KR20230153966A - A massage apparatus exercising the legs through 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 includes a control unit that controls the massage device, a body massage unit that massages at least a portion of the user's body based on the control of the control unit, and , a leg massage unit disposed at one end of the body massage unit and massaging the user's legs based on the control of the control unit, the leg massage unit including a first leg massage unit that massages one leg of the user; It includes a second leg massage unit that massages the other leg of the user, wherein the first and second leg massage units can move independently from each other, and the control unit adjusts the length of each leg massage unit, and the first and second leg massage units whose lengths are adjusted. By rotating the second leg massage units in different directions, readjusting the length of each rotated leg massage unit, and re-rotating each leg massage unit whose lengths were readjusted in a direction different from the rotation direction in which each leg massage unit was rotated, The user's legs can be exercised.

Description

Massage device for exercising the legs through an independent movement leg massage unit {A MASSAGE APPARATUS EXERCISING THE LEGS THROUGH THE INDEPENDENT MOVEMENT LEG MASSAGE UNIT}

The present invention relates to a massage device that exercises a user's legs through an independently movable leg massage unit, and more specifically, to a massage device that exercises the user's legs by operating the leg massage units corresponding to both legs individually.

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

The increase in demand for massage has caused an increase in demand for massage devices or massage devices that provide artificial massage functions due to economic and time reasons. In other words, as the demand for relieving fatigue or stress by relaxing tense muscles through massage increases, various time- and cost-efficient massage devices are being released.

Recently, people's interest in their health has increased, and massage devices are changing from simply providing massage functions to electronic devices that provide various additional functions and/or medical functions. Accordingly, massage devices are becoming more efficient. Research on control methods continues.

In particular, since each user may have different areas of interest and desired stimulation, user demand for devices and methods that provide an optimized type of massage for each user is increasing.

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

In addition, the problem that the present invention aims to solve is to provide a customized massage according to the length of the user's legs by individually adjusting 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 when a part of the user's body is caught 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 part can be rotated at a large angle.

In addition, the problem to be solved by the present invention is to provide a massage device that individually controls each leg massage part to stretch and exercise the user's body.

However, the problem to be solved by the present invention is not limited to the problems described above, but includes problems that can be easily understood by those skilled in the art from this specification and the attached drawings.

In order to achieve the above object, a massage device according to an embodiment of the present disclosure includes a control unit that controls the massage device, a body massage unit that massages at least a portion of the user's body based on the control of the control unit, and the body. It is disposed at one end of the massage unit and includes a leg massage unit that massages the user's leg based on the control of the control unit, the leg massage unit including a first leg massage unit that massages one leg of the user, and the other leg of the user. It includes a second leg massage unit that massages the legs, the first and second leg massage units can move independently from each other, and the control unit adjusts the length of each leg massage unit, and the first and second leg massage units whose lengths are adjusted. By rotating the massage units in different directions, readjusting the length of each rotated leg massage unit, and re-rotating each leg massage unit with the readjusted length in a direction different from the rotation direction in which each leg massage unit was rotated, the user's legs can be exercised.

According to the present invention, the leg massage units corresponding to both legs operate individually, thereby providing the necessary massage to each leg.

Additionally, according to the present invention, it is possible to individually adjust the length of the leg portion, thereby providing a customized massage according to the user's leg length.

In addition, according to the present invention, it is possible to provide a massage with improved stability by detecting when a part of the user's body is caught and stopping the operation.

Additionally, the present invention can provide a massage device in which the leg massage portion can be rotated at a large angle.

However, the effects of the present invention are not limited to the effects described above, and include effects that can be easily recognized by those skilled in the art from this specification and the attached drawings.

1 is a diagram 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.
Figure 3 is a diagram for explaining components of a massage device according to an embodiment.
Figure 4 is a diagram for explaining a driving method of a massage device according to an embodiment of the present invention.
Figure 5 is a diagram for explaining a leg massage unit according to an embodiment of the present invention.
Figure 6 is a diagram showing an embodiment in which a leg massage unit and a main frame are combined.
Figure 7 is an enlarged view of part A of Figure 6.
Figure 8 is an exploded perspective view of the part where the two leg massage parts are combined.
Figure 9 is a diagram schematically showing the leg massage unit before and after rotation.
Figure 10 is a diagram for explaining the rotation driving principle of the leg massage unit.
Figure 11 is a diagram for explaining an embodiment in which a link bar and a frame are connected.
FIG. 12 is a diagram for explaining an embodiment of the link bracket of FIG. 11.
FIG. 13 is a diagram schematically showing the link bar of FIG. 11 before and after rotation.
Figure 14 is a diagram for explaining an embodiment of the positional relationship between an actuator and a frame.
Figure 15 is a diagram schematically expressing the leg length adjustment means of the leg massage unit.
Figure 16 is a diagram for explaining the principle of adjusting the length of the leg massage unit.
Figure 17 is an enlarged view of part B of Figure 15.
Figure 18 is an enlarged view of part C of Figure 15.
Figure 19 is a diagram showing an embodiment of a foot massage unit.
Figure 20 is a diagram showing an embodiment in which a leg massage part is equipped with a pinch prevention sensor.
Figure 21 is a diagram showing an embodiment in which a photo sensor is provided in the leg massage unit.
FIG. 22 is an enlarged view of D in FIG. 21.
Figure 23 is a diagram for explaining an embodiment of a method of operating a massage device according to the present invention.
Figure 24 is a diagram for explaining an embodiment of a massage mode provided by a massage device.
Figure 25 is a diagram for explaining another embodiment of a method of operating a massage device according to the present invention.
Figure 26 shows a flowchart for explaining the massage providing operation of the control unit according to an embodiment of the present disclosure.
Figure 27 shows a flowchart for explaining the operation of the controller to provide a leg massage according to an embodiment of the present disclosure.
Figure 28 shows an example for explaining the reclining operation of the control unit according to an embodiment of the present disclosure.
Figure 29 is a top view of the leg massage unit for explaining the rotational force detection unit according to an embodiment of the present disclosure.
Figure 30 is a side view of the leg massage unit for explaining the control force detection unit according to an embodiment of the present disclosure.
Figure 31 shows an example to explain the operation of the control unit to provide an exercise mode 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.
Figure 34 shows another example for explaining the operation of the control unit to provide an exercise mode according to an embodiment of the present disclosure.
FIG. 35 shows an example for explaining the operation of providing the linear motion mode shown in FIG. 34.
FIG. 36 shows another example for explaining the operation of providing the linear motion mode shown in FIG. 34.
Figure 37 is a diagram for explaining the rotation module of the leg massage unit 2000 according to an embodiment of the present invention.
Figure 38 is an enlarged view of part A of Figure 37.
FIG. 39 is a diagram for explaining the principle of rotation of the leg massage unit 2000 of FIG. 37.
Figure 40 is a diagram 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 part B of Figure 40.
FIG. 42 is a diagram schematically showing the rotation module of FIG. 40.
FIG. 43 is a diagram for explaining the principle of rotation of the leg massage unit 2000 of FIG. 40.
Figure 44 is a diagram for explaining the rotation module of the leg massage unit 2000 according to another embodiment of the present invention.
FIG. 45 is a diagram for explaining the principle of rotation of the leg massage unit 2000 of FIG. 44.
Figure 46 is a diagram for explaining the rotation module of the leg massage unit 2000 according to another embodiment of the present invention.
FIG. 47 is a diagram for explaining the operation of the airbag 2110d of FIG. 46. Specifically, Figure 47(a) is a diagram schematically showing the airbag 2110d in a deflated state, and Figure 47(b) is a diagram schematically showing the airbag 2110d in an inflated state.
FIG. 48 is a diagram for explaining the principle of rotation of the leg massage unit 2000 of FIG. 46.
Figure 49 is a diagram for explaining the leg massage unit 2000 according to another embodiment of the present invention.
Figure 50 is a diagram for explaining an embodiment of the leg massage unit 2000 including a safety sensor.
FIG. 51 is a diagram showing only one leg massage unit 2000 among the leg massage units 2000 of FIG. 50.
FIG. 52 is a view showing the leg massage unit 2000 of FIG. 50 viewed from different viewing angles.
Figure 53 is a diagram for explaining an air cell included in a body massage unit according to an embodiment of the present disclosure.
FIG. 54 is a diagram illustrating stretching and exercise modes provided by a 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.
Figure 56 shows a flowchart for explaining the iliopsoas muscle stretching mode shown in Figure 54.
Figure 57 shows a diagram for explaining the operation of the iliopsoas muscle stretching mode shown in Figure 54. Specifically, Figure 57a shows the overall operation of the iliopsoas muscle stretching mode, Figure 57b shows Motion 1b in Figure 57a, Figure 57c shows Motion 1c in Figure 57a, Figure 57d shows Motion 1d in Figure 57a, and Figure 57e represents Motion 1e in Figure 57a.
Figure 58 shows a flowchart for explaining the iliopsoas muscle stretching mode shown in Figure 56.
Figure 59 shows a flowchart for explaining the hamstring stretching mode shown in Figure 54.
FIG. 60 is a diagram for explaining the operation of the hamstring stretching mode shown in FIG. 54. Specifically, Figure 60a shows the overall operation of the hamstring stretching mode, Figure 60b shows Motion 2b in Figure 60a, Figure 60c shows Motion 2c in Figure 60a, and Figure 60d shows Motion 2d in Figure 60a.
FIG. 61 shows a flowchart for explaining the hamstring stretching mode shown in FIG. 59.
FIG. 62 shows a flowchart for explaining the waist stretching mode shown in FIG. 54.
FIG. 63 is a diagram for explaining the operation of the waist stretching mode shown in FIG. 54. Specifically, Figure 63a shows the overall operation of the waist stretching mode, Figure 63b shows Motion 3b in Figure 63a, Figure 63c shows Motion 3c in Figure 63a, Figure 63d shows Motion 3d in Figure 63a, and 63e shows Motion 3b in Figure 63a. Motion 3e in Figure 63a is shown, and 63f indicates Motion 3f in Figure 63a.
Figure 64 shows a flow chart for explaining the waist stretching mode shown in Figure 62.
FIG. 65 shows a flowchart for explaining the bicycle mode shown in FIG. 54.
FIG. 66 shows a diagram for explaining the operation of the bicycle mode shown in FIG. 54. Specifically, Figure 66a shows the overall operation of the bicycle mode, Figure 66b shows Motion 4b in Figure 66a, Figure 66c shows Motion 4c in Figure 66a, Figure 66d shows Motion 4d in Figure 66a, and Figure 66e shows Motion 4b in Figure 66a. It represents Motion 4e of 66a.
Figure 67 shows an example to explain a method by which a control unit determines a control value for controlling a massage device, according to an embodiment.
FIG. 68 is a diagram illustrating a structure in which leg massage units on both sides are connected in the massage device 100' according to an embodiment.
Figure 69 is a diagram for explaining the 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.
Figure 70 is an exploded perspective view of the configuration forming the connection structure of Figure 69.
Figure 71 is a diagram schematically showing a side holder 2320' according to an embodiment of the present invention.
FIG. 72 is a diagram for explaining the cushioning action on both sides of the leg massage unit 2000'' of FIG. 69.
Figure 73 is a diagram schematically showing a side holder 2320'' according to another embodiment of the present invention.
FIG. 74 is a diagram schematically showing the first elastic member 2350'' of FIG. 70.
FIG. 75 is a diagram for explaining the cushioning effect at the center of the leg massage unit 2000'' of FIG. 69.
FIG. 76 is a diagram schematically showing the center holder 2340'' of FIG. 70.

The purpose, features and advantages of the present disclosure described above will become clearer through the following examples in conjunction with the attached drawings. The following specific structural and functional descriptions are merely illustrative for the purpose of explaining 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 may not be described in the present specification or application. It should not be construed as limited to the examples.

Since the embodiments according to the concept of the present disclosure may be subject to various changes and may have various forms, specific embodiments will be 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 disclosure form, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present disclosure.

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

When a component is said to be “connected” or “connected” to another component, it is understood that it may be directly connected to or connected to that other component, but that other components may also exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between. Other expressions to describe the relationship between components, such as “between” and “immediately between” or “adjacent to” and “directly adjacent to” should be interpreted similarly.

The terms used herein are merely used to describe specific embodiments and are not intended to limit the disclosure. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "comprise" or "have" are intended to designate the presence of implemented features, numbers, steps, operations, components, parts, or a combination thereof, and are intended to indicate the presence of one or more other features or numbers, It should be understood that this does not exclude in advance the possibility of the presence or addition of steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the technical field to which this disclosure pertains. Terms as defined in commonly used dictionaries should be interpreted as having meanings consistent with the meanings they have in the context of the related technology, and unless clearly defined in this specification, should not be interpreted in an idealized or overly formal sense. No.

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

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

In this specification, according to one embodiment, a massage device may refer to a massage device including a body massage unit and a leg massage unit. Additionally, according to another embodiment, the body massage unit and the leg massage unit may exist as separate devices (for example, a body massage device and a 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 attached drawings.

Figure 1 is a diagram 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 a control unit 1200 (FIG. 3), a body massage unit 1000, a leg massage unit 2000, and an arm massage unit 3000. there is.

The control unit 1200 can control the massage device 100. A detailed description of the control unit 1200 will be provided later.

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

The leg massage unit 2000 is disposed at one end (or bottom, lower side) of the body massage unit 1000 and can provide a leg massage that massages the user's legs based on the control of the control unit 1200. For example, the leg massage unit 2000 forms an area to accommodate the user's legs and massages various parts of the user's legs (e.g., knees, toes, etc.), including at least one part of the user's feet and calves. can do.

The arm massage unit 3000 is disposed on at least one of one side and the other side of the body massage unit 1000 and can provide an arm massage that massages the user's arm based on the control of the control unit 1200. For example, the arm massage unit 3000 forms an area to accommodate the user's arm and massages various parts of the arm (e.g., fingers, 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 are merely exemplary, and as long as they do not deviate from the scope defined by the claims of the present disclosure, various types of massage device 100 may also be used in the present disclosure. It may be included within the scope of the content.

Below, each configuration will be described in detail.

The body massage unit 1000 includes a massage module 1700 for providing a massage function to at least a portion of the user's body, an audio output module 1500 for providing an arbitrary form of audio output 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 any type of input from the user. The body massage unit 1000 can form a space of any shape to accommodate the user. The body massage unit 1000 may be provided with a space that has 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 seated type that can accommodate the user's entire body or part of the body.

The portion in contact with the ground in the body massage unit 1000 may include any material for increasing friction or any member for increasing friction (for example, an anti-slip pad, etc.), and the massage device 100 It may include wheels to enhance its mobility.

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. Additionally, the body massage unit 1000 may be tilted backward. As a result, the body massage unit 1000 can provide massage while tilted backward.

According to one 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 area, pelvic area, arm massage unit, leg massage unit 2000, etc., but is not limited thereto and may be placed 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. Additionally, 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 massage unit 2000 may include a calf massage unit that massages the user's calf and/or a foot massage unit that massages the user's feet.

The length of the leg massage unit 2000 may be adjustable 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 due to the length of the calf. Additionally, when a short user uses the massage device 100, the leg massage unit 2000 needs to be shortened due to the short length of the calf. Accordingly, the leg massage unit 2000 can provide a leg massage customized to the user's height. This will be described in detail later.

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 that massages the user's hand and/or a forearm massage unit that massages the user's forearm. At this time, the hand massage unit may include at least one of an air cell for massaging the hand and a hand acupressure pad, and the forearm massage unit may include an air cell for massaging the forearm.

The components 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 the massage device 100 and body massage unit Each of the unit 1000, the leg massage unit 2000, and the arm massage unit 3000 may include various configurations in addition to the configurations described above.

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 can move along the main frame 1100 provided inside the body massage unit 1000.

For example, the main frame 1100 of the body massage unit 1000 may be equipped with a rack gear, and the massage module 1700 moves along the rack gear 1111 to massage various parts of the user's body. It can provide mechanical stimulation to the part. The massage module 1700 may include, but is not limited to, a ball massage unit or a roller massage unit.

The main frame 1100 constitutes the framework of the internal structure of the body massage unit 1000 and may be made of metal or plastic. For example, the main frame 1100 may be made of iron, alloy, steel, etc., but is not limited to this and may be made of various hard materials.

According to one embodiment of the present disclosure, the massage device 100 may include an audio output module 1500. The audio output module 1500 may be installed in various locations. For example, the audio output module 1500 includes a top audio output unit disposed on the top of the seat in contact with the user, a front audio output unit attached to the front end of the arm massage unit on the left and right sides of the seat, 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 can provide three-dimensional sound such as 5.1 channel, but is not limited to this.

According to one embodiment of the present disclosure, a user can control the massage device 100 using a massage device control device (CD). The massage device control device (CD) may be connected to the massage device 100 through wired communication and/or wireless communication.

The massage device control device (CD) may include, but is not limited to, a remote controller, a cellular phone, a personal digital assistant (PDA), etc., and may be controlled through wired or wireless communication with the massage device 100. It may include a variety of connectable electronic devices.

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

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

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

According to an embodiment of the present disclosure, the rack 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 rack gear 1111. .

For example, the body massage module 1700 may include a gear meshed with the rack gear 1111, and the gear rotates by an actuator provided in the body massage module 1700, so that the body massage module 1700 It can move upward or downward.

The rack gear 1111 may be made of metal or plastic. For example, the rack 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 classified into S frame, L frame, S&L frame, and double S&L frame depending on its shape, but is not limited thereto.

The S frame refers to a frame in which at least a portion of the upper frame 1110 has a curved shape like an “S.” The L frame refers to a frame in which at least part of the upper frame 1110 includes a curved shape like an “L,” and the S&L frame refers to a frame that includes both a curved shape like an “S” and a curved shape like an “L.” The double S&L frame refers to a frame that includes a curved shape like an "L" and a curved shape like a two-part "S".

The base frame 1120 refers to a portion of the main frame 1100 that supports the upper frame 1110 and is 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. Additionally, the base upper frame 1121 may be positioned in contact with the base lower frame 1122.

According to one embodiment of the present disclosure, the base upper frame 1121 can 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 is connected to the base upper frame 1121 and can 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, and when the base upper frame 1121 moves rearward, the upper frame 1110 may also move backward. You can move. Because of this, sliding movement of the body massage unit 1000 may be permitted.

Specifically, to allow movement of the base upper frame 1121, a moving wheel may be provided at the lower part of the base upper frame 1121. Additionally, a guide member capable of guiding the moving wheel may be provided on the upper part of the base lower frame 1122. The moving wheel provided on the base upper frame 1121 moves along the guide member provided on the base lower frame 1122, thereby allowing the base upper frame 1121 to move forward or backward.

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 an upper and lower frame.

FIG. 3 is a diagram for explaining 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 a massage module 1700.

The control unit 1200 may control the operation of the massage device 100. The control unit 1200 may be implemented with one processor or with multiple processors. When the control unit 1200 is implemented with a plurality of processors, at least some of the plurality of processors may be located physically spaced apart from each other. Additionally, the control unit 1200 is not limited to this and may be implemented in various ways.

For example, the control unit 1200 may correspond to one or more processors. The processor may be implemented as an array of multiple logic gates, or as a combination of a general-purpose microprocessor and a memory storing a program that can be executed on the microprocessor. Additionally, those skilled in the art can understand that the present embodiment may be implemented with other types of hardware.

According to an embodiment of the present disclosure, the control unit 1200 may control the operation of the massage device 100. For example, the massage device 100 may include a plurality of actuators, and the massage device 100 may control the operation of the massage device 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 a sliding actuator, and the control unit 1200 can control the operation of the massage device 100 by controlling them.

The massage module movement actuator is an actuator that allows the massage module 1700 to move up and down, and the massage module 1700 can move along the rack gear 1111 by the operation of the massage module movement actuator.

The iso-angle actuator is an actuator that adjusts the angle of the part of the massage device 100 that touches the user's back, and the iso-angle of the massage device 100 can be adjusted by the operation of the iso-angle actuator.

