresponding to the difficulty level for beginners and intermediate users at the same speed. The corrected rotational speed corresponding to the beginner and intermediate level of difficulty may be lower than the corrected rotational speed corresponding to the beginner and advanced level of difficulty at the same speed.

When determining the control time, the controller 1200 may generate a new operation maintenance time by adding or subtracting a correction time corresponding to the reference difficulty to the existing operation maintenance time. The controller 1200 may determine the new operation maintenance time as the control time. The correction time corresponding to the difficulty level for beginners and advanced users may be 5 to 10 seconds at the same time as each other, and the correction time corresponding to the difficulty level for beginners and intermediate users may be 2 to 5 seconds at the same time as each other, but is not limited thereto. For example, the correction time corresponding to the difficulty level for beginners and advanced users may be longer than the correction time corresponding to the difficulty level for beginners and intermediate users.

As described above, the control unit 1200 determines the first control value based on the first difficulty level, determines the second control value based on the second difficulty level, and determines the third control value based on the reference difficulty level, However, the present invention is not limited thereto. For example, the controller 1200 may determine at least one leg massage unit among the upper and lower leg massage units of any one of the leg massage units in the hamstring stretching mode as the target leg massage unit based on the reference difficulty level.

When the standard difficulty level is the stretching difficulty for advanced users and intermediate users, the controller 1200 may determine both the upper and lower leg massage units of any one leg massage unit as the target leg massage units. When the standard difficulty level is the beginner's stretching difficulty, the controller 1200 may determine the lower leg massage unit among the upper and lower leg massage units of any one leg massage unit as the target leg massage unit. When the standard difficulty is the beginner's stretching difficulty, the controller 1200 may not determine both the upper and lower leg massage units of any one leg massage unit as the target leg massage unit. When the target leg massage unit is not determined, the operation of expanding at least one air cell included in the target leg massage unit may not be performed.

Referring to FIG. 67D , the controller 1200 may determine a control value based on the user's physical condition and the difficulty level selected by the user (S6735).

First, the controller 1200 may determine the user's physical state (or final physical state) as in S6731a (S6735a).

Thereafter, the controller 1200 may acquire the first and second difficulty levels as in S6733a (S6735b).

Finally, the controller 1200 may determine the first to third control values based on the user's physical state (or final physical state) and each difficulty level or reference difficulty level (S6735c).

For example, as described above, the controller 1200 may determine the primary control values for the first to third control values based on the user's physical state (or final physical state). For example, the controller 1200 may generate each new control value as in S6731b and determine each new control value as a primary control value for each control value. The primary control value may be a control value determined in S6731b described above.

As described above, the controller 1200 may determine the secondary control values for the first to third control values based on the difficulty selected by the user (eg, the first difficulty level, the second difficulty level, and the reference difficulty level). . For example, the controller 1200 may generate each new control value as in S6733b, and determine each new control value as a secondary control value for each control value. The secondary control value may be a control value determined in S6733b described above.

The controller 1200 may determine final control values for the first to third control values based on the first and second control values.

The control unit 1200 determines whether the primary and secondary control values are equal to each other by comparing the primary and secondary control values, and based on whether the primary and secondary control values are equal to each other, each control value It is possible to determine the final control value for .

When the primary and secondary control values are the same, the controller 1200 may determine any one of the primary and secondary control values as the final control value. When the primary and secondary control values are not the same, the controller 1200 may determine an average value of the primary and secondary control values as the final control value.

As described above, the controller 1200 determines the final control values for the first to third control values based on the user's physical state (or final physical state) and the difficulty selected by the user, but is not limited thereto. For example, the controller 1200 may determine the target leg massage unit in the hamstring stretching mode based on the user's physical state (or final physical state) and the difficulty selected by the user. Specifically, the controller 1200 performs a primary determination on the target leg massage unit based on the user's physical state (or final physical state), and makes a secondary determination on the target leg massage unit based on the difficulty selected by the user. can be done The controller 1200 may make a final decision on the target leg massage unit based on the first and second decisions. When the primary and secondary decisions are the same, the controller 1200 may determine the final decision for the target leg massage unit as the primary or secondary decision. When the primary and secondary determinations are not the same, the controller 1200 may determine, among the primary and secondary determinations, a determination with a small number of air cell expansions as a final determination for the target leg massage unit. In this case, the determination of the small number of air cell inflation may mean a determination of a small number of leg massage units determined as the target leg massage units among the upper and lower leg massage units of the target leg massage unit among the first and second crystals.