The leg angle actuator 2270 is an actuator that adjusts the angle of the leg massage unit 2000 of the massage device 100. The leg massage unit 2000 and the body massage unit 1000 are adjusted by the operation of the leg angle actuator 2270. 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. The massage device 100 can provide a foot massage to the user by using the foot massage actuators 2611 and 2613.

The massage module 1700 may include at least one actuator, and the control unit 1200 may provide various massage operations by operating the at least one actuator. For example, the control unit 1200 can provide a tapping massage, a kneading massage, etc. by operating at least one actuator included in the massage module 1700, but is not limited to this and can 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 use the leg length adjustment actuator 2520 to adjust the length of the leg massage unit 2000 to suit the user, and as a result, the user can receive a massage tailored to his or her body type.

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

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 personal authentication information, but is not limited thereto.

The storage unit 1300 may be implemented through a non-volatile storage medium that can continuously store arbitrary data. For example, the storage unit 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. It doesn't work.

Additionally, the storage unit 1300 may include 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). When the power is turned off, the stored information is instantaneous. It may refer to a volatile storage device that is erased, but is not limited to these. This memory can be operated by the control unit 1200.

The user input unit 1400 may receive commands 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 the leg massage unit 2000, but is not limited thereto.

The massage device 100 may obtain various commands from the user through the user input unit 1400. For example, the massage device 100 may include selection of a massage module, selection of a massage mode, selection of a massage intensity, selection of a massage time, selection of a massage area, selection of the position and operation of the body massage unit 1000, Arbitrary commands may be received, such as selection to turn on or off the power of the massage device 100, selection to operate or not to operate the heating function, selection related to sound source reproduction, etc., but are not limited thereto.

According to another embodiment of the present disclosure, the user input unit 1400 executes buttons in the form of hot keys and/or direction selection, cancellation, and input according to a preset user setting function or a self-preset function. It may be provided with a selection button for doing so.

The user input unit 1400 may be implemented as a key pad, dome switch, touch pad (static pressure/electrostatic), jog wheel, jog switch, etc., but is not limited thereto. Additionally, the user input unit 1400 can obtain commands through the user's speech based on voice recognition technology.

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

The audio output module 1500 can provide any type of audio output to the user. For example, the audio output module 1500 may provide brain stimulation to the user by outputting sound sources and/or binaural beats optimized for the massage pattern provided by the massage device 100 to the user. The audio output module 1500 may output an audio 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. Additionally, 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. Wireless access technologies include, for example, WLAN (Wireless LAN) (Wi-Fi), Wibro (Wireless broadband), Wimax (World Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access), etc. . As a wired connection technology, for example, XDSL (Digital Subscriber Line), FTTH (Fibers to the home), PLC (Power Line Communication), etc. may be used. Additionally, the network connection unit 1600 includes a short-distance communication module and can transmit and receive data with any device/terminal located in a short distance. For example, short range communication technologies such as Bluetooth, RFID (Radio Frequency Identification), IrDA (infrared Data Association), UWB (Ultra Wideband), and ZigBee can be used. It is not limited.

The massage device 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 component that provides mechanical stimulation to the user, and the massage module 1700 can 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 along 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 mechanical stimulation to the user.

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

The massage device 100 according to an embodiment of the present disclosure may include a sensor unit 1800. At this time, the sensor unit 1800 may include at least one sensor. 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, etc., but is not limited thereto.

The sensor unit 1800 can be used to obtain various information. For example, the sensor unit 1800 can be used to recognize a user. In other words, it is possible to obtain information about whether the user is seated, the user's body type, and whether there is an abnormality in the user's body. 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. can be obtained, but are not limited to this and can include various biometric information.

According to another embodiment of the present disclosure, the massage device 100 may detect the contact area and/or contact position with the user through the sensor unit 1800. Additionally, the massage device 100 may obtain the user's shoulder position information through the sensor unit 1800. Additionally, the massage device 100 may provide customized massage based on the acquired information. For example, when the massage device 100 provides a shoulder massage, the massage device 100 recognizes the position of the user's shoulder based on information acquired through the sensor unit 1800 and provides a shoulder massage to the user according to the recognition result. Can provide shoulder massage.

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

Figure 4 is a diagram for explaining the driving mode of the massage device 100 according to an embodiment of the present invention. In detail, Figure 4 (a) is a diagram showing the reference state of the massage device 100, and Figure 4 (b) shows that the leg massage units 2000 on both sides of the massage device 100 rotate individually. 4(c) is a diagram showing that the lengths of the leg massage units 2000 on both sides of the massage device 100 are 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 to massage the user's body. and may include a leg massage unit 2000 in which both leg portions can move independently.

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

Referring to (b) of FIG. 4, the leg massage unit 2000 can rotate. In detail, both leg massage units corresponding to both legs of the user may rotate simultaneously, or may rotate separately and independently from each other.

Referring to (c) of FIG. 4, the length of the leg massage unit 2000 can be adjusted. In detail, the lengths of both leg massage units corresponding to both legs of the user may be adjusted simultaneously, or may be adjusted individually and independently of each other.

The principle by which the leg massage unit 2000 rotates and the principle by which the length of the leg massage unit 2000 is adjusted will be described in detail later with reference to the drawings.

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

*The leg massage unit 2000 has a leg receiving space (Space; S) in which the user's legs are accommodated, and is configured to massage the user's legs and includes a calf massage unit 2400 and a foot massage unit 2600. can do.

For example, the leg massage unit 200 may be physically separated into a first leg massage unit 2000a that accommodates one leg of the user and a second leg massage unit 2000b that accommodates the other leg of the user. there is. One leg may be the user's right leg, and the other leg may be the user's left leg, but are not limited to this. At this time, the first and second leg massage units 2000a and 2000b may be formed identically to each other, or may be formed so that the left and right sides are symmetrical.

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 other leg of the user. At this time, the first leg massage unit 2000a may be placed on one side of the leg massage unit 2000, and the second leg massage unit 2000b may be placed on the other side of the leg massage unit 2000.

*Each of the first and second leg massage units 2000a and 2000b may be capable of independent movement based on control of the control unit 1200. For example, the first and second leg massage units 2000a and 2000b may be individually and independently driven to rotate (or rotate) independently of each other and the length of each leg massage unit may be independently adjusted. At this time, the first and second leg massage units 2000a and 2000b may be interlocked or not interlocked with each other to allow rotation and/or adjustment of the length of each leg massage unit.

Specifically, the first leg massage unit 2000a is disposed on one lower side of the body massage unit 1000 and may include a first accommodation space (Space 1; S1) that accommodates one leg of the user. The first leg massage unit 2000a may include a first massage member that massages one leg of the user. The first leg massage unit 2000a may provide the user with a first leg massage that massages one leg of the user through a first massage member.

For example, the first massage member may include a first upper leg massage part 2000aa and a first lower leg massage part 2000ab, but is not limited thereto. The first upper leg massage unit 2000aa is disposed at one end (preferably, the top) of the first leg massage unit 2000a and corresponds to the upper part of one leg, and the first lower leg massage unit 2000ab is disposed at one end (preferably, the top) of the first leg massage unit 2000a. It may be disposed at the other end (preferably the lower end) of the massage unit 2000a and correspond to the lower part of one leg. The upper part of one leg may be at least one of the calf and knee of the one leg. The lower part of one leg may be at least one part of the foot and 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 the calf and 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 an inside of the first upper leg massage unit 2000aa. It may include at least one of the first calf massage units 2410 disposed at the rear. At this time, the inner side of the first upper leg massage unit 2000aa is an area (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 of the first upper leg massage unit 2000aa may be an area corresponding to the rear of the calf of one leg among the entire inner area 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 part of the foot and ankle of one leg). For example, the first lower leg massage unit 2000ab includes a first foot air cell (not shown) disposed at at least one of the inner side and rear of the first lower leg massage unit 2000ab, and a first lower leg massage unit 2000ab. It may include at least one of the first foot massage units 2610 disposed on the inner lower surface (or innermost end) of the massage unit 2000ab. At this time, 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 of the first lower leg massage unit 2000ab may be an area corresponding to the heel (or Achilles tendon) of one leg among the entire inner area of the first lower leg massage unit 2000ab. The inner surface of the first lower leg massage unit 2000ab is an area corresponding to the sole of one leg among the entire inner area of the first lower leg massage unit 2000ab, and is the lowest (or lowest) area of the first lower leg massage unit 2000ab. If you do), it can be.

The second leg massage unit 2000b is disposed on the other lower side of the body massage unit 1000 and may 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 that massages the user's other leg. The second leg massage unit 2000b may provide the user with a second leg massage that massages the other leg of the user through the second massage member.

For example, the second massage member may include, but is not limited to, a second upper leg massage unit 2000ba and a second lower leg massage unit 2000bb. The second upper leg massage unit 2000ba is disposed at one end (preferably, the upper end) of the second leg massage unit 2000b and corresponds to the upper part of the other leg, and the second lower leg massage unit 2000bb is disposed on the second leg. It may be disposed at the other end (preferably, the lower end) of the massage unit 2000b and correspond to the lower part of the other leg. The upper part of the other leg may be at least one of the calf and knee of the other leg. The lower part of the other leg may be at least one part of the foot and 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 the calf and 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 at the rear. At this time, the inner side of the second upper leg massage unit 2000ba is an area (or position) corresponding to both sides (or at least one side) of the calf of the other leg among the entire inner area of the second upper leg massage unit 2000ba. ) can be. The inner rear of the second upper leg massage unit 2000ba may be an area corresponding to the rear of the calf of the other leg among the entire inner area 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 part of the foot and ankle of the other leg). For example, the second lower leg massage unit 2000bb includes a second foot air cell (not shown) disposed at at least one of the inner side and rear of the second lower leg massage unit 2000bb, and a second lower leg massage unit 2000bb. It may include at least one of the second foot massage units 2630 disposed on the inner lower surface (or innermost end) of the massage unit 2000bb. At this time, 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 of the second lower leg massage unit 2000bb may be an area corresponding to the heel (or Achilles tendon) of the other leg among the entire inner area of the second lower leg massage unit 2000bb. The inner lower surface of the second lower leg massage unit 2000bb is an area corresponding to the sole of the other leg among the entire inner area of the second lower leg massage unit 2000bb, and is the lowermost (or lowest) area of the second lower leg massage unit 2000bb. If you do), it can be.

As described above, the air cells included in the leg massage unit 2000 (for example, the first and second calf air cells and the first and second foot air cells) are included in the entire area of the leg massage unit 2000, including the user's feet and It can be placed in various areas, not just the area corresponding to the calf. In addition, the air cells included in the leg massage unit 2000 receive air from a separately provided air supply unit, expand and contract, and provide a massage to the user to provide massage to at least part of the user's body (e.g., the user's feet, ankles, At least one of the heels, calves, and knees) can be massaged. Additionally, the air cells included in the leg massage unit 2000 can expand and contract and fix at least part of the user's body.

As described above, 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 each include a massage unit that massages each part. can do. For example, 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 each include an acupressure massage unit, a ball massage unit, and a roller. Among the massage units, it may include various massage units that massage each area, including at least one massage unit. The massage unit can 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 an air cell, a calf massage unit 2400, and a foot massage unit 2600, but are not limited thereto. For example, the first leg massage unit 2000a includes a first calf drive unit (or first calf drive module) for driving the first calf massage unit 2410, and a first calf drive unit for driving the first foot massage unit 2610. It may include at least one of the first foot driving unit (or first foot driving module) for The second leg massage unit 2000b includes a second calf driver (or second calf drive module) for driving the second calf massage unit 2430, and a second foot massage unit for driving the second foot massage unit 2630. It may include at least one of the driving unit (or second foot driving module). Each of the calf and foot driving units may be implemented with various driving modules that drive each massage module, such as at least one of a motor and an actuator.

Unless otherwise specified below, saying that the leg massage unit 2000 includes a certain configuration may mean that the first and second leg massage units 2000a and 2000b may each include the configuration.

In this way, the leg massage units 2000a and 2000b, which are separately formed to correspond to both legs of the user, can be controlled to operate in conjunction with each other or can be controlled to operate individually as needed. That is, the first and second leg massage units 2000a and 2000b are capable of independent movement. For example, each of the first and second leg massage units 2000a and 2000b is individually controlled by the control unit 1200 to individually rotate (or pivot) and operate to adjust the length, thereby enabling independent movement. I do it.

Specifically, depending on the user's needs, the user can receive a massage on only one leg or receive a massage on both legs with different intensity or massage programs. To this end, the leg massage units 2000a and 2000b on both sides may be respectively connected to actuators.

Meanwhile, the length of each leg massage unit 2000a and 2000b can be adjusted. For example, each of the lower leg massage units 2000ab and 2000bb may move along the length of the user's leg, thereby adjusting the length of each leg massage unit 2000a and 2000b. This will be explained in detail later.

FIG. 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 portion A of FIG. 6. Figure 8 is an exploded perspective view of the part where the two leg massage units 2000 are combined.

Referring to FIG. 6, the leg massage unit 2000 may be connected to the body massage unit 1000. Accordingly, the user can sit on the massage device 100, place his or her legs on the leg massage unit 2000, and then receive a massage. At this time, the leg massage units 2000a and 2000b on both sides are respectively connected to a rotation module (or rotation module; 2270, see FIG. 14) and can be controlled to rotate (or rotate) independently of each other. At this time, the rotation module 2270 may change the angle between the body massage unit 1000 and the leg massage unit 2000 by rotating (or rotating) the leg massage unit 2000 based on the control of the controller 1200. there is. 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 (for example, 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 at least one of the rear (or the lower side (or lower 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 with at least one of a leg angle actuator and an airbag, the first rotation module 2271 may be disposed behind 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 of both sides of the first leg massage unit 2000a.

The first rotation module 2271 moves the first leg massage unit 2000a in at least one direction among clockwise and counterclockwise (or the upper and lower directions of the massage device 100) based on the control of the controller 1200. It can be rotated in at least one direction.

The second rotation module 2273 may be disposed 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 with at least one of a leg angle actuator and an airbag, the second rotation module 2273 may be disposed behind 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 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 direction among clockwise and counterclockwise based on the control of the controller 1200.

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

Hereinafter, for convenience of explanation, it will be assumed that the rotation module 2270 is a leg angle actuator.

The body massage unit 1000 may include a main frame 1100 that forms the skeleton of the massage device 100. In addition, the main frame 1100 is connected to a 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 link member; 2250) that transmits is connected.

Meanwhile, each leg massage unit (2000a, 2000b) can be individually connected to the body massage unit (1000), and if necessary, the leg massage units (2000a, 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. When the leg massage units 2000a and 2000b on both sides share a rotation axis, the user can rotate the leg massage units 2000a and 2000b on both sides simultaneously or individually as needed.

Additionally, even if both leg massage units 2000a and 2000b rotate independently of each other, rotating while sharing a rotation axis may be ergonomically more suitable for the human body. That is, if the leg massage units 2000a and 2000b on both sides individually rotate while having different rotation axes, the user may suffer unexpected injuries or feel uncomfortable.

Referring to FIGS. 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 rotation axis and a sliding bar (or power transmission member; 2230) connected to the leg frame 2210; see FIGS. 9 and 10. ) may include.

For example, the first leg massage unit 2000a may include a first leg frame 2210a connected to at least one of the end area and the center area among the entire area 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 area and the center area among the entire area of the first connection frame 1130.

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

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

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

Referring to FIG. 8, the rotation axis 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 that accommodates the rotation axes of the first and second leg massage units 2000a and 2000b, respectively, and a side bushing 2320 is inserted from both sides to massage the first and second legs. It may include a center bushing 2310 connecting the massage units 2000a and 2000b.

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

The center bushing 2310 may have a space formed therein to accommodate at least a portion of the side bushing 2320. Additionally, the center bushing 2310 may have receiving spaces formed at both ends of the center bushing 2310 to accommodate the side bushings 2320 on both sides. Alternatively, the center bushing 2310 may have a hole formed therethrough along the length of the center bushing 2310 to accommodate the side bushings 2320 on 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. Additionally, by including the center bushing 2310, each leg massage unit 2000a, 2000b can be manufactured separately and then easily assembled into one bundle.

The side bushing 2320 may be inserted into the center bushing 2310 while the rotation shaft members 2220a and 2000b are inserted. That is, the side bushing 2320 can receive the load transmitted from the rotating shaft members 2220a and 2220b, and the rotating shaft members 2220a and 2220b can be easily connected to the center bushing 2310.

The center bushing 2310 and the side bushings 2320 may be formed of materials such as plastic or metal. Alternatively, it may be made of plastic material to reduce friction. However, the material is not limited to this.

Meanwhile, the bushing may have at least one groove formed in it to reduce friction in the coupled state. That is, the friction force can be reduced by reducing the contact area between bushings or between the bushings and the rotating shaft member 2220. Accordingly, the leg massage unit 2000 can rotate 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. As a result, the leg massage units 2000a and 2000b on both sides connected to the center bushing 2310 can be connected to the main frame 1100 and can rotate while sharing the rotation axis.

Figure 9 is a diagram schematically showing the leg massage unit 2000 before and after rotation.

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

At this time, 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.

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

Referring to Figures 9 and 10, the leg massage unit 2000 may be rotated as 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 placed at one end of the leg angle actuator 2270. The link bar 2250 may be connected to at least one actuator (or 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, at this time, 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. At this time, the leg angle actuator 1910 may be placed inside the body massage unit 1000 and, for example, may be connected to the main frame 1100. The leg angle actuator 2270 can be driven to expand in one direction, and thereby the leg massage unit 2000 can 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 at a portion that contacts the leg massage unit 200.

Additionally, the leg massage unit 2000 may include a leg frame 2210 connected to the first connection frame 1130 and including a rotation axis, and a sliding bar 2230 connected to the leg frame 2210. At this time, the leg frame 2100 may be disposed on the rear of the leg massage unit 2000. The sliding bar 2230 may provide a path along which the leg rotation wheel 2240 of the link bar 2250 moves.

The sliding bar 2230 may rotate with 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 can rotate like the link bar 2250 while providing a movement path for the leg rotation wheel 2240.

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

Meanwhile, the massage device 100 according to the present invention is provided with a sliding bar 2230, so that 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 can transmit force to the sliding bar 2230 through the leg rotation wheel 2240. Accordingly, the durability of the leg massage unit 2000 can be improved.

By adopting the roller type, the user can, if necessary, lift the leg massage unit 2000 with his or her own strength while the user's legs are seated on the leg massage unit 2000. That is, the leg massage unit 2000 can be manually lifted so that the leg rotation wheel 2240 is separated from the sliding bar 2230.

Accordingly, if a trapping accident occurs, the leg massage unit 2000 can be lifted using human force to prevent serious injury. In addition, there is less risk of defects and damage, and the risk of accidents such as getting caught during operation can be further reduced. Additionally, passive leg movement capabilities may be possible, if desired.

As an embodiment, the massage device 100 may include two leg angle actuators 2270, and each leg angle actuator 2270 is configured to include 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 may operate on both legs. They are each connected to the massage unit 2000, so that the leg massage units 2000 on both sides can be individually rotated.

In order for the first leg massage unit 2000a and the second leg massage unit 2000b to rotate, a rotation axis is required. For this, the first leg massage unit 2000a and the second leg massage unit 2000b need a rotation axis. It may include members that make up.

However, it is preferable that the rotation axes of the first leg massage unit 2000a and the second leg massage unit 2000b are arranged to form a straight line. If the rotation axis of the first leg massage unit 2000a and the rotation axis of the second leg massage unit 2000b are not in a straight line, the leg massage unit 2000 rotates inappropriately to the human body, so the user's legs may rotate. Problems that cause discomfort or pain may occur.

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

Figure 10(a) is a diagram showing the leg massage unit 2000 rotating within a limit angle, and Figure 10(b) is a diagram showing the sliding bar 2230 being spaced apart from the leg rotation wheel 2240. am.

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 beyond a certain angle.