68 is a view for explaining a structure in which leg massage units on both sides are connected in the massage device 100 ′ according to an embodiment.

Referring to FIG. 68 , in the massage device 100 ′ according to an embodiment, the leg massage units on both sides include shaft members on the left and right, respectively. Specifically, each of the leg massage units includes a second shaft member 2330' in a direction facing each other, and a first shaft member 2310' in a direction not facing each other. At this time, the first shaft member 2310' and the second shaft member 2330' are respectively inserted into both sides of the leg frame 2210' of the leg massage unit.

As an embodiment, the first shaft member 2310 ′ and the second shaft member 2330 ′ may be firmly coupled to each other while being inserted into the leg frame 2210 ′, for example, by welding.

The first shaft member 2310' is inserted into the side holder 2320'. The side holder 2320' is arranged on both sides of the leg massage unit 2000' and configured to insert the first shaft member 2310', and means for fixing the inserted first shaft member 2310'. to be.

The side holder 2320' may be inserted into the first shaft fixing member 1150', and the first shaft fixing member 1150' may support the inserted side holder 2320'. The first shaft fixing member 1150 ′ may be connected to and coupled to the first connecting member 1140 ′, and the first connecting member 1140 ′ may be connected to the leg connecting frame 1130 ′.

The second shaft member 2330' is inserted into the center holder 2340'. The center holder 2340' is disposed between the leg massage units on both sides and is configured to insert the second shaft member 2330', and is a means for fixing the inserted second shaft member 2330'.

The center holder 2340' may be inserted into the second shaft fixing member 1170', and the second shaft fixing member 1170' may support the inserted center holder 2340'. The second shaft fixing member 1170 ′ may be connected to and coupled to the second connecting member 1160 ′, and the second connecting member 1160 ′ may be connected to the leg connecting frame 1130 ′.

At this time, each leg massage unit includes a first shaft member 2310' and a second shaft member 2330' disposed on both side surfaces, and the first shaft member 2310' and the second shaft member 2330' are fixed on both sides. Accordingly, the side holder 2320' and the center holder 2340' are respectively disposed on both sides of the first leg massage unit and the second leg massage unit. As a result, a total of four leg massage units are required for rotation of the two separated leg massage units.

According to this configuration, the massage device 100 ′ according to an embodiment of the present invention includes two center holders 2340 ′, and the two center holders 2340 ′ are connected to the leg frame 1130 ′. ), two second shaft fixing members 1170 ′ and two second connecting members 1160 ′ are required to connect to each other. That is, the two center holders 2340 ′ are respectively connected to the leg connecting frame 1130 ′.

Accordingly, the massage device 100 ′ according to an embodiment of the present invention may have a problem in that the rotation axes of the two leg massage units are shifted due to the rotation of the leg massage units. In addition, the number of components required to connect the two leg massage units to the body massage unit increases.

In order to solve this problem, the massage device 100'' according to another embodiment of the present invention uses one center holder 2340'' so that the axes of the leg massage units 2000'' on both sides are in a straight line. can be placed in

69 is a view for explaining a structure in which the leg massage units 2000 ″ on both sides are connected in the massage device 100 ″ according to another embodiment of the present invention, and FIG. 70 is the connection structure of FIG. 69 . It is an exploded perspective view of the composition.

69 and 70 , the massage device 100 ″ according to another embodiment of the present invention may include an individually rotatable leg massage unit 2000 ″. For example, the leg massage unit 2000'' includes 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. can do. In addition, each leg massage unit 2000 ″ may include a shaft member on the side thereof. For example, the leg massage unit 2000'' includes a first shaft member 2310'' on both sides thereof, and a second shaft member 2330'' is disposed between the leg massage part 2000''. may include

Specifically, the first leg massage part 2000a'' includes a second shaft member 2330'' and a second shaft member 2330'' disposed in a direction facing the second leg massage part 2000b''. It may include a first shaft member 2310'' disposed in the opposite direction to the direction opposite to the direction in which the second leg massage unit 2000b'' is disposed. In addition, the second leg massage unit 2000b'' includes a second shaft member 2330'' and a second shaft member 2330'' disposed in a direction facing the first leg massage unit 2000a''. It may include a first shaft member 2310'' disposed in the opposite direction, that is, in a direction opposite to the direction in which the first leg massage unit 2000a'' is disposed. Accordingly, in the leg massage unit 2000'', the first shaft member 2310'' is disposed on the left and right sides, respectively, as a whole, and the first leg massage unit 2000a'' and the second leg massage unit 2000b' are disposed. ') between the two second shaft members 2330'' are disposed.

As an embodiment, each of the first leg massager 2000a'' and the second leg massager 2000b'' may include a leg frame 2210''. The leg frame 2210'' is disposed on the rear side of the first leg massage unit 2000a'' and the second leg massage unit 2000b'' so that the leg massage unit 2000'' is connected to the body massage unit 1000''. ) and may be configured to be connected. At this time, the first shaft member 2310'' and the second shaft member 2330'' may be inserted into the leg frame 2210''.

As an optional embodiment, the first shaft member 2310'' and the second shaft member 2330'' may be firmly fixed after being inserted into both sides of the leg frame 2210'', for example, for welding. can be combined by However, the present invention is not limited thereto and may be coupled by screw coupling or bolt and nut coupling.

Therefore, as described above, when the power generated by the leg angle actuator 2270 is transmitted to the leg massage unit 2000'', the first shaft member 2310'' and the second shaft member 2330'' are It can serve as a rotation axis of the leg massage unit 2000''. That is, the first shaft member 2310'' and the second shaft member 2330'' can rotate together while being connected to the leg massage unit 2000''.

The massage device 100'' according to another embodiment of the present invention is disposed on both sides of the leg massage unit 2000'' and includes a side holder 2320'' into which the first shaft member 2310'' is inserted. can do. The side holder 2320'' may be a means for fixing the inserted first shaft member 2310''. That is, the side holder 2320'' may be disposed on the left and right sides of the leg massage unit 2000'', respectively, and the first shaft member 2310'' is inserted into the side holder 2320'', respectively. can be fixed.

In addition, the massage device 100'' according to another embodiment of the present invention is disposed between the first leg massage part 2000a'' and the second leg massage part 2000b'', and is a second shaft member on both sides. It may include a center holder 2340'' into which 2330'' is inserted. The center holder 2340'' may be a means for fixing the inserted two second shaft members 2330''. That is, the two second shaft members 2330'' may be inserted into and fixed to one center holder 2340''.

As an embodiment, the massage device 100'' has a first shaft fixing member 1150'' for fixing the side holder 2320'' and a second shaft fixing for fixing the center holder 2340''. member 1170''. In addition, the massage device 100'' may include a first connecting member 1140'' connecting the first shaft fixing member 1150'' and the leg connecting frame 1130'', and the second shaft A second connection member 1160 ″ connecting the fixing member 1170 ″ and the leg connection frame 1130 ″ may be included.

Referring back to FIG. 69, the connection structure of the first leg massage unit 2000a'' and the second leg massage unit 2000b'' and the connection between the leg massage unit 2000'' and the body massage unit 1000'' The structure is described in detail.

A first shaft member 2310'' and a second shaft member 2330'' may be inserted and fixed to both sides of the leg frame 2210'' of the first leg massage unit 2000a''. At this time, the first shaft member 2310'' may be inserted into and fixed to the side holder 2320'', and the side holder 2320'' may be inserted into and fixed to the first shaft fixing member 1150''. can The first shaft fixing member 1150 ″ may stably support the inserted side holder 2320 ″. The first shaft fixing member 1150'' may be connected to and coupled to the first connecting member 1140'', and the first connecting member 1140'' may be connected to the leg connecting frame 1130''. . In this case, the first connecting member 1140 ″ may be connected to one side of the leg connecting frame 1130 ″. In addition, the second shaft member 2330'' may be inserted and fixed to one side of the center holder 2340''.