As an example, when the leg massage unit 2000 rotates beyond the limit angle, the sliding bar 2230 may be spaced apart from the leg rotation wheel 2240. For example, with reference to FIG. 10 , when the leg massage unit 2000 rotates clockwise (R direction), the sliding bar 2230 connected to the leg frame 2210 also rotates. That is, as the leg angle actuator 2270 extends, the link bar 2250 rotates clockwise, and thus the leg rotation wheel 2240 can 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 on the right side of the sliding bar 2230, and the leg massage unit 2000 It can no longer rotate due to the leg angle actuator 2270. In this case, when the user applies force to further rotate the leg massage unit 2000 beyond the limit, the sliding bar 2230 may be spaced apart from the leg rotation wheel 2240. That is, the leg massage unit 2000 can be lifted by the user's own strength.

As another example, when the leg massage unit 2000 rotates at a certain angle or more, the sliding bar 2230 may be spaced apart from the leg rotation wheel 2240. For example, with reference to FIG. 10 , when the leg massage unit 2000 rotates clockwise (R direction), the sliding bar 2230 connected to the leg frame 2210 also rotates. That is, as the leg angle actuator 2270 extends, the link bar 2250 rotates clockwise, and thus the leg rotation wheel 2240 can move to the right along the sliding bar 2230. At this time, 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 further rotates 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, the leg massage unit 2000 can be lifted by the user's own strength.

Therefore, as described above, when a trapping accident occurs, serious injury can be prevented by lifting the leg massage unit 2000 using human force. In addition, there is less risk of defects and damage, and the risk of getting caught during operation can be further reduced. Additionally, passive leg movement capabilities may be possible, if desired.

As described above, each leg massage unit is connected to the leg angle actuator through the leg rotation wheel and link bar, but the present invention is not limited to this. For example, each leg massage unit may not include a leg rotation wheel and may be connected to the leg angle actuator by being combined with a link bar or a leg angle actuator.

FIG. 11 is a diagram for explaining an embodiment in which the link bar 2250 and the frame are connected, and FIG. 12 is a diagram 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 around the portion connected to the link bracket 2260 as an axis.

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

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

At this time, since the first area 2261 is completely seated on the second connection frame 1140, the link bracket 2260 can be firmly fixed to the second connection frame 1140. Additionally, even if the link bar 2250 rotates, the body massage unit 1000 or the leg massage unit 2000 may not shake.

At least a portion of the second area 2262 of the link bracket 2260 may be formed as a curved surface. Preferably, so that the link bar 2250 can rotate freely, 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.

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

Referring to FIG. 13, the second area 2262 of the link bracket 2260 is formed as a curved surface, so that the link bar 2250 can rotate freely. That is, the link bar 2250 can freely rotate along the second area 2262. That is, even when the rotation angle (RA) is 60° or more, the link bar 2250 can 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 over a certain length. Accordingly, the link bracket 2260 can be more firmly fixed to the second connection frame 1140.

Figure 14 is a diagram for explaining an embodiment of the 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, each connected to the leg massage unit 2000.

Meanwhile, the massage device 100 is a device that provides a massage to a seated person, and is a device installed and used at home or in an office. Therefore, there is a limit to the massage device's inability to grow infinitely. Additionally, the movements of the leg massage units 2000a and 2000b on both sides need to be freely controlled to provide optimal massage. Accordingly, each component included in the massage device 100 needs to be arranged efficiently, and for this purpose, the actuator and the frame may have a specific positional relationship.

To this end, the leg angle actuator 2270 may be located inside the main frame 1100 and spaced apart on both sides. Additionally, the leg angle actuators 2270 may be arranged so that a space is formed between them. Additionally, 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 to adjust the angle of the back portion of the massage device 100, and the second connection frame 1140 ) A space where the user can sit may be formed on the upper side.

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

FIG. 15 is a diagram schematically showing the leg length adjustment means of the leg massage unit 2000, and FIG. 16 is a diagram for explaining the principle of adjusting the length of the leg massage unit 2000. 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.

Referring to FIG. 15, each of the first and second leg massage units 2000a and 2000b may include an adjustment module (or leg length adjustment means; 2500) that adjusts (or moves) 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. At this time, the first adjustment module 2500a may be disposed behind the first leg massage unit 2000a.

For example, the first adjustment module 2500a moves the first leg massage unit 2000a in at least one direction among the upper side (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 can be adjusted. As another example, the first adjustment module 2500a moves the first upper leg massage unit 2000aa and the first upper leg massage unit 2000a in at least one direction among the upper and lower sides of the first leg massage unit 2000a. 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 first leg massage unit 2000a The first length can be adjusted.

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. At this time, the second adjustment module 2500b may be disposed behind the second leg massage unit 2000b.

As an example, the second adjustment module 2500b moves the second leg massage unit 2000b in at least one direction among the upper and lower sides of the second leg massage unit 2000b. 1 Length can be adjusted. As another example, the second adjustment module 2500b is configured to move the second upper leg massage unit 2000ba and the second upper leg massage unit 2000b in at least one direction among the upper and lower sides 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 can be adjusted.

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

Specifically, referring to FIGS. 15 and 16, the adjustment modules 2500a and 2500b include lead screws 2510a and 2510b that adjust 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, 2520b) that provide power to the lead screws (2510a, 2510b).

At this time, according to a preferred embodiment, the lead screws (2510a, 2510b) may have a spiral formed along the outer surface, and the inner surface of the leg frame 2210 is formed to correspond to the lead screws (2510a, 2510b), and the lead screw (2510a, 2510b) may have a spiral formed along the outer surface. It may include a fixing member through which the screws 2510a and 2510b pass. Additionally, 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 may be provided in the lower leg massage units 2000ab and 2000bb. It can be provided in .

The lead screws (2510a, 2510b) can be rotated by the leg length adjustment actuators (2520a, 2520b), and as the lead screws (2510a, 2510b) rotate, they can move up and down while passing through the fixing member in a screw manner. Ultimately, the lower leg massage units (2000ab, 2000bb) may move closer to or away from the upper leg massage units (2000aa, 2000ba) as the lead screws (2510a, 2510b) rotate, so that the upper leg massage units (2000aa, 2000ba) and The distance of the lower leg massage units 2000ab and 2000bb may be adjusted, and ultimately the length 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, 2000b) include guide rollers (2540a, 2540b) moving along the guide rails (2211a, 2211b) and a guide bar (2530a) supporting the guide rollers (2540a, 2540b) , 2530b). At this time, 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 can move along the guide rails 2211a and 2211b. Accordingly, the guide rollers 2540a and 2540b can 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 shake.

Meanwhile, the guide rails 2211a and 2211b may be formed on an inner portion of the leg frame 2210. Referring to FIG. 17, the guide rails 2211a and 2211b are formed only on a portion of the inside of the leg frame 2210, and a ledge is formed on the remaining portion, which can block the movement of the guide rollers 2540a and 2540b. As a result, it is possible to block the lower leg massage units (2000ab, 2000bb) from moving beyond the limit point, and prevent the problem of the lower leg massage units (2000ab, 2000bb) completely leaving the upper leg massage units (2000aa, 2000ba). can do.

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

Figure 19 is a diagram 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 or lowermost surfaces 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 massage unit for massaging the foot) and a foot massage actuator (or foot driver) for driving at least one foot massage module.

Referring to FIG. 19 , the first foot massage unit 2610 may include at least one foot massage module among the first foot massage module 2612 and the second foot massage module 2613. The first foot massage module 2612 and the second foot massage module 2613 are arranged (or placed) at the front and rear of the first foot massage unit 2610, respectively, to provide an overall massage to the sole of one leg of the user. You can. Additionally, the first foot massage unit 2610 may include first foot massage actuators 2611 and 2613 that drive 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 and drive at least one foot massage module. At this time, the front of the first foot massage unit 2610 and the front of the first foot massage module 2612 may be an area corresponding 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 foot massage module among the third foot massage module 2632 and the fourth foot massage module 2633. For example, the third foot massage module 2632 and the fourth foot massage module 2633 are arranged (or arranged) at the front and rear of the second foot massage unit 2630, respectively, and are entirely applied to the sole of the user's other leg. Massages can be provided. Additionally, 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 is disposed in front of the second foot massage unit 2630 and in front of the third foot massage module 2632 and can drive at least one foot massage module. At this time, the front of the second foot massage unit 2630 and the front of the third foot massage module 2632 may be an area corresponding to the toe 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 of foot massage modules (eg, three or more), and each foot massage module may be arranged in a straight line as shown in FIG. 19. At this time, the straight line may be a line crossing the sole of the foot. Each of the first and second foot massage units includes a single foot massage actuator and can drive all of the plurality of foot massage modules through the single foot massage actuator.

Meanwhile, the foot massage module may have at least one protrusion formed on its surface. Accordingly, the foot massage module can provide massage to the soles of the user's feet by rotating.

Alternatively, the foot massage module may be a roller whose surface is formed in an arc shape. Accordingly, the foot massage module can provide massage to the soles of the user's feet by rotating.

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

FIG. 20 is a diagram illustrating an embodiment in which the leg massage unit 2000 is equipped with an anti-jamming sensor (S).

Referring to FIG. 20, at least one anti-jamming sensor is installed at at least one position among the side, rear, and upper leg massage units 2000aa and 2000ba of the leg massage unit 2000 and the lower leg massage units 2000ab and 2000bb. (S) may be provided. At this time, the anti-entrapment 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 anti-jamming sensor S provided may be a capacitive touch sensor, but is not limited thereto.

When the anti-entrapment 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 may be detected between the leg massage units 2000a and 2000b on both sides. You can recognize what's happening. Alternatively, when the leg massage unit 2000 rotates, it may be recognized that a part of the user's body is caught between the leg massage unit 2000 and the body massage unit 1000.

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

When the pinch prevention sensor (S) is attached between the upper leg massage portions (2000aa, 2000ba) and the lower leg massage portions (2000ab, 2000bb), the upper leg massage portions (2000aa, 2000ba) and the lower leg massage portions (2000ab, When adjusting the distance of 2000bb), it may be recognized that a part of the user's body is caught between the upper leg massage parts 2000aa and 2000ba and the lower leg massage parts 2000ab and 2000bb.

Therefore, when the user's body is caught in a specific position of the massage device 100 while the leg massage unit 2000 is rotating, the anti-jamming sensor S can recognize this, and the massage device 100 will be stopped accordingly. and safety accidents can be prevented.

Meanwhile, the jamming prevention sensor (S) may be formed to extend to have a length. That is, the jamming prevention sensor S may be a linear sensor.

When the leg massage unit 2000 rotates or the length is adjusted, the human body cannot tell which part of the leg massage unit 2000 will get caught, so when the anti-jamming sensor S is formed to extend in the longitudinal direction. The area that can detect whether the user's body is in contact can be expanded. Accordingly, the user can use the massage device 100 more safely.

Referring to FIG. 20, as an optional embodiment, the anti-entrapment sensor S may be provided in the upper leg massage parts 2000aa and 2000ba and the lower leg massage parts 2000ab and 2000bb, respectively. At least one anti-jamming sensor (S) may be provided on each side. For example, the jamming prevention sensors 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 of the upper leg massage units 2000aa and 2000ba, respectively. Additionally, the anti-jamming sensor S may be located between the upper leg massage parts 2000aa and 2000ba and the lower leg massage parts 2000ab and 2000bb. Additionally, anti-jamming sensors S may be provided on both sides of the lower leg massage units 2000ab and 2000bb, respectively.

Accordingly, even if a part of the user's body, such as a leg, gets caught in any adjacent position of the leg massage unit 2000 while the massage device 100 is operating, this can be recognized.

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

As one embodiment, the leg massage unit 2000 may include at least one limit sensor in the leg frame 2210. The limit sensor may be a sensor for setting a limit for adjusting the length of the leg massage unit 2000. Alternatively, the limit sensor may be a sensor for determining the 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 a limit sensor, the upper leg massage units (2000aa, 2000ba) and the lower leg massage units (2000ab, 2000bb) may not move apart beyond a certain limit, preventing safety accidents, and the lower leg massage units (2000ab, 2000ab, 2000bb) can be prevented from being completely separated from the upper leg massage portions 2000aa and 2000ba.

As another example, the leg massage unit 2000 may include an encoder. Therefore, the distance between the upper leg massage units 2000aa and 2000ba and the lower leg massage units 2000ab and 2000bb can be recognized using an encoder, and the length adjustment limit of the leg massage unit 2000 can be determined accordingly. That is, the distance between the upper leg massage unit (2000aa, 2000ba) and the lower leg massage unit (2000ab, 2000bb) is recognized through the encoder, and when a certain limit is reached, the upper leg massage unit (2000aa, 2000ba) and the lower leg massage unit are The relative movement of (2000ab, 2000bb) can be stopped.

As one 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 that measures the length of one leg, and the second leg massage unit 2000b may include a second measurement sensor that measures the length of the other leg.

Preferably, each measurement sensor uses at least one sensor (or sub-measurement sensor) among the first sensor (or first sub-measurement sensor) and the second sensor (or second sub-measurement sensor) to measure the user's leg length. It can be included.

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

The first sensor may recognize that the user's body is in contact and measure the leg length. Accordingly, the first sensor can measure the length of the user's legs depending on whether the user's body is in contact, and based on this, the massage device 100 can adjust the length of the leg massage units 2000a and 2000b, and the precision is Although it may fall, the length of the leg massage parts 2000a and 2000b can be quickly and roughly adjusted.

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

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

Referring to FIGS. 21 and 22 , in one embodiment, the second sensor may be a photo sensor (PS). Preferably, it may be a mechanical photo sensor. In this way, when using the photo sensor (PS), as described above, the user's leg length can be measured more precisely than when only the first sensor is used. In addition, photo sensors (PS) are provided on both leg massage parts, making it possible to precisely measure the length of both legs of the user.

For example, the photo sensor PS may be located below the leg massage units 2000a and 2000b. Accordingly, the photo sensor (PS) can measure the user's leg length more precisely. That is, referring to FIG. 22, when movement of the leg massage parts 2000a and 2000b occurs, which are located on the lower sides of the leg massage parts 2000a and 2000b on both sides of the photo sensor PS, the movement causes the disk The member rotates, and by measuring the degree of light reception that changes due to the rotation of the disk member, it is possible to precisely measure the user's leg length.

However, it is not limited to this, and of course, the user's leg length can be measured by using a different type of photo sensor (PS) or by the principle on which the existing photo sensor (PS) operates.

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

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 while detecting a load of a preset size on the second sensor. The length of the leg massage units 2000a and 2000b at the point 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 when a preset load of a certain size is applied to the second sensor. The distance between the leg massage units 2000a and 2000b at that time can be recognized as the user's leg length, and in this case, the length of the leg massage units 2000a and 2000b can be adjusted to correspond to the user's leg length.

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

Below, the 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 receiving a user input, recognizing physical information about at least a part of the user's body, adjusting the massage device based on the body information, and It may include providing a massage to the user using an adjusted massage device.

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

Referring to FIG. 23, the method of operating the massage device is an example, in which one side of the user inserted into the first leg massage unit 2000a is operated according to information collected through a plurality of sensors included in the first leg massage unit. Measuring the length of the leg (S110), measuring the length of the user's other leg inserted into the second leg massage unit (2000b) according to information collected through a plurality of sensors included in the second leg massage unit (2000b) It may include a step (S120) and a step (S130) of providing massage according to different modes based on whether the length of the one leg is the same as the length of the other leg, 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 includes a massage module 1700 capable of performing at least one massage operation that provides mechanical stimulation, and a main frame that provides a path along which the massage module 1700 can move. (1100), inserted into the leg massage unit 2000 according to information collected through a leg massage unit 2000 connected to the main frame 1100 and a plurality of sensors included in the leg massage unit 2000. It includes a control unit 1200 that measures the length of the user's leg, and 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 other leg of the user is inserted. It includes a two-leg massage unit (2000b), and the control unit (1200) independently measures the length of one leg of the user and the other leg of the user, and determines whether the length of the one leg and the length of the other leg are the same. Based on this, massage according to different modes can be provided.

Below, each of the above steps will be described in detail.

The user input receiving step may be a step of receiving input regarding the massage to be provided to the user. In other words, this may be a step of receiving various commands related to controlling the operation 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 area, selection of location 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 playback, selection of the position and operation of the leg massage unit 2000, selection of the length of the leg massage unit 2000, automatic /May include arbitrary commands for selection for manual operation, etc., but is not limited thereto.

The user input receiving step may be performed through the user input unit 1400. For example, a 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.

Meanwhile, the massage device 100 according to the present invention can provide various modes of massage. Accordingly, the user input may include an input where the user selects at least one mode from among various massage modes.

Figure 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 can select at least one or more of these modes. there is.

The massage mode may be a mode that provides a typical massage. For example, the mode may be one 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 that provides a massage by acupressure, kneading, or pressing at least part of the user's body.

The massage mode may provide a massage to the user's legs. At this time, the massage mode may include a normal mode and a mode that provides massage to one leg.

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

As an optional embodiment, the normal mode may be a mode that provides the same program of massage to both legs of the user. In this case, the leg massage units 2000a and 2000b on both sides may be controlled equally or may be controlled with a certain time difference. That is, a massage can be provided to both legs of the user with the same intensity and for the same amount of time.

As another optional embodiment, the normal mode may be a mode that provides different programs of massage to both legs of the user. For example, it may be a mode that provides a massage by setting the intensity, massage provision time, type of massage module 1700 used, control method of the massage module 1700, massage area, etc. differently to the user's both legs. . In this case, the leg massage units 2000a and 2000b on both sides can be controlled individually, and the user can 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 massage to only one of the user's legs. That is, in one embodiment, the massage providing steps ( S130 and S240 ) may provide the massage only through one of the first leg massage unit 2000a and the second leg massage unit 2000b.

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

For example, a user may have a wound or injury on his or her leg and may find it difficult to receive a massage. In this case, if a massage is provided to both legs of the user at the same time, there is a risk that the user's injuries may become worse. Accordingly, the above-mentioned problem can be solved by providing massage to only one leg.

Additionally, there may be cases where the user wants to receive a massage on only one leg or cannot receive a massage because one leg is missing. In this case, the user's selection of massage programs can be expanded and power consumption can be reduced by providing massage to only one leg.

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

In another embodiment, a single leg massage mode may be performed automatically as needed.

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

To this end, the leg massage unit 2000 is a leg recognition sensor unit (or It may include a leg detection sensor unit). At this time, 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 first leg detection sensor) and a second leg recognition sensor (or second leg recognition sensor). The first leg massage unit 2000a includes a first leg recognition sensor disposed inside the first leg massage unit 2000a (for example, the first receiving space S1), and a second leg massage unit ( 2000a) may include a second leg recognition sensor disposed inside the second leg massage unit 2000a (eg, the second receiving space S2).

The first leg recognition sensor detects one leg of the user and recognizes whether one leg is received in the first leg massage unit 2000a, and the second leg recognition sensor detects the other leg of the user and detects the second leg massage unit 2000a. (2000b), it is possible to recognize whether the other leg has been accepted. Preferably, a plurality of leg recognition sensors may be provided in each accommodation space (S1 and S2), but the present invention is not limited thereto. For example, there is no limit to the location or number of each leg recognition sensor as long as it can recognize whether the user's leg is accommodated or not. In one 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 with various sensors capable of recognizing the leg, such as at least one of an infrared sensor and a pressure sensor.

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

Meanwhile, the leg massage unit 2000 may include air cells (not shown) to firmly fix the user's legs. The air cell can fix the user's legs to prevent the position of the user's legs from changing within the leg accommodation space (S) formed in the leg massage unit 2000 while providing a massage.

The exercise mode may be a mode that allows the user to perform exercise using the massage device 100.

At this time, the exercise mode may include a rotational exercise mode, a linear exercise mode, and a bicycle mode.

The rotational exercise mode may be an exercise mode that allows the leg massage unit 2000 to rotate using the user's force.

For example, with reference to FIG. 10 , the user may perform a rotational movement by rotating the leg massage unit 2000 clockwise (R direction) using his or her own power. At this time, the leg angle actuator 2270 does not provide force for rotation of the leg massage unit 2000 or provides force to resist the rotation direction, so that the user can rotate the leg massage unit 2000 with his or her own power. It becomes possible. Therefore, the user can enjoy the exercise effect of leg extension through this exercise mode. In other words, you can perform exercises to develop the front thigh muscles, including the quadriceps muscles.

As another example, the user may perform a rotational movement by rotating the leg massage unit 2000 counterclockwise (opposite direction of R) using the user's force. At this time, when the leg massage unit 2000 attempts to rotate counterclockwise, the leg angle actuator 2270 does not provide force or provides force to resist the direction of rotation, allowing the user to use the leg massage unit 2000 with their own power. (2000) can be rotated. Therefore, the user can enjoy the exercise effect of leg curl through this exercise mode. In other words, you can perform exercises to develop the muscles on the back of the thigh, including the hamstrings.

In this case, in order for the user to lift the leg massage unit 2000, the user's legs need to be firmly received and fixed in the leg massage unit 2000. To this end, the leg massage unit 2000 may include air cells (not shown) to firmly fix the user's legs. The air cell can fix the user's legs so that the position of the user's legs does not change within 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 move in a straight line using the user's force.

For example, the user may perform a linear movement while pushing the leg massage unit 2000 in the longitudinal direction with the user's force. At this time, the leg length adjustment actuator 2520 does not provide force or provides force in the direction of shortening the length of the leg massage unit 2000, so that the user exercises by pushing the leg massage unit 2000 with his or her own power. You can do it. Therefore, the user can enjoy exercise effects such as red press (leg press) through this exercise mode. In other words, you can perform exercises to develop the front thigh muscles, including the quadriceps muscles.

As described above, the air cell can fix the user's legs so that the position of the user's legs does not change within the leg accommodation space (S) formed in the leg massage unit 2000.

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

For example, the user can perform bicycle exercise by pushing the leg massage units 2000 on both sides alternately. At this time, the leg angle actuator 2270 does not provide force or provides force in the opposite direction to the user's application of force, allowing the user to exercise by pushing the leg massage unit 2000 to cross with his or her own force. .

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

As another embodiment, the leg massage unit 2000 compares the magnitude of force applied from the user to both leg massage units 2000, and pushes the side to which the greater force is applied in the longitudinal direction, while the side to which the greater force is applied is pushed in the longitudinal direction. The side on which force is applied can be pulled in the opposite direction. Through this, the user can perform bicycle exercise while applying force alternately to both legs, as if performing actual bicycle exercise.

Likewise in the bicycle mode, the air cell can fix the user's legs so that the position of the user's legs does not change within the leg accommodation space (S) formed in the leg massage unit 2000.

Meanwhile, the exercise mode can be performed by manually selecting it by the user. For example, the massage device 100 may include a button for selecting whether to perform an exercise mode, and the user can select whether to perform an exercise mode through this. Alternatively, the user input unit 1400 may be provided with a means for selecting whether to perform the exercise mode.

Meanwhile, the exercise mode may be automatically performed depending on the size of the load applied to the massage device 100. This will be explained later.

The correction mode may be a mode for correcting the user's body shape. Preferably, when the user's two legs have different lengths, this may be a mode for correcting the lengths of both legs to be the same.

At this time, 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 being different due to the user's pelvis being distorted. In this case, the massage device 100 may apply force to at least one of the user's hips, thighs, calves, and feet to correct the distorted pelvis.

Meanwhile, the pelvic correction mode can be performed until both legs of the user are recognized as having the same length. At this time, whether the user's both legs have the same length can be determined by measurement through the sensor unit 1800, as will be described later.

The length extension mode may be a mode performed when the user's leg lengths are different. For example, it may be a massage mode designed to lengthen short legs. For example, when the sensor unit 1800 measures the user's leg length and recognizes that the user's leg length is different, the massage device 100 may provide a massage focused on the leg recognized as being shorter. That is, the massage device 100 can provide a relatively stronger massage to short legs than to long legs, or provide a massage for a long time. Alternatively, the massage device 100 may selectively provide massage only to short legs. At this time, the massage provided may be a massage that applies force in the direction of stretching the user's legs, or a massage that provides stretching or pressure, but is not limited thereto.

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

Meanwhile, when the sensor unit 1800 recognizes that the user's leg length is different, the massage device 100 may provide the user with a selection option to select whether to drive the correction mode. In this case, the option may be provided as sound through the audio output module 1500 or through the user input unit 1400, but is not limited thereto. Meanwhile, whether the length of the user's legs are different can be measured and determined by the sensor unit 1800. This will be explained later.

The rehabilitation mode may be a mode for providing rehabilitation exercises for the user's body. Preferably, this may be a mode for providing rehabilitation exercise to the user when the user wants to do rehabilitation exercise after sustaining a leg injury.

For example, the rehabilitation mode may provide rehabilitation exercise by having the user push the leg massage unit 2000 with his or her own strength to perform a linear motion or a rotational motion. At this time, the methods and principles of performing linear motion and rotational motion are the same as described above.

Meanwhile, the rehabilitation mode can improve rehabilitation efficiency by measuring the force applied by the user to the leg massage unit 2000, that is, the load applied to the leg massage unit 2000 in real time. For example, when the user's legs gradually recover 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 force applied by the user, allowing the user to Rehabilitation efficiency can be improved by gradually improving the intensity of exercise to be performed.

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

The body information recognition step may be a step of recognizing body information about at least part of the user's body through the sensor unit 1800. For example, whether the user is seated, the user's body shape, whether the user's body is abnormal, whether the user's body is in contact, location information of the user's body, fingerprint information, face information, voice information, iris information, weight information, electrocardiogram information , it may be a step to measure or recognize body composition, etc.

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

At this time, when the sensor unit 1800 recognizes that the user's leg is accommodated, the massage device 100 may provide the user with a selection option 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 the user with a selection option to select whether to perform a massage on only one leg as described above. there is.

Alternatively, when the sensor unit 1800 recognizes that the user's leg length is different, the massage device 100 may provide the user with a selection option to select whether to perform the correction mode as described above. .

The step of measuring the user's leg length may be a step of measuring the length of the user's leg inserted into the leg massage unit 2000. As an example, the step of measuring the user's leg length may be performed while adjusting the length of the leg massage unit 2000. For example, if the leg massage unit 2000 is moved to contract from its maximum extended position along the length of the user's leg, and the leg massage unit 2000 is contracted to a position corresponding to the user's leg length, then The length of the leg massage unit 2000 may be determined based on the user's leg length. At this time, whether the leg massage unit 2000 has contracted to a position corresponding to the user's leg length can be determined based on whether the sole of the user's foot is in contact with a sensor provided in the leg massage unit 2000.

For example, the time for which the leg length adjustment actuator 2520 is driven until the sole of the user's foot contacts the sensor provided in the leg massage unit 2000 is measured, or the motor included in the leg length adjustment actuator 2520 is measured. By measuring the number of rotations, the user's leg length can be measured. Alternatively, the user's leg length can be measured by measuring the value of the load applied by the sole of the user's foot to the sensor provided in the leg massage unit 2000.

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

That is, the step of measuring the user's leg length 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 the information collected through the first sensor. It may include a measuring step (S110) and a second measuring step (S120) of the first measured leg length of the user according to the information collected through the second sensor. Thereafter, the massage device 100 may perform a step (S130) of providing a massage to the user based on the second measured leg length of the user.

Meanwhile, the process of measuring the 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 separately for both legs of the user.

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

In addition, the step of measuring the length of the user's other leg (S120) includes first measuring the length of the other leg according to information collected through a first sensor included in the plurality of sensors. It may include a second measurement of the length of the other 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 information collected through the first sensor included in the first leg massage unit 2000a, and The length of one leg can be measured secondarily according to information collected through the second sensor. In addition, the control unit 1200 first measures the length of the other leg according to 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 2000b. Depending on the information collected through this procedure, the length of the other leg can be measured secondarily.

The step of adjusting the massage device may be a step of adjusting the massage device 100 based on body information. For example, this may be a step of adjusting the relative positions of each component of the massage device 100 to correspond to the user's body shape. Alternatively, the relative position and intensity of each component of the massage device 100 may be adjusted according to a massage program customized for 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. At this time, the step of measuring the user's leg length and the step of adjusting the length of the leg massage unit 2000 may be performed simultaneously. For example, while adjusting the length of the leg massage unit 2000, if 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 adjusted to the user's leg length. It can be determined by leg length.

The step of adjusting the length of the leg massage unit 2000 may be performed through a leg length adjustment means. At this time, the leg length adjustment 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 that recognizes whether the user's leg is in contact, and a photo sensor (PS) or a second sensor that measures the size of the load applied to the massage device 100. At this time, the contents regarding the first sensor and the second sensor are the same as described above.

Specifically, the step of adjusting the massage device includes first adjusting the position of the leg massage unit 2000 according to information collected through the first sensor, and first adjusting the position of the leg according to information collected through the second sensor. A step of secondary adjustment of the position of the massage unit 2000 may be included.

For example, the step of first adjusting the position of the leg massage unit 2000 may be 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. You can. That is, in the step of first adjusting the position of the leg massage unit 2000, the user's leg length can be roughly measured using the first sensor, and the leg massage unit 2000 can be adjusted to roughly correspond to the user's leg length. This may be a step to adjust the length.

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 adjust the leg massage unit 2000 at this time. The length value can 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, the operation time of the leg length adjustment actuator 2520 or the rotation speed of the motor included in the leg length adjustment actuator 2520 is measured to The length can be roughly measured. Although the measurement precision may be relatively reduced in this step, the length of the leg massage unit 2000 can be roughly adjusted quickly.

To this end, the control unit 1200 may adjust the position of the leg massage unit 2000 based on whether the user's leg is in contact with the leg massage unit 2000.

The second step of adjusting the length of the leg massage unit 2000 can be precisely performed using a photo sensor (PS). As another example, the step of secondarily adjusting the length of the leg massage unit 2000 involves adjusting the position of the leg massage unit 2000 based on the size of the load applied to the leg massage unit 2000 by the user's legs. It may be a step. That is, in the step of secondary adjusting the position of the leg massage unit 2000, the user's leg length can be precisely measured using the second sensor, and the leg massage unit 2000 can be adjusted to precisely correspond to the user's leg length. This may be a step to adjust the length.

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

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

As another example, as a second sensor, both a load measuring sensor and a photo sensor can be used to measure the user's leg length.

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 a sensor that measures the load, the load applied to the sensor is set to a preset value. If it is more than this, the length adjustment of the leg massage unit 2000 can be stopped, and the current length of the leg massage unit 2000 can be determined as the length of the user's legs using a photo sensor. Through this, it is possible to measure the user's leg length more precisely.

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

Meanwhile, while measuring the user's leg length described above, if the user's leg contacts one of the plurality of sensors, the length adjustment of the leg massage unit 2000 may be stopped and the user's leg length may be measured. However, in another example As such, it is possible to measure the load while reducing the moving speed of the leg massage unit 2000 without stopping the length adjustment of the leg massage unit 2000, or to measure the user's leg length using a photo sensor.

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

Figure 25 is a diagram for explaining another embodiment of a method of operating a massage device according to the present invention.

Referring to FIG. 25, the step of measuring the user's leg length may further include a step (S230) of thirdly measuring the secondly measured leg length of the user 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 leg length of the user. 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 are measured (S210). According to the information collected through the sensors, the length of the user's other leg inserted into the second leg massage unit can be measured (S220), and the secondly measured length of the user's leg can be measured thirdly (S230).

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

Here, the step of thirdly measuring the user's legs (S230) may be performed in the same manner as the step of thirdly adjusting the position of the leg massage unit, 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 secondly adjusted position of the leg massage unit according to information collected through the second sensor. In this case, the step of providing a massage may provide a 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 in which, after the second adjustment step, the lower leg massage units 2000ab and 2000bb are moved in the longitudinal direction by a predetermined distance and then returned 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 control unit 1200 may thirdly adjust the position of the secondarily adjusted leg massage unit 2000 according to information collected through the second sensor after the second adjustment is performed.

For example, due to various factors such as the user placing the leg at an angle or a mechanical error in the massage device, the length of the leg massage unit 2000 adjusted through the first adjustment step and the second adjustment step may be different from the actual length. It may not correspond to the user's leg length.

Therefore, in order to measure this, the massage device 100 moves the lower leg massage units 2000ab and 2000bb away by a predetermined distance in the third adjustment step and returns to the original position, then measures the load applied by the user's leg to the second sensor. You can check whether the size is the same as before. At this time, if the size of the load applied to the second sensor is constant before and after performing the third adjustment step, it may be determined that the length of the leg massage unit 2000 has been adjusted to correspond to the length of the user's leg. Conversely, if the size of the load applied to the second sensor changes before and after the third adjustment step, the length of the leg massage unit 2000 adjusted through the first and second adjustment steps does not correspond to the user's leg length. It can be recognized as such, and the first and second adjustment steps can be performed again as needed.

Meanwhile, in one embodiment, the step of adjusting the massage device may be automatically performed when the massage device 100 recognizes that the user is seated.

For example, when the operation of the massage device 100 is set to be performed automatically, when the user sits on the massage device 100, the massage device 100 automatically recognizes whether the user is seated and performs massage based on this. Device 100 can be automatically adjusted.

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

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. Thereafter, a step of recognizing the user's body information or a step of adjusting the massage device may be performed.

The step of providing a massage (S130, S240) may be a step of providing a massage to the user through a massage providing module. For example, this may be a step in which the massage module 1700 moves along the main frame 1100 according to a signal input by the user and provides a massage to the user's body. Alternatively, the leg massage unit 2000 may rotate 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 may move or operate to provide a massage to the user. there is.

Additionally, the steps of providing a massage (S130, S240) may be steps of providing massage according to different modes based on whether the length of one leg of the user is the same as the length of the other leg of the user. To this end, the control unit 1200 may provide massage according to different modes based on whether the length of one leg of the user is the same as the length of the other leg.

For example, as described above, when the length of one leg of the user is the same as the length of the other leg, a massage according to the normal mode may be provided. Additionally, for example, when the length of one leg of the user is different from the length of the other leg, 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, the control unit 1200 may provide a massage according to the normal mode when the length of one leg of the user is the same as the length of the other leg. Additionally, when the length of one leg of the user is different from the length of the other leg, the control unit 1200 may provide a massage according to one of a one-leg massage mode, an exercise mode, a correction mode, and a rehabilitation mode. The steps of providing a massage (S130, S240) may further include a leg length correction step, if necessary. For example, while providing a massage, when the sensor unit 1800 detects that the current length of the leg massage unit 2000 does not correspond to the user's leg, the leg length adjustment means is activated to adjust the leg massage unit 2000. The length can be corrected.

At this time, the leg length correction step performed by the leg length adjustment 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 are special circumstances. For example, the calibration step may be performed using a first sensor and a second sensor.

At this time, of course, the leg massage units 2000a and 2000b on both sides can be controlled individually. That is, when correction is required for only one leg, the correction step can be performed only on the corresponding leg massage unit 2000.

*Meanwhile, when a load exceeding a preset size is detected on the massage device 100, the massage device 100 may stop the currently provided massage. That is, when a load exceeding a preset size is detected on 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, the control unit 1200 may stop the currently provided massage when a load greater than a preset size is detected on at least one of the first leg massage unit 2000a and the second leg massage unit 2000b.

For example, the storage unit 1300 may include control information for controlling the operation of the massage device 100, which may include at least one load value for controlling the operation of the massage device 100. there is. The control unit 1200 can control whether to stop the massage 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 a load value equal to the preset load value is applied to the second sensor, the operation of the leg length adjustment 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 to stop providing the massage. Preferably, the load value at this time may be greater than the load value for adjusting the length of the leg massage unit 2000. Accordingly, when the user applies a force exceeding 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 exceeding a preset load value, the massage device 100 stops the currently provided massage and the user uses the leg massage unit 2000 with his or her own leg strength. It can be moved.

Accordingly, when the user's body is caught in a specific part of the massage device, the user can freely control each component of the massage device 100 by stopping the operation 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 on his or her own.

Alternatively, the user may apply force exceeding a preset load to the massage device 100 to stop the massage operation of 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, if there is a risk that the user may be injured, the operation of the massage device 100 may be stopped in an emergency.

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 interrupted due to a power outage, etc., the massage device 100 is maintained in the state before providing the massage through a separately provided internal battery. For example, it can be safely terminated by restoring a baseline state.

Figure 26 shows a flowchart for explaining the massage providing operation of the control unit according to an embodiment of the present disclosure.

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

For example, the control unit 1200 may determine whether the user's legs are received in the leg massage units 2000a and 2000b based on whether the user's legs are detected for more than a threshold time through the leg detection sensor unit (S2610) ). At this time, the critical time may be a standard for determining whether the user's leg is 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 critical time may be stored in an external device that is different from the massage device 100 or may be input through an external device and provided (or transmitted) to the control unit 1200. At this time, the threshold time may be input or set by the user and the manager who manages the massage device 100 and 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 inside the leg massage units 2000a and 2000b. The leg detection sensor unit may transmit a signal to the control unit 1200 when the user's legs are detected. At this time, the leg detection sensor unit may transmit a signal to the control unit 1200 until the user's legs are 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 control unit 1200 may determine whether the user's leg is received in the leg massage units 2000a and 2000b based on the signal transmitted from the leg detection sensor unit. For example, the control unit 1200 may determine that the user's legs have been detected within the leg massage units 2000a and 2000b for more than a threshold time based on whether a signal transmitted from the leg detection sensor unit is received for more than a threshold time. there is.

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

When the user's leg is detected within the leg massage units 2000a and 2000b for more than a threshold time, the control unit 1200 may determine that the user's leg is accommodated in the leg massage units 2000a and 2000b.

If the user's leg is not detected within the leg massage units 2000a and 2000b for more than a threshold time, the control unit 1200 may determine that the user's leg is not accommodated in the leg massage units 2000a and 2000b.

The control unit 1200 may determine whether to provide a leg massage based on the result of determining whether the leg is accepted (S2630).

When it is determined that the user's leg is received by the leg massage units 2000a and 2000b, the control unit 1200 may determine to provide a leg massage to the user. If it is determined that the user's leg is not accommodated in the leg massage units 2000a and 2000b, the control unit 1200 may determine not to provide a leg massage to the user.

The control unit 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 result of determining whether to provide a leg massage, thereby controlling the operation of at least one of the body massage unit and the leg massage unit. A massage can be provided to the user (S2650).

If it is decided to provide a leg massage, the control unit 1200 may operate both the body massage unit 1000 and the leg massage units 2000a and 2000b to provide both a body massage and a 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. The included massage member can be activated to provide a leg massage.

If it is determined not to provide a leg massage, the control unit 1200 may provide a body massage to the user by operating the body massage unit 1000 without driving the leg massage units 2000a and 2000b.

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

For example, the control unit 1200 may re-determine whether the user's leg is received in the leg massage units 2000a and 2000b based on whether the leg is detected for more than a threshold time through the leg detection sensor unit. The judgment operation of the control unit 1200 may be the same as the above-described judgment operation, but is not limited thereto.

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

If it is 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 perform the leg massage. A body massage can be provided to the user in a state where is not provided.

If it is determined to provide a leg massage while the leg massage is not provided, the control unit 1200 operates the leg massage units 2000a and 2000b while maintaining the operation of the body massage unit 1000 to provide body massage and leg massage. All massages can be provided to the user.

When re-deciding to provide a leg massage while a leg massage is being provided or not to provide a leg massage while a leg massage is not being provided, the control unit 1200 controls the body massage unit 1000 and the leg massage unit 2000a, 2000b), the massage can be continuously provided to the user by maintaining the operation.

As described above, the control unit 1200 may provide at least one of a body massage and a leg massage based on whether the user's both legs are accommodated in the leg massage units 2000a and 2000b, but is not limited thereto. The control unit 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 received in each of the leg massage units 2000a and 2000b.