A first shaft member 2310'' and a second shaft member 2330'' may be inserted and fixed to both sides of the leg frame 2210'' of the second leg massage unit 2000b''. At this time, the first shaft member 2310'' may be inserted into and fixed to the side holder 2320'', and the side holder 2320'' may be inserted into and fixed to the first shaft fixing member 1150''. can The first shaft fixing member 1150 ″ may stably support the inserted side holder 2320 ″. The first shaft fixing member 1150'' may be connected to and coupled to the first connecting member 1140'', and the first connecting member 1140'' may be connected to the leg connecting frame 1130''. . In this case, the first connecting member 1140 '' may be connected to the other side of the leg connecting frame 1130 '', specifically, the first connecting member 1140 '' connected to the first leg massage unit 2000a''. can be connected in the opposite direction. In addition, the second shaft member 2330'' may be inserted and fixed to the other side of the center holder 2340'', specifically, the second shaft member 2330'' of the first leg massage unit 2000a''. ) can be inserted and fixed in the opposite direction to the inserted direction.

With this configuration, two first connecting members 1140 ″ may be disposed at both ends of the leg connecting frame 1130 ″. That is, the first connecting members 1140'' may be connected one by one to both ends of the leg connecting frame 1130'', and each of the first connecting members 1140'' is the first leg massage unit 2000a''. and the second leg massage unit 2000b''.

In addition, on both sides of the center holder 2340'', the second shaft member 2330'' of the first leg massage part 2000a'' and the second shaft member 2330 of the second leg massage part 2000b'' '') can be inserted at the same time. That is, the two second shaft members 2330'' are simultaneously inserted into one center holder 2340''. In this case, the center holder 2340 ″ may be connected to and fixed to the second shaft fixing member 1170 ″. The second shaft fixing member 1170 ″ may stably support the inserted center holder 2340 ″. The second shaft fixing member 1170'' may be connected to and coupled to the second connecting member 1160'', and the second connecting member 1160'' may be connected to the leg connecting frame 1130''. . In this case, the second connecting member 1160 ″ may be connected to the center of the leg connecting frame 1130 ″.

After all, the massage device 100'' according to another embodiment of the present invention includes a single center holder 2340'' and the second shaft member 2330'' of the first leg massage unit 2000a''. and the second shaft member 2330'' of the second leg massage unit 2000b'' may be connected to each other. In addition, the massage device 100'' according to another embodiment of the present invention includes the center holder 2340'', the second shaft fixing member 1170'' and the second connecting member 1160'' one by one. In addition, the leg massage unit 2000'' and the body massage unit 1000'' may be connected.

Therefore, according to another embodiment of the present invention, even when the first leg massage unit 2000a'' and the second leg massage unit 2000b'' rotate individually, the rotation axis does not shift, and the two leg massage units It is possible to have an advantage in that the number of components required to connect 2000'' to the body massage unit 1000'' is reduced.

71 is a diagram schematically illustrating a side holder 2320' according to an embodiment of the present invention.

Referring to FIG. 71 , the side holder 2320 ′ used in the massage device 100 ′ according to an embodiment of the present invention includes a plurality of components.

Specifically, the side holder 2320 ′ according to an embodiment of the present invention is configured such that one component is inserted and coupled to the other component. At this time, one configuration may be made of a synthetic resin, for example, it may be made of a lubricating plastic. In addition, the rest of the configuration may be made of a metal material and, for example, may include iron (Fe).

Therefore, since the side holder 2320' according to an embodiment of the present invention has a plurality of components, there is a problem that a plurality of parts are required, and noise or vibration generated by the rotation of the leg massage unit 2000' is reduced. It was difficult to fill.

In order to solve this problem, the massage device 100'' according to another embodiment of the present invention may include an improved side holder 2320''.