As described above, since the leg massage units 2000a and 2000b are capable of independent movement, the control unit 1200 provides at least one leg massage among the first leg massage and the second leg massage, and provides or provides a body massage. You may not. Hereinafter, the operation of the control unit 1200 to provide a leg massage will be described in detail.

Figure 27 shows a flowchart for explaining the operation of the controller to provide a leg massage according to an embodiment of the present disclosure.

The control unit 1200 performs first leg massage and second leg massage based on whether one leg of the user is received in the first leg massage unit 2000a and whether the other leg of the user is received in the second leg massage unit 2000b. You can decide whether to provide a leg massage or not.

For example, the control unit 1200 determines whether the user's one leg is received in the first leg massage unit 2000a based on whether the user's one leg is detected for more than a first threshold time through the first leg detection sensor. The first judgment can be performed (S2710).

The control unit 1200 determines whether the user's other leg is received in the second leg massage unit 2000b based on whether the user's other leg is detected for more than a second threshold time through the second leg detection sensor. Judgment can be performed (S2710).

Since the determination operation described in FIG. 26 is applicable to the above-described first and second determinations, detailed description will be omitted. However, the control unit 1200 may perform the first determination and the second determination simultaneously. The above-described threshold times may be applied to the first and second critical times. However, the first and second threshold times may be different from each other or may be set to be the same.

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

When the user's other leg is detected within the second leg massage unit 2000b for more than the second threshold time, the control unit 1200 determines that the user's other leg is received in the second leg massage unit 2000b and You may decide to offer a leg massage. If the user's other leg is not detected within the second leg massage unit 2000b for more than a second threshold time, the control unit 1200 determines that the user's other leg is not accommodated in the second leg massage unit 2000b and You may decide not to provide a second leg massage.

The control unit 1200 controls the operations of the first leg massage unit 2000a and the second leg massage unit 2000b based on the decision result, thereby providing at least one leg massage among the first and second leg massages to the user. You can (S2750).

When providing at least one leg massage among the first and second leg massages, the control unit 1200 controls the first leg massage unit 2000a based on the length of the leg corresponding to the massage of at least one leg among 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, at least one leg massage can be provided.

When it is decided to provide any one of the first leg massage and the second leg massage, the control unit 1200 selects a leg massage unit corresponding to one of the first leg massage unit and the second leg massage unit. You can decide on the target leg massage section. At this time, the target leg massage unit may be a leg massage unit that provides leg massage.

The control unit 1200 may control the operation of the target leg massage unit based on the length of the leg accommodated in the target leg massage unit, thereby providing at least one leg massage among the first and second leg massages to the user.

For example, the control unit 1200 may obtain 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 control unit 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 control unit 1200 may drive the massage member of the target leg massage unit whose length is adjusted to provide the user with one of the first and second leg massages corresponding to the target leg massage unit.

When it is determined to provide both the first leg massage and the second leg massage, the control unit 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, thereby A leg massage and a second leg massage can be provided to the user.

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

The control unit 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 control unit 1200 may simultaneously adjust the length of the first and second leg massage units 2000a and 2000b through the first and second adjustment modules 2500a and 2500b, or may adjust the length at different times.

The control unit 1200 operates the first massage member of the first leg massage unit 2000a whose length is adjusted and the second massage member of the second leg massage unit 2000b whose length is adjusted to massage the first and second legs. can be provided to the user. At this time, the control unit 1200 may drive the first and second massage members in a manner that is interlocked or not interlocked with each other.

If it is determined not to provide both the first leg massage and the second leg massage, the control unit 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.

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

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

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

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

The control unit 1200 may perform the massage providing operation described in FIGS. 26 and 27 while 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 judgment and the second judgment while reclining the massage device 100. Accordingly, the above-described critical time (for example, at least one of the first critical time and the second critical time) may be set to be similar to the time for the control unit 1200 to recline the massage device 100. .

Additionally, the control unit 1200 may return the leg massage unit that does not provide leg massage among the first and second leg massage units 2000a and 2000b to the default state before reclining. For example, the control unit 1200 rotates the leg massage part that does not provide a leg massage counterclockwise and adjusts the length of the leg massage part to a length corresponding to the basic state, so that the leg massage part that does not provide a leg massage is in the default state. It can be returned to . The control unit 1200 can prevent power waste of the massage device 100 by stopping the operation of the leg massage unit that has returned to its default state.

Hereinafter, details will be given about the exercise mode providing operation of the control unit 1200 that provides the exercise mode to the user through the independently movable leg massage units 2000a and 2000b, and the sensors included in the massage device 100 to provide the exercise mode. Please explain clearly.

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

The massage device 100 may include a rotational force detection unit 2700 that detects (or measures, senses) the user's rotational force. At this time, the rotational force may be a force that rotates at least one leg massage unit among the first leg massage unit 2000a and the second leg massage unit 2000b.

The rotational force may include at least one of a first rotational force that causes the user to rotate the first leg massage unit (2000a) with one leg, and a second rotational force that causes the user to rotate the second leg massage unit (2000b) with the other leg. You can.

For example, the first rotational force is a first upper rotational force that rotates the first leg massage unit 2000a clockwise (or the upper rotation of the massage device 100), and a first upper rotational force that rotates the first leg massage unit 2000a counterclockwise. It may include a first lower rotational force that rotates the massage device 100 backwards (or the lower side of the massage device 100). In other words, the first rotational force may be a force that causes the user to rotate the first leg massage unit 2000a clockwise or counterclockwise with one leg.

The second rotational force is a second upper rotational force that rotates the second leg massage unit 2000b in a clockwise direction (or an upward direction of the massage device 100), and a second upper rotational force that rotates the second leg massage section 2000b counterclockwise (or in a massage direction). It may include a second lower rotational force that rotates the device 100 toward the lower side. In other words, the second rotational force may be a force that causes the user to rotate the second leg massage unit 2000b clockwise or counterclockwise with the other leg.

The rotational force detection unit 2700 may include at least one rotational force detection sensor among a first rotational force detection sensor 2710 that detects a first rotational force and a second rotational force detection sensor 2730 that detects a second rotational force. The first rotational force detection 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 massage unit 2000b.

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

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

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

The first sub-rotational force detection sensor 2711 may be disposed in an area corresponding to the ankle (or lower shin) of one leg of the user (or an area in contact with the ankle) among the entire area of the first external housing 2000ab-1. . At this time, the area corresponding to the ankle of one leg may be an upper end area (or upper end surface) of the first external housing 2000ab-1.

The second sub-rotational force detection sensor 2713 may be disposed in an area corresponding to the heel of one leg (or an area in contact with the heel) among the entire area of the first lower leg massage unit 2000ab. At this time, the area corresponding to the heel of one leg may be the inner lower end area (or the inner lower back) of the first lower leg massage unit 2000ab.

The second rotation force detection sensor 2730 is at least one sub rotation force detection sensor among the third sub rotation force detection sensor 2731 for detecting the second upper rotation force and the fourth sub rotation force detection sensor 2733 for detecting the second lower rotation force. 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 external housing 2000bb-1. At this time, the area corresponding to the ankle of the other leg may be an upper end area of the second external housing 2000bb-1.

The fourth sub-rotational force detection sensor 2733 may be disposed in an area corresponding to the heel of the other leg among the entire area of the second lower leg massage unit 2000bb. At this time, the area corresponding to the heel of the other leg may be an inner lower end area of the second lower leg massage unit 2000bb.

The rotational force detection unit 2700 may detect at least one rotational force among the first and second rotational forces and provide (or transmit) the rotational force to the control unit 1200.

For example, the user may apply force to the leg massage unit 2000 to rotate the leg massage unit 2000 clockwise or counterclockwise by bending or straightening the knees of the legs. At this time, force to rotate clockwise may be applied through the ankle of the leg, and force to rotate counterclockwise may be applied through the heel of the leg.

The rotational force detection unit 2700 may detect the force applied to the leg massage unit 2000 as rotational force as the user bends or straightens his or her knees.

For example, the first sub-rotational force detection sensor 2711 detects the first leg massage unit 2000a through the ankle of one leg when the user spreads the knee of one leg to rotate the first leg massage unit 2000a clockwise. ) can be sensed as the first upper rotational force.

The second sub-rotational force detection sensor 2713 detects the first leg massage unit 2000a through the heel of one leg when the user bends the knee of one leg to rotate the first leg massage unit 2000a counterclockwise. The applied force can 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 when the user spreads the knee of the other leg to rotate the second leg massage unit 2000b clockwise. The force can be sensed as a second upper rotational force.

The fourth sub-rotational force detection sensor 2733 detects the second leg massage unit 2000b through the heel of the other leg when the user bends the knee of the other leg to rotate the second leg massage unit 2000b counterclockwise. The applied force can be sensed as the second lower rotation force.

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

The massage device 100 may include a control force detection unit 2800 that detects the user's control force. At this time, the control force may be a force that adjusts the length of at least one leg massage unit among the first leg massage unit 2000a and the second leg massage unit 2000b.

The adjusting force is a first adjusting force that allows the user to adjust the first length of the first leg massage unit (2000a) with one leg, and a second adjusting force that allows the user to adjust the second length of the second leg massage unit (2000b) with the other leg. It may include at least one control force.

For example, the first adjustment force is a first upper adjustment force that pulls the first leg massage unit 2000a toward the upper side of the first leg massage unit 2000a to shorten the first length (or shorten the first length), and It may include a first lower adjustment force that pushes the first leg massage unit 2000a toward the lower side of the first leg massage unit 2000a to adjust the first length (or increase the first length). In other words, the first control force may be a force in which the user pulls the first leg massage unit 2000a towards the upper side 2000a of the first leg massage unit 2000a or pushes the first leg massage unit 2000a to the lower side with one leg.

The second adjustment force is a second upper adjustment force that pulls the second leg massage unit 2000b to the upper side of the second leg massage unit 2000b to shorten the second length, and pulls the second leg massage unit 2000b to the upper side of the second leg massage unit 2000b. It may include a second lower adjustment force that pushes the massage unit 2000b downward to adjust the second length. In other words, the second control force may be a force in which the user pulls the second leg massage unit 2000b towards the upper side 2000b of the second leg massage unit 2000b or pushes the second leg massage unit 2000b towards the lower side with the other leg.

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

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

Specifically, the first adjustment force detection sensor 2810 is at least one of the first sub adjustment force detection sensor 2811 that detects the first upper adjustment force and the second sub adjustment force detection sensor 2813 that detects the first lower adjustment force. It may include a control force detection sensor.

The first sub-adjustment force detection sensor 2811 may be disposed in an area corresponding to the instep of one leg of the user (or an area in contact with the instep) among the entire area of the first external housing 2000ab-1. At this time, the area corresponding to the top of the foot of one leg may be the inner upper area (or the inner upper side or the inner uppermost surface) of the first external housing 2000ab-1.

The second sub-adjustment force detection sensor 2813 may be disposed in an area corresponding to the sole of one leg (or an area in contact with the sole) among the entire area of the first lower leg massage unit 2000ab. At this time, the area corresponding to the sole of one leg is the inner lower area (or inner lower side, innermost lower surface) of the first lower leg massage unit 2000ab and may be an area around the first foot massage unit 2610.

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

The third sub-adjustment force detection sensor 2831 may be disposed in an area corresponding to the top of the foot of the user's other leg among the entire area of the second external housing 2000bb-1. At this time, the area corresponding to the top of the foot of the other leg may be the inner upper area of the second external housing 2000bb-1.

The fourth sub-adjustment force detection sensor 2833 may be disposed in an area corresponding to the sole of the other leg among the entire area of the second lower leg massage unit 2000bb. At this time, the area corresponding to the sole of the other leg is an inner lower area of the second lower leg massage unit 2000bb and may be an area around the second foot massage unit 2630.

The control force detection unit 2800 may detect at least one control force among the first and second control forces and provide (or transmit) the control force to the control unit 1200.

For example, the user pulls the leg massage unit 2000 to the upper side of the leg massage unit 2000 or pushes it to the lower side of the leg massage unit 2000 to exert force to adjust the length of the leg massage unit 2000. It can be applied to the leg massage unit (2000). At this time, the pulling force may be applied through the top of the foot, and the pushing force may be applied through the sole of the leg.

For example, the first sub-adjustment force detection sensor 2811 detects the first leg massage unit 2000a through the instep of one leg when the user pulls the first leg massage unit 2000a with one leg to shorten the first length. ) can be sensed as the first upper control force.

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

The third sub-adjustment force detection sensor 2831 is applied to the second leg massage unit 2000b through the instep of the other leg when the user pulls the second leg massage unit 2000b with the other leg in order to shorten the second length. The force can be sensed as a second upper control force.

The fourth sub-adjustment force detection sensor 2833 is applied to the second leg massage unit 2000b through the sole of the other leg when the user pushes the second leg massage unit 2000b with the other leg in order to lengthen the second length. The force can be sensed as a second lower control force.

Each sensor of the above-described rotational force detection unit 2700 and adjustment force detection 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 detect force provided by the user.

As described above, the rotational force detection unit 2700 and the adjustment force detection unit 2800 are located inside the first and second leg massage units 2000a and 2000b, and the first and second external housings 2000ab-1 and 2000bb-1. ), but is not limited to this.

For example, the rotational force detection unit 2700 may be disposed between each leg massage unit and each rotation module. At this time, the rotation force detection unit 2700 detects the force by which each leg massage unit pulls each rotation module toward the front of the massage device 100 or pushes it toward the rear of the massage device 100 by the force applied by each leg to each leg massage section. (or pressure) can be sensed as each rotational force. The force pulling forward may be an upper rotational force, and the force pushing backward may be a downward rotational force.

The control force detection unit 2800 may be disposed between each leg massage unit and each control module. Preferably, the adjustment force detection unit 2800 may be disposed between each leg frame and the lead screw of each adjustment module. At this time, the control force detection unit 2800 uses the force applied by each leg to each leg massage part to pull each control module to the upper side of each leg massage part or push the control module to the lower side of each leg massage part as each control force. It can be sensed. The force pulling upward may be an upper adjustment force, and the force pushing downward may be a lower adjustment force.

Figure 31 shows an example to explain the operation of the control unit to provide an exercise mode according to an embodiment of the present disclosure.

The control unit 1200 may provide an exercise mode (or rotational exercise mode) that exercises the user's legs by rotating the leg massage unit 2000.

For example, the control unit 1200 may receive an input from a user who selects a rotational exercise mode among a plurality of massage modes.

The control unit 1200 may provide a rotational movement 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's input activating the rotational exercise mode. At this time, the control unit 1200 may adjust the length of each leg massage unit in a basic state in which the massage device 100 is not reclining, but is not limited to this. For example, the controller 1200 may recline the massage device 100 and adjust the length of each leg massage portion when the massage device 100 is in a reclined state.

The contents described in FIGS. 26 to 29 may be applied to the operation of adjusting the length of each leg massage unit. For example, the control unit 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 will be 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 exercise mode.

The control unit 1200 may change the state of the non-reclining massage device 100 to a state that provides a rotational movement mode. The state of providing the rotational exercise mode is a state in which among the massage units of the massage device 100, the leg massage unit 2000 and the rotation module 2270 are activated, and the remaining massage units except the leg massage unit 2000 are not activated. It can mean.

*For example, the control unit 1200 may provide a rotational exercise mode to the user by activating only the leg massage unit 2000 among the massage units of the massage device 100, but the present invention is not limited to this. The control unit 1200 may activate not only the leg massage unit 2000 but also at least one arm massage unit 3000 included in the massage device 100 to increase the exercise effect of the user exercising in the rotational exercise mode. . The control unit 1200 expands the air cells included in the activated arm massage unit 3000 and provides a rotational exercise mode while the user's arm (or upper body) is fixed, allowing the user to easily use the leg massage unit 2000. You can have it rotated.

The control unit 1200 may provide a rotational exercise mode based on the user's rotational force while the leg massage unit 2000 is activated.

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

The control unit 1200 may determine whether each rotational force is detected in 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 detected. When the control unit 1200 receives one of the first and second rotational forces, the control unit 1200 may determine that one of the rotational forces is sensed. If the controller 1200 does not receive both the first and second rotational forces, the controller 1200 may determine that the first and second rotational forces are not detected.

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

When both the first and second rotational forces are detected, the controller 1200 may determine to rotate both the first leg massage unit 2000a and the second leg massage unit 2000b.

When any one of the first rotational force and the second rotational force is sensed, the control unit 1200 detects any one of the first leg massage unit 2000a and the second leg massage unit 2000b corresponding to the rotational force. This can be decided by rotating the leg massage part. At this time, the control unit 1200 may determine not to rotate any one of the first leg massage unit 2000a and the second leg massage unit 2000b and the remaining leg massage unit that is different from the other leg massage unit.

When neither the first rotation force nor the second rotation force is sensed, the control unit 1200 may determine not to rotate both the first leg massage unit 2000a and the second leg massage unit 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 decision result, thereby providing the user with an exercise mode for exercising the legs. You can.

When it is determined not to rotate both the first leg massage unit 2000a and the second leg massage unit 2000b, the control unit 1200 controls the first leg massage unit 2000a and the second leg massage unit 2000b to prevent rotation. And the exercise mode may not be provided to the user by controlling the operation of the second rotation modules 2271 and 2273 (S3150). Operations that do not provide a rotational motion mode will be described later.

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 control unit 1200 operates the first and second rotation modules 2271 and 2273. By controlling it, a rotational movement mode can be provided 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 control unit 1200 moves one of the first leg massage units (2000a) and the second leg massage units (2000b) corresponding to one of the rotational forces. By determining that the massage unit rotates, the rotation of any one leg massage unit can be controlled.

For example, when deciding to rotate one of the leg massage units, the controller 1200 may re-determine whether to rotate one of the leg massage units based on whether the rotational force of any one exceeds the critical rotational force ( S3171a). At this time, the critical rotational force may be a standard for determining the exercise difficulty of the rotational movement mode. The threshold torque can be set based on user input. For example, the storage unit 1300 may store a plurality of preset critical rotational forces. The user may set (or select, determine) one of the plurality of critical torques as the critical torque for the exercise mode.

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

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

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

If it is re-determined to rotate one of the leg massage units, the controller 1200 may rotate one of the leg massage units based on the rotational force (S3175a).

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

For example, the control unit 1200 may determine the direction of rotation in which one leg massage unit is to be rotated clockwise or counterclockwise based on whether one of the rotational forces is an upper or lower rotational force.

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

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

When both the first and second rotational forces are sensed, the control unit 1200 determines to rotate both the first leg massage unit 2000a and the second leg massage unit 2000b to create the first and second leg massage units ( 2000a, 2000b) rotation 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 control unit 1200 rotates the first leg massage unit 2000a and 2000b based on whether the first rotational force exceeds the first critical rotational force. (2000a) can 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).

The first and second critical rotational forces can be applied to all of the critical rotational forces described in FIG. 31 . However, the first and second critical rotational forces may be set to be different or the same based on the user's input. For example, the user may set the first and second critical torques differently when one of the one leg and the other leg is stronger or weaker than the other leg. In other words, the first critical torque may indicate the difficulty of exercise for the first leg massage unit 2000a, and the second critical torque may indicate the difficulty of exercise for the second leg massage unit 2000b.

If the first rotational force exceeds the first critical rotational force, the control unit 1200 may re-determine to rotate the first leg massage unit 2000a. When the first rotational force does not exceed the first critical rotational force, the control unit 1200 may re-determine not to rotate the first leg massage unit 2000a.

If the second rotational force exceeds the second critical rotational force, the control unit 1200 may re-determine to rotate the second leg massage unit 2000b. When the second rotational force does not exceed the second critical rotational force, the control unit 1200 may re-determine not to rotate the second leg massage unit 2000b.

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

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

If it is re-determined not to rotate the second leg massage unit 2000b, the control unit 1200 may control the second rotation module 2273 to fix the second leg massage unit 2000b without rotating it (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.