72 is a view for explaining the cushioning action on both sides of the leg massage unit 2000'' of FIG. 69, and FIG. 73 is a view schematically showing the side holder 2320'' according to another embodiment of the present invention. , and FIG. 74 is a view schematically showing the first elastic member 2350 ″ of FIG. 70 .

72 and 73 , the side holder 2320 ″ according to another embodiment of the present invention may be integrally formed.

Specifically, the side holder 2320'' is at one end of the first extension part 2321'' and the first extension part 2321'' which are formed to be inserted into the first shaft fixing member 1150'' described above. It may include a first engaging protrusion 2322 ″ that is formed with a larger diameter than the first extension 2321 ″.

The first extension 2321 ″ may be a portion inserted into the first shaft fixing member 1150 ″. The first extension 2321 ″ may be formed to extend to have a length, and thereby may be stably inserted into the first shaft fixing member 1150 ″.

The first stopping protrusion 2322 ″ is a portion formed at one end of the first extension 2321 ″, and has a larger diameter than the first extension 2321 ″ to perform a stopper function. Accordingly, the side holder 2320'' may be inserted into the first shaft fixing member 1150'' only at a portion corresponding to the first extension part 2321'', and the first locking jaw part 2322'' It may not be inserted into the first shaft fixing member 1150 ″.

The side holder 2320 ″ may include a first insertion hole 2323 ″. The first insertion hole 2323 ″ may be a space into which the first shaft member 2310 ″ is inserted. Specifically, the first insertion hole 2323'' may be formed along the longitudinal direction of the first locking jaw part 2322'', and up to a part of the first extension part 2321'' may be formed along the longitudinal direction. can That is, the first insertion hole 2323 ″ may be formed to extend from the end of the first locking jaw portion 2322 ″ to a portion corresponding to a portion of the first extension portion 2321 ″, and the first extension The end of the portion 2321 ″ may be closed.

Accordingly, the first shaft member 2310'' may be inserted into the side holder 2320'' through the first locking jaw part 2322'', and at a predetermined position of the first extension part 2321''. It may no longer be inserted.

As an embodiment, the side holder 2320 ″ may include a plurality of grooves formed along an outer surface thereof. For example, a plurality of grooves may be formed on the surface of the first stopping protrusion 2322 ″.

Referring back to FIG. 73, grooves may be formed on the surface of the first locking protrusion 2322'' to form a plurality of rows along the outer surface, and the grooves included in each row may have a predetermined interval along the outer diameter. can be formed. Accordingly, a shape in which a plurality of ribs are formed is implemented on the surface of the first stopping protrusion 2322 ″. Also, the formed grooves may have the same width and length. Accordingly, the force applied to the side holder 2320 ″ from the outside can be uniformly distributed.

Accordingly, the side holder 2320'' can be manufactured to be lightweight, and as will be described later, the removal efficiency of vibration or noise generated by the operation of the leg massage unit 2000'' can be improved.

As an embodiment, the side holder 2320'' may be made of a synthetic resin, and as a specific embodiment, it may be made of a material including polyacetal (POM).

Accordingly, the side holder 2320'' may have strong resistance to wear due to rotation of the leg massage unit 2000'', secure high strength, and may be manufactured to be lightweight. In addition, the side holder 2320'' can have a strong resistance to friction due to rotation of the leg massage unit 2000'' by having self-lubrication. As a result, the durability of the side holder 2320 ″ is improved.

In an alternative embodiment, the side holder 2320 ″ may include a glass fiber. For example, the side holder 2320 ″ may be manufactured by an injection process, and glass fibers may be added to polyacetal during the injection process. As a specific embodiment, the glass fiber may be contained by 10% or more, preferably by 20 to 50%. Accordingly, the side holder 2320 ″ may have improved corrosion resistance and insulation, and may have improved durability against heat or chemical action generated by friction.

72 and 74 , the side holder 2320 ″ may further include a first elastic member 2350 ″ disposed therein to contact the first shaft member 2310 ″.