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

For example, the control unit 1200 may obtain (or calculate) the first difference value between the first rotational force and the first critical rotational force (S3175a-1). The control unit 1200 may determine a first rotation speed at which the first leg massage unit 2000a will rotate 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 control unit 1200 may determine the first rotation direction in which to rotate the first leg massage unit 2000a to be clockwise or counterclockwise based on whether the first rotation force is an upper or lower rotation force. The control unit 1200 controls the operation of the first rotation module 2271 based on the first rotation speed and the first rotation direction, thereby rotating the first leg massage unit 2000a clockwise or counterclockwise. .

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

For example, the control unit 1200 may obtain (or calculate) a second difference value between the second rotational force and the second critical rotational force (S3175a-1). The control unit 1200 may determine a second rotation speed at which the second leg massage unit 2000a will rotate 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 control unit 1200 may determine the second rotation direction to rotate the second leg massage unit 2000b as clockwise or counterclockwise based on whether the second rotation force is an upper or lower rotation force. The control unit 1200 controls the operation of the second rotation module 2273 based on the second rotation speed and the second rotation direction, thereby rotating the second leg massage unit 2000b clockwise or counterclockwise. .

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

As described above, the content described in steps S3173a and S3173b of the control unit 1200 may be applied to S3150.

Figure 34 shows another example for explaining the operation of the control unit to provide an exercise mode according to an embodiment of the present disclosure.

The control unit 1200 may adjust the length of the leg massage unit 2000 to provide an exercise mode (or linear exercise mode) that exercises the user's legs.

For example, the control unit 1200 may receive an input from a user who selects a linear motion mode among a plurality of massage modes.

The control unit 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 the linear motion mode among the 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's input 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 portion while the massage device 100 is in a reclined state, but is not limited to this. For example, the control unit 1200 maintains the state of the body massage unit 1000 in the basic state, reclines the leg massage unit 2000, changes only the leg massage unit 2000 to the reclining state, and then massages each leg. The length of the part can be adjusted.

The contents described in FIGS. 26 to 29 may be applied to the operation of adjusting the length of each leg massage unit. For example, the control unit 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 will be assumed that the control unit 1200 reclines the massage device 100, adjusts the length of each leg massage unit, and then provides a linear exercise mode.

The control unit 1200 may change the state of the reclining massage device 100 to a state that provides a linear motion mode. The state of providing the linear motion mode is a state in which among the massage units of the massage device 100, the leg massage unit 2000 and the control module 2500 are activated, and the remaining massage units except the leg massage unit 2000 are not activated. It can mean.

For example, the control unit 1200 may provide a linear exercise mode to the user by activating only the leg massage unit 2000 among the massage units of the massage device 100, but the present invention is not limited to this. The control unit 1200 may activate not only the leg massage unit 2000 but also at least one arm massage unit 3000 included in the massage device 100 to increase the exercise effect of the user exercising in the linear exercise mode. . The control unit 1200 expands the air cells included in the activated arm massage unit 3000 and provides a linear exercise mode while the user's arm (or upper body) is fixed, so that the user can easily use the leg massage unit 2000. The length can be adjusted.

The control unit 1200 may provide a linear exercise mode based on the user's control power while the leg massage unit 2000 is activated.

For example, the control unit 1200 determines whether to adjust the first length of the first leg massage unit 2000a and the second length of the second leg massage unit 2000b based on whether the user's adjustment force is detected. You can.

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

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

The control unit 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 one of the first and second adjustment forces is sensed, the controller 1200 may determine to adjust one of the first and second lengths corresponding to one of the adjustment forces. At this time, the control unit 1200 may determine not to adjust the remaining length that is different from any one of the first length and the second length.

If neither the first nor the second adjustment force 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 exercise mode for exercising the legs by adjusting at least one of the first and second lengths based on the decision result.

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

When it is decided to adjust at least one of the first and second lengths, the control unit 1200 may control the operation of the first and second adjustment modules 2500a and 2500b to provide a linear motion mode to the user. (S3470). The operation providing the linear motion mode will be described later.

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

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

For example, when deciding to adjust one length, the control unit 1200 may re-determine whether to adjust one length based on whether one adjustment force exceeds the threshold adjustment force (S3471a) . At this time, the critical control force may be a standard for determining the exercise difficulty of the linear exercise mode. All of the above-described critical rotational force can be applied to the critical control force.

If either adjustment force does not exceed the critical adjustment force, the control unit 1200 may re-determine not to adjust any one length. If any one adjustment force exceeds the critical adjustment force, the control unit 1200 may re-determine to adjust one length.

The control unit 1200 can adjust any one length based on the re-determination result.

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

If it is re-determined to adjust one length, the control unit 1200 can adjust one length based on one adjustment force (S3475a).

For example, the control unit 1200 may obtain (or calculate) the difference value between any one adjustment force and the threshold adjustment force (S3475a-1). The control unit 1200 may determine an adjustment speed at which one length will be adjusted based on the difference value (S3475a-2). The control unit 1200 can adjust the length of the first and second adjustment modules 2500a and 2500b by controlling the operation of the adjustment module corresponding to the length based on the adjustment speed (S3475a-3) ).

For example, the control unit 1200 may determine the adjustment direction in which to adjust one length to be upward or downward based on whether one adjustment force is an upper or lower adjustment force. At this time, the upward direction may be an upward direction of the leg massage unit corresponding to one length, and the downward direction may be a downward direction of the leg massage unit corresponding to one length.

The control unit 1200 controls the operation of the adjustment module corresponding to one length based on the adjustment speed and direction, so that the length can be shortened or lengthened by adjusting the length to the upper or lower side. .

In other words, when the control direction is upward, the control unit 1200 moves the position of the leg massage unit (or the position of the lower leg massage unit) corresponding to a certain length upward to adjust a certain length to a certain control force. It can be adjusted to be shorter than before detection. When the adjustment direction is downward, the control unit 1200 can adjust one length to be longer than before any one adjustment force is sensed by moving the position of the leg massage unit corresponding to one length downward.

FIG. 36 shows another example for explaining the operation of providing the linear motion mode 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 and thus adjust the first and second lengths.

For example, when it is determined to adjust both the first and second lengths, 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 critical adjustment forces, the contents of the first and second critical rotational forces described above may all be applied.

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

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

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

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

If 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 it (S3473b). For example, the controller 1200 may fix the second length by controlling the operation of the second adjustment module 2500b so that the second length is not adjusted.

If it is re-determined to adjust the first length, the control unit 1200 may adjust the first length based on the first adjustment force (S3475b).

For example, the control unit 1200 may obtain (or calculate) the 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 at which the first length will be adjusted based on the first difference value (S3475a-2). The controller 1200 may adjust the first length by controlling the operation of the first adjustment module 2500a based on the first adjustment speed (S3475a-3).

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

The controller 1200 controls the operation of the first adjustment module 2500a based on the first adjustment speed and the first adjustment direction, thereby adjusting the first length to the upper or lower direction to shorten or lengthen the length. there is.

If it is re-determined to adjust the second length, the control unit 1200 may adjust the second length based on the second adjustment force (S3475b).

For example, the control unit 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 adjustment module 2500b based on the second adjustment speed (S3475a-3).

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

The control unit 1200 controls the operation of the second adjustment module 2500b based on the second adjustment speed and the second adjustment direction, thereby adjusting the second length to the upper or lower direction to shorten or lengthen the length. there is.

In other words, the control unit 1200 can 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 can be applied to S3450.

As described above, the critical rotational force and the critical adjustment force are set as the critical rotational force and adjustment force corresponding to the user's input among the plurality of critical rotational forces and the plurality of critical adjustment forces, but are not limited to this. For example, the user can directly input the weight (eg, kilogram (Kg)) with which the user will exercise and set the input value as the critical torque and critical control force. At this time, the user can set additional exercise difficulty by entering the number of exercises for at least one of rotation and length adjustment. Accordingly, when the rotation force and control force exceed the threshold as described above, the control unit 1200 can rotate each leg massage unit (2000a, 2000b) or adjust the length of each leg massage unit (2000a, 2000b). . In addition, the control unit 1200 sends a notification (e.g., a beep sound) indicating the completion of the exercise to the user when the number of rotations and length adjustments for each leg massage unit 2000a, 2000b is greater than or equal to the number of exercises. Can be printed.

At this time, when each leg massage unit (2000a, 2000b) is located at a preset rotation position due to the user's rotation force, the control unit 1200 counts the number of rotations for each leg massage unit (2000a, 2000b) and enters the exercise mode. The number of times each leg massage unit (2000a, 2000b) rotates while providing massage can be calculated. 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 when the user's knee is extended, and each leg massage unit (2000a, 2000b) rotates to each leg massage unit (2000a, 2000b). It may be a position (or height) corresponding to a state in which the seat portion in contact with the user's buttocks is parallel.

The control unit 1200 counts the number of length adjustments for each leg massage unit (2000a, 2000b) when each leg massage unit (2000a, 2000b) is located at a preset adjustment position by the user's adjustment force to provide an exercise mode. During this time, the number of times the length of each leg massage unit (2000a, 2000b) is adjusted can 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) where each leg massage unit 2000a or 2000b corresponds to at least one of the uppermost and lowermost ends of each leg massage unit 2000a and 2000b.

Additionally, the control unit 1200 can measure changes in leg muscles according to exercise by measuring the thickness of each leg of the user through the airbag included in each leg massage unit 2000a and 2000b. For example, the control unit 1200 may inflate an airbag and measure the air pressure of the airbag on each leg to measure the thickness of at least one of the calf and thigh of each leg.

The control unit 1200 may provide the user with information on at least one of whether the exercise has been completed, the number of exercises, and the thickness of each leg to allow the user to manage each leg.

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

37 and 38, in explaining the operation of the leg massage unit 2000 according to this embodiment, the term “leg massage unit 2000” includes the first leg massage unit 2000a and the second leg massage unit (2000a). 2000b), and that the leg massage unit 2000 may include a certain configuration means that the first leg massage unit 2000a and the second leg massage unit 2000b may each include that configuration. You can.

In addition, in describing the rotation module according to this embodiment, the reference to the rotation module 2270 refers to the first and second rotation modules 2271 and 2273, and that the rotation module may include any configuration refers to the first and second rotation modules 2271 and 2273. and the second rotation modules 2271 and 2273 may each include the configuration.

The rotation module according to this embodiment is disposed in the body massage unit 1000 and may be a motor-type rotation module. At this time, the rotation module may be disposed on both sides of the bottom of the body massage unit 1000.

As an example, 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 generating rotational force to rotate the leg massage unit 2000 by receiving power.

The leg angle motor 2110a may be placed 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 axis for rotation. The shaft member may be disposed on one side of the leg massage unit 2000, for example, adjacent to the user's knee. Accordingly, the leg massage unit 2000 can rotate around the shaft member by receiving force from the leg angle motor 2110.

As an example, the leg angle motor 2110a may be disposed lower than the shaft member, and specifically may be disposed lower than the leg connection frame. Accordingly, the leg angle motor 2110a can be placed relatively close to the leg massage unit 2000, and a space for the leg angle motor 2110a can be secured within 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 that is 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 example, the power transmission member 2120a may be a timing belt. Accordingly, the timing belt may include teeth that mesh with the gear, and thus can easily transmit the rotational force generated from the leg angle motor 2110a.

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 containing 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 can rotate together with the shaft member by the rotational force transmitted from the power transmission member 2120a, and thus the leg massage unit 2000 can rotate.

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

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

That is, even when the leg angle motor 2110a rotates quickly, the pulley 2130a can rotate slowly, and thus the leg massage unit 2000 can also rotate slowly, increasing the safety of the user using the massage device. can be secured. Additionally, the leg massage unit 2000 can rotate smoothly, providing a comfortable feeling to the user.

FIG. 39 is a diagram 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 the rotation direction of the gear disposed at one end of the leg angle motor 2110a.

Specifically, when the gear of the leg angle motor 2110a rotates clockwise with respect to 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 can also rotate clockwise to correspond to the rotation direction of the pulley 2130a, and eventually the leg massage unit 2000 can be lifted.

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

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

Referring to FIGS. 40 to 42, the rotation module according to this embodiment is disposed in the body massage unit 1000 and may be a type of rotation module using a motor and a screw. At this time, the rotation module may be disposed in an area corresponding to each leg massage unit among the entire lower area of the body massage unit 1000.

As one 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 generating rotational force to rotate the leg massage unit 2000 by receiving power.

The leg angle motor 2110b may be placed in the body massage unit 1000 and, for example, may be connected to 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 must be secured within the body massage unit 1000. And for this purpose, the leg angle motor 2110b is preferably disposed relatively lower.

Accordingly, for this purpose, 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 an area 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 that is 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 example, the power transmission member 2120b may be a timing belt. Accordingly, the timing belt may include teeth that mesh with the gear and thus can easily transmit the rotational force generated from the leg angle motor 2110b.

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 containing metal.

The lead screw 2130b rotates by receiving power from the power transmission member 2120b, and may be a means for lifting and moving the screw pulley housing 2140b through rotation.

As an example, a rotating part that is in contact with the power transmission member 2120b may be disposed on one end of the lead screw 2130b.

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

As an alternative embodiment, the diameter of the gears of leg angle motor 2110b may be smaller than the diameter of the rotating portion. Accordingly, when the gear rotates relatively much, the rotating part can rotate relatively little, so the leg massage part 2000 can rotate slowly.

In other words, even when the leg angle motor 2110b rotates quickly, the lead screw 2130b can rotate slowly, and thus the leg massage unit 2000 can also rotate slowly, increasing the safety of users using the massage device. can be secured. Additionally, the leg massage unit 2000 can rotate smoothly, providing a comfortable feeling to the user.

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 rotation of the lead screw 2130b. At this time, the screw pulley housing 2140b may include a through hole into which the lead screw 2130b is inserted, and the lead screw 2130b may be arranged to penetrate the screw pulley housing 2140b.

A helical 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 helical groove formed on the lead screw 2130b.

Accordingly, as the lead screw 2130b rotates, the screw pulley housing 2140b can move up and down by the thread engaging with it.

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

As an optional embodiment, the drive frame may be formed to have a length parallel to the direction of movement 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. Additionally, a guide groove may be formed along the length of one surface of the drive frame, and the screw pulley housing 2140b may include a protrusion inserted into the guide groove. Therefore, 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 roll along one side of the leg massage unit 2000.

As an example, the leg massage unit 2000 may further include a leg support unit 2160b disposed on the rear surface, and the wheel 2150b may move along the leg support unit 2160b. Specifically, the leg support unit 2160b is disposed on the back of the leg massage unit 2000, and may be formed to extend along the longitudinal direction of the leg massage unit 2000.

When the screw pulley housing 2140b moves up and down as the lead screw 2130b rotates, the wheel 2150b may roll along the leg support 2160b and lift the leg massage unit 2000. That is, the leg support portion 2160b may provide a path along which the wheel 2150b can roll and move.

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

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. , It can provide users with a comfortable feeling of use.

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

Referring to FIG. 43, the screw pulley housing 2140b can be moved up and down by driving the leg angle motor 2110b. For example, the direction of movement of the screw pulley housing 2140b may depend on the direction of rotation of the leg angle motor 2110b.

At this time, the rotation direction of the leg angle motor 2110b and the moving direction of the screw pulley housing 2140b may be determined according to the direction of the spiral formed on the lead screw 2130b. That is, when the direction of the spiral formed on the lead screw 2130b is formed in the opposite direction, the rotation direction of the leg angle motor 2110b and the moving 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 the corresponding direction. By rotation of the lead screw 2130b, the screw pulley housing 2140b can move in a direction corresponding to the lead screw 2130b and, for example, can rise. Accordingly, the wheel 2150b disposed on one side of the screw pulley housing 2140b can move while rolling on the surface of the leg support part 2160b, and the leg massage part 2000 can 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. As the lead screw 2130b rotates, the screw pulley housing 2140b can move in a corresponding direction, for example, descend. Accordingly, the wheel 2150b disposed on one side of the screw pulley housing 2140b moves while rolling on the surface of the leg support part 2160b, and the leg massage part 2000 comes down.

Figure 44 is a diagram for explaining the 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 this embodiment may be a type of rotation module using an actuator.

As an example, 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 generating force to rotate the leg massage unit 2000 by receiving power. For example, the leg angle actuator 2110c may be a means of receiving power to expand and contract in the longitudinal direction and rotate the leg massage unit 2000 by stretching.

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

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

The link unit 2120c may be a means to lift 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 example, the leg massage unit 2000 may include a leg support unit 2130c disposed on the back of the leg massage unit 2000. At this time, the leg support part 2130c may be connected to the link unit 2120c. Accordingly, as the leg angle actuator 2110c expands and contracts, the link unit 2120c can move together, and the leg support unit 2130c connected to the link unit 2120c moves, allowing the leg massage unit 2000 to rotate.

The link unit 2120c may have a joint structure. For example, the link unit 2120c may include a bent portion 2121c, and the link unit 2120c may be folded based on the bent portion 2121c. Accordingly, the leg angle actuator 2110c can 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 support unit 2130c. At this time, each connection portion of the link unit 2120c may be connected so as to be rotatable. Therefore, when the leg angle actuator 2110c expands and contracts, the link unit 2120c is folded based on the bent portion 2121c and includes a portion connected to the main frame 1100, a portion connected to the leg angle actuator 2110c, and a leg support portion ( Each part connected to 2130c) can rotate.

FIG. 45 is a diagram for explaining the principle of rotation of the leg massage unit 2000 of FIG. 44.

Referring to FIG. 45, the link unit 2120c can be rotated and simultaneously unfolded or folded by driving the leg angle actuator 2110c, and thus the leg massage unit 2000 can be lifted or lowered.

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

Conversely, when the leg angle actuator 2110c contracts, the link unit 2120c 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 can rotate in a direction closer to the main frame 1100. At the same time, the link unit 2120c can be folded based on the bent portion 2121c, and as the link unit 2120c is folded, the leg massage unit 2000 comes down.

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

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

As an example, the rotation module may include an airbag 2110d and an airbag supporter 2120d. Additionally, the leg massage unit 2000 may include a leg support unit 2130d disposed on the back of the leg massage unit 2000. The leg support portion 2130d may directly contact the airbag 2110d.

The airbag 2110d may be a means of expanding by receiving air or contracting by expelling air. For example, the airbag 2110d may be configured to unfold in a fan-shaped direction when air is supplied. Conversely, the airbag 2110d may be configured so that the expanded portion contracts and folds when air is discharged.

Accordingly, the airbag 2110d is disposed on the back of the leg massage unit 2000 and can rotate the leg massage unit 2000 by expanding and contracting.

The airbag support unit 2120d may be provided in the body massage unit 1000 and may be a means of supporting the airbag 2110d. For example, the airbag support 2120d may be connected to the main frame 1100 and may be disposed on the lower side of the leg connection 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 may expand in a direction away from the main frame 1100. You can.

At this time, the airbag 2110d may be coupled to the airbag supporter 2120d so that, with reference to FIG. 46 , the unfolded portion is disposed below, and the portion forming the axis of the fan is disposed above. Therefore, as air is supplied, the leg massage unit 2000 can be expanded in a direction that stably pushes up.

As an optional embodiment, the airbag 2110d may be coupled so that one surface is in contact with the airbag supporter 2120d. For example, one side of the airbag 2110d may be completely in contact with the airbag supporter 2120d, and accordingly, when the airbag 2110d is inflated, the airbag 2110d is firmly fixed to the airbag supporter 2120d and provides leg massage. Part 2000 can be lifted stably.

FIG. 48 is a diagram 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 supporter 2120d may be formed in a stepped shape to correspond to the number of airbags 2110d provided.

Based on FIG. 48 , a plurality of airbags 2110d may be arranged in the vertical direction, and a step may be formed in the airbag supporter 2120d in a direction away from the leg massage unit 2000 from bottom to top. At this time, the smaller the angle between the leg massage unit 2000 and the airbag support unit 2120d, the more involved the airbag 2110d placed at the lower end is.