Specifically, when the leg massage part 2000'' rotates in a state in which the first shaft member 2310'' is inserted into the side holder 2320'', the first shaft member 2310'' is the side holder (2320''). 2320'') or oscillates in the axial direction. Accordingly, such vibrations may be transmitted to the entire massage device 100'' or noise may be generated. To solve this, the first elastic member 2350'' may be disposed inside the side holder 2320''. For example, the first elastic member 2350'' may be disposed inside the first extension part 2321'' of the side holder 2320'', and specifically, the first insertion hole 2323'' ) can be placed at the end of the

Accordingly, when the first shaft member 2310'' moves in the axial direction or vibration or noise is generated by the rotation of the leg massage unit 2000'', the first elastic member 2350'' is the first elastic member 2350''. It is possible to buffer the movement of the shaft member (2310'').

The first elastic member 2350'' may be formed of a material having elasticity, and may be formed in a form that can be contracted and expanded in a direction parallel to the moving direction of the first shaft member 2310''. Specifically, as shown in FIG. 74 , the first elastic member 2350 ″ may be formed such that surfaces formed integrally form curved surfaces having different heights from each other. Accordingly, the first elastic member 2350'' may be formed to have a thin overall thickness.

Therefore, when the first shaft member 2310'' is inserted more deeply into the inside of the side holder 2320'', the first elastic member 2350'' contracts while the first shaft member 2310'' The inserted force can be buffered, and this force can be offset by the elastic force.

In addition, since the side holder 2320'' is disposed on both sides of the leg massage unit 2000'', there is a limit that it cannot have a length greater than a certain amount, so that the first elastic member 2350'' is thin as described above. It can be formed with a thickness to overcome the spatial limitation.

FIG. 75 is a view for explaining a cushioning action in the center of the leg massage unit 2000'' of FIG. 69, and FIG. 76 is a view schematically showing the center holder 2340'' of FIG.

75 and 76 , the center holder 2340 ″ may be integrally formed. Accordingly, the center holder 2340'' may have the second shaft members 2330'' inserted on both sides, respectively.

Specifically, the center holder 2340'' is provided at both ends of the second extension part 2341'' and the second extension part 2341'' which are formed to be connected to the above-described second shaft fixing member 1170''. It may include a second locking jaw portion 2342'' that is formed with a larger diameter than the second extension portion 2341''.

The second extension portion 2341 ″ may be a portion connected to the second shaft fixing member 1170 ″. The second extension portion 2341'' may be formed to extend to have a length, and thereby may be stably coupled to the second shaft fixing member 1170''.

The second locking jaw part 2342'' is a portion formed at both ends of the second extension part 2341'', and may be formed to have a larger diameter than the second extension part 2341'' to perform a stopper function. . Accordingly, the center holder 2340'' may not be shaken left and right while the second extension part 2341'' is connected to the second shaft fixing part 1170''.

The center holder 2340 ″ may include a second insertion hole 2343 ″. The second insertion hole 2343'' may be a space for inserting the second shaft member 2330''. Specifically, the second insertion hole 2343 ″ may be formed to penetrate the center holder 2340 ″ in the longitudinal direction. Accordingly, the second shaft member 2330 ″ can be easily inserted into both ends of the center holder 2340 ″.

As an embodiment, the center holder 2340 ″ may include a plurality of grooves formed along an outer surface thereof.

Referring back to FIG. 76, grooves may be formed on the surface of the center holder 2340'' to form a plurality of rows along the outer surface, and a plurality of grooves included in each row may be formed to have a predetermined interval along the outer diameter. can Accordingly, a shape in which a plurality of ribs are formed on the surface of the center holder 2340 ″ is implemented.

As an embodiment, the plurality of grooves formed on the surface of the second locking protrusion 2342 ″ may have the same width and length. Accordingly, when a force is applied to the center holder 2340 ″ from the outside, the applied force may be uniformly distributed.

In addition, the groove formed along the center line among the plurality of grooves formed on the surface of the second extension part 2341 ″ may be formed to have a greater thickness than the remaining grooves. In addition, the grooves formed in the left and right portions with respect to the grooves formed along the center line may be formed to be symmetrical to each other.

Accordingly, the center holder 2340'' can be manufactured to be lightweight, and vibration or noise generated by the operation of the leg massage unit 2000'' can be easily removed.

As an embodiment, the center holder 2340'' may be made of a synthetic resin, and as a specific embodiment, it may be made of a material including polyacetal (POM).

Accordingly, the center holder 2340'' may have strong resistance to abrasion due to rotation of the leg massage unit 2000'', secure high strength, and may be manufactured to be lightweight. In addition, the center holder 2340'' can have a strong resistance to friction caused by rotation of the leg massage unit 2000'' by having self-lubrication. As a result, there is an effect that the durability of the center holder 2340'' is improved.

As an alternative embodiment, the center holder 2340 ″ may include a glassfiber. For example, the center holder 2340 ″ may be manufactured by an injection process, and glass fiber may be added to polyacetal in the injection process. As a specific embodiment, the glass fiber may be contained in 10% or more, preferably in an amount of 20 to 50%. Accordingly, the center holder 2340 ″ may have improved corrosion resistance and insulation, and may have improved durability against heat or chemical action generated by friction.

Referring back to FIG. 75 , the center holder 2340 ″ may further include a second elastic member 2360 ″ disposed between the second shaft members 2330 ″ inserted from both sides.

Specifically, when the leg massage unit 2000'' rotates in a state in which the second shaft member 2330'' is inserted into the center holder 2340'', the second shaft member 2330'' is the center holder (2340''). 2340'') or oscillates in the axial direction. Accordingly, such vibrations may be transmitted to the entire massage device 100'' or noise may be generated. To solve this problem, a second elastic member 2360'' may be disposed inside the center holder 2340''. For example, the second elastic member 2360 ″ may be disposed inside the second extension portion 2341 ″ of the center holder 2340 ″.

Accordingly, when the second shaft member 2330'' moves in the axial direction or vibration or noise is generated by the rotation of the leg massage unit 2000'', the second elastic member 2360'' is the second elastic member 2360''. It is possible to buffer the movement of the shaft member (2330'').

The second elastic member 2360'' may be formed of a material having elasticity, and may be formed in a form capable of contracting and expanding in a direction parallel to the moving direction of the second shaft member 2330''. Specifically, the second elastic member 2360 ″ may be formed in the shape of a spring as shown in FIG. 75 . Accordingly, the second elastic member 2360'' can stably buffer the applied force even when the second shaft member 2330'' applies a force from both sides.

Accordingly, when the second shaft member 2330'' is inserted more deeply into the inside of the center holder 2340'', the second elastic member 2360'' contracts while the second shaft member 2330'' The inserted force can be buffered, and this force can be offset by the elastic force.

On the other hand, the second shaft member 2330'' is inserted into the center holder 2340'', past the second locking jaw part 2342'' to be inserted up to a portion of the second extension part 2341''. can That is, based on the cross section of the center holder 2340'', the second shaft member 2330'' is inserted from both sides of the center holder 2340'', and at the center of the second extension part 2341''. A second elastic member 2360'' is disposed, and the second shaft member 2330'' is inserted so as to protrude through the second locking jaw part 2342'' to the second extension part 2341'' to extend the second The second shaft member 2330'' may be disposed on both sides of the elastic member 2360''.

Accordingly, a load is applied to the center holder 2340'' by the leg massage unit 2000'' to damage the center holder 2340'', or the second shaft member 2330'' to the center holder 2340''. ) can be avoided.

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.

Claims (9)