For example, when the leg massage unit 2000 is lifted from its fully folded state, the airbag 2110d at the bottom may inflate. Thereafter, after the leg massage unit 2000 is lifted to a certain point, the airbag 2110d at the bottom is spaced apart from the leg support unit 2130d of the leg massage unit 2000, and from then on, the airbag 2110d at the bottom is spaced apart from the leg support unit 2130d of the leg massage unit 2000. As the airbag 2110d expands, the leg massage unit 2000 is lifted. Accordingly, the angle at which the leg massage unit 2000 can be maximally lifted can be determined by the airbag 2110d disposed at the top.

Conversely, when the leg massage unit 2000 is lowered, the airbag 2110d disposed at the top may be involved. For example, when the leg massage unit 2000 is lifted to its maximum extent, only the airbag 2110d placed at the top comes into contact with the leg massage unit 2000. Afterwards, as the airbag 2110d placed at the top contracts, the leg massage unit 2000 is lowered. When the leg massage unit 2000 is lowered beyond a predetermined angle, the airbag 2110d placed at the next stage and A leg support portion 2130d is disposed. In this way, as the leg massage unit 2000 is lowered, the leg support unit 2130d comes into contact with the airbag 2110d disposed relatively at the bottom.

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

Referring to FIG. 49, the massage device according to this 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 buffer member 2110e may be disposed on the back of the leg massage unit 2000 and serve as a means to alleviate shock or vibration generated by hitting the body massage unit 1000 when the leg massage unit 2000 is completely folded.

As an example, the buffer member 2110e may be made of an elastic material. For example, the cushioning member 2110e may include at least one of rubber, synthetic resin, and sponge. Therefore, vibration or shock generated when the leg massage unit 2000 collides with the body massage unit 1000 when folded can be alleviated. However, of course, the material forming the buffer member 2110e is not limited to this, and any material that has elasticity and can relieve impact can be used.

As an example, the cushioning member 2110e may be disposed on the rear surfaces of the first leg massage unit 2000a and the second leg massage unit 2000b, respectively. Accordingly, it is possible to alleviate vibration or impact caused by folding of 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 the position in which the leg massage unit 2000 is folded. At this time, the position adjustment sensor 1810 may recognize whether the folded leg massage unit 2000 is at a preset position at a specific point in time.

As an example, the position adjustment sensor 1810 may recognize whether the first leg massage unit 2000a and the second leg massage unit 2000b are located side by side. That is, the position adjustment sensor 1810 can 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 the side where the first leg massage unit 2000a and the second leg massage unit 2000b face 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 if they are not facing each other at the correct position, they are recognized as In this case, the position adjustment sensor 1810 may recognize that the two leg massage units 2000 are arranged misaligned with each other.

As an example, the leg massage unit 2000 may further include a position setting frame 2120e.

The position setting frame 2120e may be a means for setting the first leg massage unit 2000a and the second leg massage unit 2000b to be positioned at the correct positions.

As an embodiment, the positioning frame 2120e may be connected to the main frame 1100, and is 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 any location.

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 its initial position, the buffer member 2110e may contact the positioning frame 2120e. That is, the shock caused by the folding of the leg massage unit 2000 can be alleviated by the buffer member 2110e contacting the positioning frame 2120e and the initial position of the leg massage unit 2000 can be set.

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

The leg massage unit 2000 according to this embodiment may further include at least one safety sensor that detects that at least part of the user's body is caught.

When the leg massage unit 2000 rotates, the user's body may get caught in a specific position of the massage device. For example, the problem of the user's body being 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 problem, the leg massage unit 2000 may further include a safety sensor that recognizes that at least part of the user's body is caught in the above-described position.

Referring to FIG. 50 , in one embodiment, the safety sensor may include a first safety sensor 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 second leg massage unit 2000b, respectively, and It may be placed at a position corresponding to the outside of the calf on the side of the leg massage unit 2000b.

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, in one 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, respectively, and the first leg massage unit 2000a and It may be disposed on the inner side of the second leg massage unit 2000b 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 disposed on the upper left and lower right sides of the inner calf of the first leg massage unit 2000a, respectively, with reference to FIG. 20. Additionally, the second safety sensor 1830 may be disposed at a position corresponding to the first leg massage unit 2000a on the inner side of the calf of the second leg massage unit 2000b.

Therefore, when the first leg massage unit 2000a and the second leg massage unit 2000b rotate independently to intersect 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 cross each other when the second leg massage unit 2000b is unfolded. In the case of rotation, the user's body first comes into contact with the part where the second safety sensor 1830 is located on the upper left of the first leg massage unit 2000a with reference to FIG. 51, and the second leg massage unit 2000b First comes into contact with the portion where the lower second safety sensor 1830 is placed. Accordingly, the second safety sensor 1830 is able to recognize the user's body before it gets caught any more, so the user's safety can be secured.

As an example, 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, and massages the foot of the first leg massage unit 2000a. The foot massage unit and the second leg massage unit 2000b may each be disposed on the inner surface of the instep.

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

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

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

Accordingly, the fourth safety sensor 1850 detects that when the first leg massage unit 2000a and the second leg massage unit 2000b rotate to intersect each other, the user's body moves between the first leg massage unit 2000a and the second leg massage unit 2000b. It can be recognized that the leg is caught between the 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. Therefore, when the leg massage unit 2000 is folded from the unfolded state, it is possible to more quickly and precisely recognize that the user's body is caught between the back of the leg massage unit 2000 and the body massage unit 1000.

As an example, the safety sensor may include a fifth safety sensor 1860 disposed on the bottom of the foot massage unit. Specifically, the fifth safety sensor 1860 may be disposed on the bottom 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 ( It may be disposed in a position corresponding to the foot massage unit of the second leg massage unit 2000a) and the sole of the foot massage unit of the second leg massage unit 2000b.

Therefore, when the leg massage unit 2000 is lowered from a lifted state, the fifth safety sensor 1860 detects the user's sensor 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. You can recognize that your body is stuck.

In this way, the leg massage unit 2000 includes a safety sensor and can prevent safety accidents that may occur due to the user's body being caught. In particular, the leg massage unit 2000 includes a plurality of safety sensors at a plurality of positions, so that it can quickly and precisely recognize no matter where the user's body is caught.

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

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

The first air cell 1910 includes at least one air cell among the first shoulder air cell 1911, the first back air cell 1913, the first pelvic air cell 1915, and the first thigh air cell 1917, and the second air cell 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 (for example, an upper area of one side of the body massage unit 1000) and is located on one side of the user's shoulder. You can massage. 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 (for example, the upper area of the other side of the body massage unit 1000) and is located on the other side of the user's shoulder. You can massage. At this time, the first and second shoulder air cells 1911 and 1931 are disposed on both sides of the user's shoulder (or upper surfaces on both sides of the user's shoulder) and can massage (or fix) the user's shoulder by pressing both sides of the user's shoulder.

The first back air cell 1913 is disposed in an area corresponding to one side of the user's back (for example, an area between the upper end and lower end of the body massage unit 1000) among the entire area on 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 of the other side of the body massage unit 1000 (for example, 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, 1933) are placed on the back of the user's back and can massage the user's back by pressing the back of the user (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 (for example, the lower area of one side of the body massage unit 1000) among the entire area of one side of the body massage unit 1000 and is located on one side of the user's pelvis. You can massage. The second pelvic air cell 1935 is disposed in an area corresponding to the other side of the user's pelvis (for example, the lower area of the other side of the body massage unit 1000) among the entire area of the other side of the body massage unit 1000 and is located on the other side of the user's pelvis. You can massage. At this time, the first and second pelvic air cells 1915 and 1935 are disposed on both sides of the user's pelvis and can massage (or fix) the user's pelvis by pressing both sides of the user's pelvis.

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

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

The massage device 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. At this time, 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 users with normal legs to exercise their legs, or a mode used by users with abnormal legs due to various injuries such as knee injuries to rehabilitate their legs.

For example, the stretching modes include iliopsoas stretching mode (or iliopsoas relaxation mode), which stretches the iliopsoas muscle of the leg, hamstring stretching mode (or hamstring relaxation mode), which stretches the hamstrings of the leg, and waist stretching mode (or rolling), which stretches the lower back. Stretching mode) may include at least one stretching mode.

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

The control unit 1200 may provide each stretching mode and/or bicycle mode to the user by controlling the operation of the massage device 100 according to the massage map for each stretching mode and/or the massage map for the bicycle mode. At this time. Massage maps for each stretching mode and bicycle mode may be previously stored in the storage unit 1300.

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

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

As another example, the controller 1200 may provide a back stretching mode to the user by controlling the operation of the massage device 100 based on a massage map for the back stretching mode. Through this, the control unit 1200 can relax the muscles around the lumbar spine by stretching the user's waist, thereby improving the mobility of the muscles around the lumbar spine and reducing back pain.

The control unit 1200 may provide a bicycle mode to the user by controlling the operation of the massage device 100 based on a massage map for the bicycle mode. Through this, the massage device 100 can exercise the normal leg to maintain the normal leg in a healthy state, and perform rehabilitation exercises for the abnormal leg to restore the abnormal leg to a healthy state. The massage device 100 can prevent joint contractures by exercising the legs (or rehabilitating the legs) through repetitive joint movements to maintain and improve the flexibility and movement of joints (pelvis, knees, ankles). In other words, the bicycle mode may be both 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.

As shown in FIG. 28, the control unit 1200 reclines the massage device 100, provides a massage (or relaxation massage) to relax the user's body while the massage device 100 is reclined, and then performs stretching. and/or a bicycle mode may be provided to the user.

For example, the control unit 1200 may execute the stretching and/or bicycle mode and then recline the massage device 100 (S5510). At this time, the control unit 1200 can 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 tilted toward the rear of the massage device 100 and the leg massage unit 2000 is rotated toward the top of the massage device.

The control unit 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 while the massage device 100 is reclining. can be provided (S5530). For example, the control unit 1200 includes at least one air cell and a massage module 1700 included in the body massage unit 1000, at least one air cell and a massage member included in the leg massage unit 2000, and an arm massage unit. A massage may be provided through at least one of at least one air cell included in (3000). At this time, the massage may be provided at an average massage intensity and average massage speed among the massage intensities and speeds that the massage device 100 can provide to relax the user's body.

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

Through this, the control unit 1200 reclines the massage device 100 to secure a space for stretching the user's legs and a space for exercising the user's legs, thereby limiting the space for stretching the user's legs and exercising the legs. By eliminating space limitations, the leg stretching effect and leg exercise effect can be increased. The control unit 1200 can relax the user's body to prevent injuries due to the stretching mode and exercise mode, and increase the leg stretching effect and leg exercise effect.

As described above, the control unit 1200 reclines the massage device 100, provides a relaxation massage, and then provides a stretching mode and/or a bicycle mode to the user, but is not limited to this. For example, the control unit 1200 may provide a stretching mode and/or a bicycle mode without reclining the massage device 100 and only providing a massage. After reclining the massage device 100, the control unit 1200 may provide a stretching mode and/or a bicycle mode without providing a massage while the massage device 100 is reclined. The control unit 1200 may provide a massage without reclining the massage device 100 and then provide a stretching mode and/or a bicycle mode.

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

Referring to FIGS. 56 and 57 , the controller 1200 executes the iliopsoas muscle stretching mode and controls the operation of the massage device 100 with an operation corresponding to the iliopsoas muscle stretching mode, thereby providing the iliopsoas muscle stretching mode to the user. However, the control unit 1200 may perform at least one of the reclining operation and the massage providing operation as described above, or may control the operation of the massage device 100 in the iliopsoas muscle stretching mode without performing the reclining operation and the massage providing operation. .

Hereinafter, for convenience of explanation, it will be assumed that the control unit 1200 reclines the massage device 100 and then provides the iliopsoas muscle stretching mode to the user.

The control unit 1200 can adjust the length of each leg massage unit based on the length of each leg (S5610). For example, the control unit 1200 adjusts the length of the first leg massage unit 2000a based on the length of the user's one leg, as shown in Motion 1a of FIG. 57, and the second leg massage unit 2000a based on the length of the user's other leg. The length of the leg massage unit 2000b can be adjusted. The control unit 1200 may adjust the lengths of the first and second leg massage units 2000a and 2000b and then stop the first and second adjustment 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 lower direction of each leg massage unit, thereby placing each leg massage unit at the bottom of each leg massage unit. there is. The control unit 1200 moves each leg massage unit toward the upper side of each leg massage unit through each adjustment module based on the length of each leg, thereby making the length of each leg massage unit the same as the length of each leg. The control unit 1200 may adjust the length of each leg massage unit and then stop each adjustment module.

The control unit 1200 adjusts the length of any one leg massage part among the first and second leg massage parts 2000a and 2000b whose lengths are adjusted, or adjusts the length of both the first and second leg massage parts 2000a and 2000b. The user's legs can be stretched by adjusting (or readjusting; S5630) to different lengths and rotating the leg massage unit whose length has been adjusted (or whose length has been readjusted) (S5650).

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

As an example, the control unit 1200 adjusts (or readjusts; S5630a) the length of one of the first and second leg massage units 2000a and 2000b, as shown in Motion 1b and 1c of FIG. 57, By rotating one of the leg massage units (S5650a), the leg corresponding to one of the one leg massage unit and the other leg can be stretched. At this time, the control unit 1200 may fix the position of any one of the first and second leg massage units 2000a and 2000b and the other leg massage unit. The leg corresponding to one of the leg massage units may be the leg to be stretched that the massage device 100 wants to stretch among the user's one leg and the other leg.

First, the control unit 1200 drives the control module corresponding to one of the first and second control modules 2500a and 2500b while fixing the position of the remaining leg massage part as shown in Motion 1b of FIG. 57. By adjusting the length of one leg massage unit, the leg corresponding to one leg massage unit can be stretched.

For example, the control unit 1200 drives the control module corresponding to one of the first and second control modules 2500a and 2500b to move the leg massager in the lower direction of the leg massager. By moving it to , the length of any one leg massage part can be adjusted to be longer. The control unit 1200 may adjust the length of one leg massage unit to a longer length and then stop the adjustment module corresponding to one leg massage unit.

Specifically, the control unit 1200 may move one of the leg massage units in a downward direction of one of the leg massage units based on the first reference length. At this time, the first reference length may be a standard indicating the degree to which the leg to be stretched is pulled in order to stretch the leg to be stretched. In other words, the first reference length may be a movement length (or movement distance) for moving one leg massage unit in the lower direction of one leg massage unit.

For example, the first reference length may be preset in various ways 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, and stored in the storage unit 1300. The first reference length may be preset to a length at which the leg to be stretched is sufficiently stretched by the movement of the leg massage unit. 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 level selected by the user. The first reference length determination operation will be described in detail below.

Through this, the control unit 1200 can stretch the leg to be stretched by sufficiently pulling the leg to be stretched.

However, before adjusting the length of any one leg massage unit, the control unit 1200 may expand at least one air cell included in any one leg massage unit to fix the leg corresponding to any one leg massage unit. there is. The control unit 1200 drives the control module corresponding to one of the leg massage units in a state in which the leg corresponding to one of the leg massage units is fixed to move one of the leg massage units to the lower direction of the one leg massage unit. You can do it.

For example, the control unit 1200 may linearly expand at least one air cell included in the lower leg massage unit of any one leg massage unit to fix the lower part of the leg corresponding to any one leg massage unit. The control unit 1200 drives the control module corresponding to one of the leg massage units in a state in which the lower part of the leg corresponding to one of the leg massage units is fixed to move the one leg massage unit to the lower part of the one leg massage unit. It can be moved to . For reference, the control unit 1200 may inflate at least one air cell included in the upper leg massage unit of one of the leg massage units before rotating any one of the leg massage units.

Through this, the control unit 1200 accurately grabs the lower part of the leg to be stretched and pulls the leg to be stretched more, thereby increasing the stretching effect on the leg to be stretched more accurately than when the lower part of the leg to be stretched is not fixed. It can be increased.

Afterwards, the control unit 1200 adjusts the length of one of the leg massage parts to be long, and then rotates one of the leg massage parts toward the lower side of the massage device 100 as shown in Motion 1c of FIG. 57 to massage one of the legs. The leg corresponding to the part can be re-stretched.

For example, the control unit 1200 stops the adjustment module corresponding to one of the leg massage units and then turns the rotation module corresponding to any one of the first and second rotation modules 2271 and 2273 to the leg massage unit. By driving, one of the leg massage parts can be rotated toward the lower side of the massage device 100. The control unit 1200 may rotate one of the leg massage units and then stop the rotation module corresponding to one of the leg massage units.

Specifically, the control unit 1200 may rotate 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 at which one leg massage unit is rotated (or a rotation angle at which one leg massage unit is rotated in the lower direction of the massage device 100) in order to stretch the iliopsoas muscle of the stretching target agent. there is. For example, the first rotation angle may be preset in various ways 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, and stored in the storage unit 1300.

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

Through this, the control unit 1200 can stretch the iliopsoas muscle of the leg to be stretched by pulling the leg to be stretched a lot and then lowering the leg to be stretched a lot to sufficiently stretch the iliopsoas muscle of the leg to be stretched.

However, before rotating any one leg massage unit, the control unit 1200 inflates an uninflated air cell among at least one air cell included in any one leg massage unit to fix the leg corresponding to one leg massage unit. You can do it. At this time, the uninflated air cell may be at least one air cell included in the upper leg massage part of any one leg massage part, as described above.

For example, after adjusting the length of one of the leg massage units (or stopping the adjustment module corresponding to one of the leg massage units), the control unit 1200 controls the upper leg massage unit of one of the leg massage units. The upper part of the leg corresponding to one of the leg massage units can be fixed by inflating at least one included air cell. The control unit 1200 operates the rotation module corresponding to one of the leg massage units while the upper and lower parts (or upper and lower parts) of the leg corresponding to one of the leg massage units are fixed, thereby massaging one of the leg massage units. It can be rotated in the downward direction of (100).

Through this, the control unit 1200 lowers the leg to be stretched by accurately grasping the upper and lower parts of the leg to be stretched, thereby accurately stretching the iliopsoas muscle of the leg to be stretched compared to the case where the leg to be stretched is not fixed or only the lower part of the leg to be stretched is fixed. You can increase the stretching effect on the iliopsoas muscle of the leg being stretched.

As another example, the control unit 1200 massages the length of one of the first and second leg massage units 2000a and 2000b and the remaining leg that is different from that of any one leg massage unit, as shown in Motion 1d and 1e of FIG. 57. The leg corresponding to one of the leg massage parts can be stretched by adjusting (or re-adjusting; S5630b) the lengths of the parts differently and rotating one leg massage part and the remaining leg massage part in different directions (S5650b). At this time, the leg corresponding to one of the leg massage units may be the leg to be stretched. The leg corresponding to the remaining leg massage unit may be a stretching assistance leg that assists in stretching the leg to be stretched.

First, the control unit 1200 adjusts the length of one leg massage unit as described above, and adjusts the corresponding leg massage unit among the first and second control modules 2500a and 2500b as shown in Motion 1d of FIG. 57. By driving the module to adjust the length of the remaining leg massage unit, stretching of the leg corresponding to one leg massage unit can be assisted.

For example, the control unit 1200 may shorten the length of the remaining leg massage unit by driving an adjustment module corresponding to the remaining leg massage unit to move the remaining leg massage unit toward the upper side of the remaining leg massage unit. At this time, the control unit 1200 can move the remaining leg massage unit to the top of the remaining leg massage unit. The control unit 1200 may adjust the length of the remaining leg massage unit and then stop the adjustment module corresponding to the remaining leg massage unit.

Through this, the control unit 1200 pulls the leg to be stretched while pushing the stretching auxiliary leg, thereby stretching the leg to a greater extent than when only the leg to be stretched is pulled, thereby increasing the stretching effect on the leg to be stretched. there is. In other words, the controller 1200 can increase the stretching effect on the leg to be stretched by assisting in stretching the leg to be stretched with the stretching assistance leg.