In the massage device,
a control unit for controlling the massage device;
a body massage unit providing a body massage for massaging at least a part of the user's body based on the control of the controller; and
a leg massage unit disposed under the body massage unit and providing a leg massage for massaging 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, wherein the first and second leg massage units can move independently of each other, ,
The control unit determines a physical state of the user indicating whether the user is flexible based on the user's biometric information, and a first control value and the second control value for controlling the first leg massage unit based on the physical state determining a second control value to control the leg massage unit,
massage device. The method of claim 1,
The biometric information includes at least one of the user's age and medical history information, and the medical history information includes information on whether the user has a disease in the body and information on whether the user has a history of disease in the body. containing,
massage device. 3. The method of claim 2,
The body state is any one of a first state in which the body is very flexible, a second state in which the body is flexible, a third state in which the body is inflexible, and a fourth state in which the body is in a very inflexible state. is determined by
The controller determines the first physical state of the user as any one of the first to fourth states based on the information on the age of the user, and the second state of the user based on the medical history information determining a physical state as any one of the first to fourth states, determining a final physical state of the user based on at least one of the first and second physical states, and determining the final body state determining the first and second control values based on a state;
massage device. 4. The method of claim 3,
When the user is less than 20 years of age, the control unit determines the first body state as the first state,
When the user is in their 20s to 40s, the control unit determines the first body state as the second state,
When the user is in their 50s to 60s, the control unit determines the first body state as the third state,
When the user is 70 years or older, the control unit determines the first body state as the fourth state,
When the user does not have a disease in the body and there is no history of having a disease, the control unit determines the second physical state as the first state,
If the user does not have a disease in the body, but has a history of having a disease, the controller determines the second physical state as the second state,
If the user has a disease in the body but has no history of possessing the disease, the control unit determines the second physical state as the third state,
When the user has a disease in the body and there is a history of possessing the disease, the control unit determines the second physical state as the fourth state,
massage device. 4. The method of claim 3,
When the first and second body states are identical to each other, the controller determines the final body state as the first body state or the second body state,
When the first and second body states are different from each other, the controller determines the final body state as an intermediate body state between the first and second body states among the first and second states,
When the intermediate body state does not exist, the control unit determines the final body state as any one of the first and second body states that is less flexible.
massage device. 4. The method of claim 3,
The control unit corrects a first existing control value preset to control the first leg massage unit based on a correction value corresponding to the final body state, thereby generating a first new control value in which the first existing control value is corrected. generating, and determining the first new control value as the first control value;
The control unit generates a second new control value in which the second existing control value is corrected by correcting a preset second existing control value to control the second leg massage unit based on the correction value, and determining a new control value as the second control value;
massage device. 7. The method of claim 6,
When the body state is determined to be the first state or the second state and the user's body is in a flexible state, the control unit adds a correction value corresponding to the first state or the second state to each existing control value. create a new control value,
When the body state is determined to be the third state or the fourth state and the user's body is in an inflexible state, the control unit subtracts a correction value corresponding to the third state or the fourth state from each existing control value to generate each new control value,
massage device. 7. The method of claim 6,
The first control value includes a first length as a reference for adjusting the length of the first leg massage unit, a first angle as a reference for rotating the first leg massage unit, a first speed as a speed at which to adjust the length of the first leg massage unit, and at least one of a first rotation speed that is a speed at which the first leg massage unit is rotated,
The second control value is a second length that is a reference for adjusting the length of the second leg massage unit, a second angle that is a reference for rotating the second leg massage unit, a second speed that is a speed for adjusting the length of the second leg massage unit, and at least one of a second rotation speed that is a speed at which the second leg massage unit is rotated,
The first existing control value is a first existing length preset for adjusting the length of the first leg massage part, a first existing angle that is a preset reference for rotating the first leg massage part, and the length of the first leg massage part including at least one of a first existing speed that is a preset speed for adjusting
The second existing control value is a second existing length preset for adjusting the length of the second leg massage part, a second existing angle that is a preset reference for rotating the second leg massage part, and the length of the second leg massage part It includes at least one of a second existing speed, which is a preset speed to adjust, and a second existing rotation speed, which is a preset speed for rotating the second leg massage unit,
The correction value corresponding to each of the first to fourth states is at least one of a correction length for correcting the existing length, a correction angle for correcting the existing angle, a correction speed for correcting the existing speed, and a correction rotation speed for correcting the existing rotation speed. including one,
the correction values corresponding to the first and fourth states are greater than the correction values corresponding to the second and third states;
massage device. 7. The method of claim 6,
The control unit controls the operation of the first leg massage unit based on the first control value, and controls the operation of the second leg massage unit based on the second control value,
massage device.

Images