However, before shortening the length of the remaining leg massage unit, the control unit 1200 may expand at least one air cell included in the remaining leg massage unit to fix the leg corresponding to the remaining leg massage unit. At this time, the control unit 1200 may inflate at least one air cell included in the remaining leg massage unit while inflating at least one air cell included in one leg massage unit. The control unit 1200 may move the remaining leg massage unit toward the upper side of the remaining leg massage unit while the leg corresponding to the remaining leg massage unit is fixed.

For example, the control unit 1200 expands at least one air cell included in the lower leg massage part of one leg massage unit while inflating at least one air cell included in the lower leg massage part of the other leg massage unit to expand the remaining leg. The lower part of the leg corresponding to the massage part can be fixed. The control unit 1200 may drive the control module corresponding to the remaining leg massage unit while the lower part of the leg corresponding to the remaining leg massage unit is fixed to move the remaining leg massage unit toward the upper part of the remaining leg massage unit.

Through this, the control unit 1200 accurately grabs the stretching assistance leg and pushes the stretching assistance leg, thereby accurately assisting the stretching of the stretching leg compared to the case where the lower part of the stretching assistance leg is not fixed, thereby increasing the stretching effect on the stretching leg. You can do it.

Afterwards, the control unit 1200 adjusts the length of one leg massage part and the remaining leg massage part, and then rotates one leg massage part in the downward direction of the massage device 100 as shown in Motion 1e of FIG. 57, while rotating the remaining leg massage part. By rotating the massage device 100 upward, stretching of the leg corresponding to one of the leg massage units can be re-assisted.

For example, after stopping the first and second adjustment modules 2500a and 2500b, the control unit 1200 rotates one of the leg massage units and adjusts the remaining leg among the first and second rotation modules 2271 and 2273. The remaining leg massage part can be rotated toward the upper side of the massage device 100 by driving the rotation module corresponding to the massage part. The control unit 1200 may rotate one of the leg massage units and the remaining leg massage unit and then stop the rotation module corresponding to the one leg massage unit and the remaining leg massage unit.

Specifically, the control unit 1200 may rotate the remaining leg massage unit toward the upper side of the massage device 100 based on the second rotation angle. At this time, the second rotation angle may be a rotation angle at which the remaining leg massage part is rotated (or a rotation angle at which the remaining leg massage part is rotated in the upper direction of the massage device 100) to assist in stretching the iliopsoas muscle of the leg to be stretched. . For example, the second rotation angle may be preset in various ways 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, and stored in the storage unit 1300.

The second rotation angle may be preset to an angle that can sufficiently assist in stretching the iliopsoas muscle of the leg to be stretched by lifting the remaining leg massage unit (or stretching assistance 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 stretching difficulty level. The second rotation angle determination operation will be described in detail below.

Through this, the control unit 1200 lifts the stretching auxiliary leg and pulls down the leg to be stretched, thereby stretching the iliopsoas muscle of the leg to be stretched more than when only the leg to be stretched is pulled down, thereby increasing the stretching effect on the leg to be stretched. You can. In other words, the control unit 1200 can re-assist the stretching of the leg to be stretched with the stretching assistance leg to increase the stretching effect on the leg to be stretched.

When rotating the remaining leg massage unit, the control unit 1200 may rotate the remaining leg massage unit without inflating at least one air cell included in the upper leg massage part of the remaining leg massage unit. For example, the control unit 1200 rotates one of the leg massage parts in the downward direction of the massage device 100 while the upper and lower parts of the leg corresponding to one leg massage part are fixed, while rotating the leg massage part corresponding to the remaining leg massage part. While the lower part of the leg is fixed, the remaining leg massage part can be rotated toward the upper side of the massage device 100.

Figure 58 shows a flowchart for explaining the iliopsoas muscle stretching mode shown in Figure 56.

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

However, as described above, before adjusting the length of each leg massage unit (or any one leg massage unit), the control unit 1200 controls the lower leg massage unit of each leg massage unit (or any one leg massage unit). The lower part of the leg corresponding to each leg massage unit (or any one leg massage unit) can be fixed by expanding at least one included air cell (S5631). The control unit 1200 fixes the lower part of the leg corresponding to each leg massage unit (or any one leg massage unit) and then adjusts the length of each leg massage unit (or any one leg massage unit). The user's pelvis can be fixed by expanding the first and second pelvic air cells (1915, 1935) (S5633). The control unit 1200 operates each leg massage unit (or any one leg massage unit) as described above while the lower part of the leg corresponding to each leg massage unit (or any one leg massage unit) and the user's pelvis are fixed. The length can be adjusted (S5635).

Through this, the control unit 1200 pulls the stretching target leg more while holding and pushing the stretching auxiliary leg while the user's pelvis is fixed, or pulls the stretching target leg more than when the user's pelvis is not fixed. By stretching more accurately, the stretching effect on the leg to be stretched can be increased.

In addition, the control unit 1200 controls each leg massage unit (or any one leg massage unit) before rotating it (or after adjusting the length of each leg massage unit (or any one leg massage unit)). (or after stopping the control module corresponding to one of the leg massage units), the first and second shoulder air cells 1911 and 1931 can be expanded to fix the user's upper body (S5651). The control unit 1200 may rotate each leg massage unit (or any one leg massage unit) 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 cells, and then rotates each leg massage unit (or any one leg massage unit). It can be done, but it is not limited to this. For example, the control unit 1200 expands at least one air cell included in the lower leg massage unit of each leg massage unit (or one of the leg massage units) while expanding the first and second shoulder air cells 1911 and 1931. can expand. The control unit 1200 may adjust the length of at least one leg massage unit while the lower part of the leg corresponding to each leg massage unit (or any one leg massage unit) and the user's upper body 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 leg massage unit) while the user's upper body is fixed, thereby ensuring that the user's upper body is fixed. By performing at least one movement more accurately than 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 leg massage unit) while the user's upper body is fixed, the control unit 1200 contracts the first and second pelvic air cells 1915 and 1935 to massage the user's body. The pelvis may not be fixed (S5653). At this time, the control unit 1200 may expand at least one air cell included in the upper leg massage part of each leg massage part (or any one leg massage part) of the leg massage part to be rotated in the lower direction of the massage device 100. there is. In other words, the control unit 1200 may fix the upper part of the leg to be stretched while not fixing the user's pelvis.

The control unit 1200 may rotate at least one leg massage unit while the upper and lower legs of the leg to be stretched, the lower part of the stretching assistance leg, and the user's upper body are fixed, and the user's pelvis is not fixed (S5655) ).

Through this, the control unit 1200 lifts the stretching assistance leg while the user's pelvis is not fixed and lowers the stretching target leg to safely stretch the iliopsoas muscle of the stretching target leg compared to when the user's pelvis is fixed. It is possible to prevent possible injuries to the body (for example, the iliopsoas muscle) and ensure safety for the iliopsoas muscle stretching mode. For example, when the control unit 1200 rotates the leg massage unit while the user's pelvis is fixed, load is applied to both sides of the user's pelvis and the user's legs, which may cause injury to the user's body. Accordingly, the control unit 1200 pulls down the leg to be stretched while the user's pelvis is not fixed, thereby stretching the iliopsoas muscle of the leg to be stretched, thereby preventing possible injury to the user's body (for example, the iliopsoas muscle of the leg to be stretched). can do.

As described above, the control unit 1200 expands at least one air cell included in the upper leg massage part of the leg massage part to be rotated in the downward direction of the massage device 100 while expanding the first and second pelvic air cells 1915 and 1935. It can be contracted, but is not limited to this. For example, the control unit 1200 contracts the first and second pelvic air cells 1915 and 1935 and then rotates the massage device 100 in the downward direction. At least one included in the upper leg massage unit Air cells can be inflated. The control unit 1200 expands at least one air cell included in the upper leg massage part of the leg massage part 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. You can.

Additionally, the control unit 1200 may rotate each leg massage unit (or any one leg massage unit) and then maintain the operation of the massage device 100 for the operation maintenance time (S5670). For example, the control unit 1200 may maintain the operation of the massage device 100 by rotating each leg massage unit (or any one leg massage unit) and stopping the massage device 100 for an operation maintenance time. . At this time, the operation maintenance time may be a standard indicating the degree to which the operation of the massage device 100 is maintained in order to maintain the stretching state of the leg to be stretched. In other words, the operation maintenance time may be the time to maintain the operation of the massage device 100 by stopping the operation of the massage device 100.

For example, the operation maintenance time may be preset in various ways 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, and stored in the storage unit 1300. The operation maintenance time may be preset to a time during which the operation of the massage device 100 is maintained so that the leg to be stretched can be maintained in a stretched state for a sufficient period of time. The operation maintenance time may be preset to about 10 seconds, but is not limited to this. For example, the controller 1200 may determine the movement maintenance time based on the stretching difficulty. The operation of determining the operation maintenance time will be described in detail below.

Through this, the control unit 1200 maintains the stretching posture of the leg to be stretched by maintaining the operation of the massage device 100, thereby stretching the leg to be stretched for a sufficient period of time compared to the case where the operation of the massage device 100 is not maintained. , the stretching effect on the leg being stretched can be increased.

However, before maintaining the operation of the massage device 100, the control unit 1200 may re-inflate the first and second pelvic air cells 1915 and 1935 to re-fix the user's pelvis. The control unit 1200 may maintain the operation of the massage device 100 while 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 can be re-inflated to re-fix the user's pelvis. The control unit 1200 may maintain the operation of the massage device 100 by stopping the massage device 100 while the user's pelvis is re-fixed.

Through this, the control unit 1200 maintains the stretching posture of the leg to be stretched by maintaining the operation of the massage device 100 in a state in which the user's pelvis is re-fixed, thereby maintaining the massage device 100 in a state in which the user's pelvis is not fixed. ), the stretching effect on the stretching leg can be increased by stretching the leg to be stretched more accurately and for a sufficient period of time than when the motion of ) is maintained.

In addition, while the operation of the massage device 100 is maintained, the control unit 1200 selects a 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. can be expanded to further stretch the leg corresponding to the leg massage unit rotated in the downward direction of the massage device 100 (S5690). In other words, the control unit 1200 can further stretch the iliopsoas muscle of the leg to be stretched by expanding the thigh air cell corresponding to the leg to be stretched and pressurizing the thigh of the leg to be stretched.

Through this, the control unit 1200 additionally stretches the iliopsoas muscle of the leg to be stretched by pressing the thigh of the leg to be stretched, thereby stretching the iliopsoas muscle of the leg to be stretched more than when the thigh of the leg to be stretched is not pressed. The stretching effect on the leg being stretched can be increased.

As described above, the control unit 1200 controls the length adjustment operation of each leg massage unit in conjunction with each other, but is not limited to this, and controls the rotation operation of each leg massage unit in conjunction with each other, but is not limited to this. For example, the controller 1200 may sequentially control the length adjustment operation of each leg massage unit. The control unit 1200 may sequentially control the rotational motion 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, Figure 60a shows the overall operation of the hamstring stretching mode, Figure 60b shows Motion 2b in Figure 60a, Figure 60c shows Motion 2c in Figure 60a, and Figure 60d shows Motion 2d in Figure 60a.

Referring to FIGS. 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 device 100 with an operation corresponding to the hamstring stretching mode. However, as described above, the control unit 1200 may perform at least one of the reclining operation and the massage providing operation, or may control the operation of the massage device 100 in the hamstring stretching mode without performing the reclining operation and the massage providing operation. .

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

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

The control unit 1200 may fix the position of one of the first and second leg massage units 2000a and 2000b whose lengths are adjusted (S5930). For example, the control unit 1200 includes an adjustment module and a rotation module corresponding to one of the first and second adjustment modules 2500a and 2500b and the first and second rotation modules 2271 and 2273. By not stopping and adjusting the length and angle of any one leg massage part, the position of any one leg massage part can be fixed. At this time, the length of one leg massage unit may be adjusted based on the length of the leg corresponding to one leg massage unit. The angle of any one leg massage unit may be the angle of the leg massage unit 2000 of the reclining massage device 100.

With the position of one leg massage unit fixed, the control unit 1200 rotates one of the first and second leg massage units 2000a and 2000b and the remaining leg massage unit to stretch the user's leg. You can do it (S5950).

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

As an example, as shown in Motion 2b of FIG. 60, the control unit 1200 rotates the remaining leg massage unit toward the upper side of the massage device 100 while the position of one leg massage unit is fixed to move the leg corresponding to the remaining leg massage unit. can be stretched (S5950a). At this time, the leg corresponding to the remaining leg massage unit may be the leg to be stretched that the massage device 100 wants to stretch among the user's one leg and the other leg.

For example, while the position of one leg massage unit is fixed, the control unit 1200 drives the rotation module corresponding to the remaining leg massage unit among the first and second rotation modules 2271 and 2273 to operate the remaining leg massage unit. The massage device 100 can be rotated upward. The control unit 1200 may rotate the remaining leg massage unit and then stop the rotation module corresponding to the remaining leg massage unit.

Specifically, the control unit 1200 may rotate the remaining leg massage unit toward the upper side of the massage device 100 based on the third rotation angle. At this time, the third rotation angle may be a rotation angle at which the remaining leg massage part is rotated (or a rotation angle at which the remaining leg massage part is rotated toward the upper direction of the massage device 100) in order to stretch the hamstring of the leg to be stretched. For example, the third rotation angle may be preset in various ways 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, and stored in the storage unit 1300.

The third rotation angle may be preset to an angle that can sufficiently stretch the hamstring of the leg to be stretched by lifting the remaining leg massage unit (or the leg to be stretched) a lot. 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 stretching difficulty level. The third rotation angle determination operation will be described in detail below.

Through this, the controller 1200 can stretch the hamstring of the leg to be stretched by sufficiently stretching the hamstring of the leg to be stretched by lifting the leg to be stretched a lot.

However, the control unit 1200 may fix the leg corresponding to the remaining leg massage unit by expanding at least one air cell included in the remaining leg massage unit before rotating the remaining leg massage unit. The control unit 1200 may drive the rotation module corresponding to the remaining leg massage unit while the leg corresponding to the remaining leg massage unit is fixed to rotate the remaining leg massage unit toward the upper side of the massage device 100 .

For example, the control unit 1200 controls at least one leg massage unit included in at least one of the upper and lower leg massage units of the remaining leg massage unit while the position of one leg massage unit and the length of the remaining leg massage unit are fixed. By inflating the air cell, at least one part of the upper and lower leg corresponding to the remaining leg massage part can be fixed. The control unit 1200 drives the rotation module corresponding to the remaining leg massage part while at least one part of the upper and lower legs corresponding to the remaining leg massage part is fixed to move the remaining leg massage part to the upper side of the massage device 100. It can be rotated in any direction.

Through this, the control unit 1200 lifts the leg to be stretched a lot by accurately grasping at least one part of the upper and lower parts of the leg to be stretched, thereby stretching the hamstring of the leg to be stretched more accurately than when the leg to be stretched is not fixed. It can increase the stretching effect on the hamstrings of the leg being stretched.

As another example, the control unit 1200 adjusts the length of the remaining leg massage part while the position of one leg massage part is fixed, as shown in Motion 2c and 2d of FIG. 60 (S5950b), and massages the remaining leg massage part with the massage device 100. You can stretch the leg corresponding to the remaining leg massage part by rotating it in the upper direction (S5950c). At this time, the leg corresponding to the remaining leg massage unit may be the leg to be stretched.

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

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

Specifically, the control unit 1200 may move the remaining leg massage unit in a downward direction of the remaining leg massage unit based on the second reference length. At this time, the second reference length may be a standard indicating the degree to which the leg to be stretched is pulled in order to relieve tension in the hamstring of the leg to be stretched. In other words, the second reference length may be a movement length (or movement distance) for moving the remaining leg massage unit in the lower direction of the remaining leg massage unit.

For example, the second reference length may be preset in various ways 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, and stored in the storage unit 1300. The second reference length may be preset to a length that assists in stretching of the leg to be stretched by relieving tension in the hamstring of the leg to be stretched by slightly pulling the leg to be stretched 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 stretching difficulty level. The second reference length determination operation will be described in detail below.

Through this, the controller 1200 can increase the stretching effect of the leg to be stretched by slightly pulling the leg to be stretched to relieve tension in the hamstring of the leg to be stretched.

However, before adjusting the length of the remaining leg massage unit, the control unit 1200 may inflate at least one air cell included in the remaining leg massage unit to fix the leg corresponding to the remaining leg massage unit. The control unit 1200 may drive the control module corresponding to the remaining leg massage unit while the leg corresponding to the remaining leg massage unit is fixed to move the remaining leg massage unit toward the lower side of the remaining leg massage unit.

For example, the control unit 1200 may fix the lower part of the leg corresponding to the remaining leg massage part by linearly expanding at least one air cell included in the lower leg massage part of the remaining leg massage part. The control unit 1200 may drive the control module corresponding to the remaining leg massage unit while the lower part of the leg corresponding to the remaining leg massage unit is fixed to move the remaining leg massage unit toward the lower part of the remaining leg massage unit. For reference, the control unit 1200 may inflate at least one air cell included in the upper leg massage part of the remaining leg massage part before rotating the remaining leg massage part.

Through this, the control unit 1200 accurately grabs the lower part of the leg to be stretched and pulls the leg to be stretched slightly, thereby extending the leg to be stretched more accurately than when the lower part of the leg to be stretched is not fixed, thereby improving the stretching effect on the leg to be stretched. It can be increased. In other words, the control unit 1200 can increase the stretching effect on the leg to be stretched by slightly extending the length of the leg to be stretched to relieve tension in the leg to be stretched, thereby assisting in stretching the leg to be stretched.

Afterwards, the control unit 1200 adjusts the length of the remaining leg massage unit to a long length, and then rotates the remaining leg massage unit toward the upper side of the massage device 100 as shown in Motion 2d of FIG. 60 to massage the leg corresponding to the remaining leg massage unit. You can stretch it.

For example, the control unit 1200 stops the adjustment module corresponding to the remaining 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 massage the remaining leg. The massage unit may be rotated toward the top of the massage device 100. The control unit 1200 may rotate the remaining leg massage unit and then stop the rotation module corresponding to the remaining leg massage unit. Since the above-described operation can be applied to the rotational operation of the remaining leg massage unit, detailed description will be omitted.

Through this, the control unit 1200 accurately grabs the leg to be stretched and pulls it slightly, then lifts the leg to be stretched a lot to stretch the hamstring of the leg to be stretched more than when only the leg to be stretched is lifted a lot. It can increase the stretching effect on the hamstrings.

However, before rotating the remaining leg massage unit, the control unit 1200 may fix the leg corresponding to the remaining leg massage unit by inflating an uninflated air cell among at least one air cell included in the remaining leg massage unit. At this time, the uninflated air cell may be at least one air cell included in the upper leg massage part of the remaining leg massage part, as described above.

For example, after adjusting the length of the remaining leg massage unit (or stopping the adjustment module corresponding to the remaining leg massage unit), the control unit 1200 controls at least one air cell included in the upper leg massage unit of the remaining leg massage unit. It can then be inflated to fix the upper part of the leg corresponding to the remaining leg massage part. The control unit 1200 may drive the rotation module corresponding to the remaining leg massage unit while the upper and lower parts of the leg corresponding to the remaining leg massage unit are fixed, thereby rotating the remaining leg massage unit toward the upper side of the massage device 100.

Through this, the control unit 1200 lifts the leg to be stretched by accurately grasping the upper and lower parts of the leg to be stretched, thereby accurately stretching the hamstring of the leg to be stretched than when the leg to be stretched is not fixed or only the lower part of the leg to be stretched is fixed. By stretching, you can increase the stretching effect on the hamstring of the leg being stretched.

When fixing the upper part of the leg corresponding to the remaining leg massage part, the control unit 1200 moves the upper leg massage part of the remaining leg massage part toward the upper part of the remaining leg massage part, and then moves the upper leg massage part of the remaining leg massage part to the upper leg massage part of the remaining leg massage part. At least one air cell can be inflated.

For example, before inflating at least one air cell included in the upper leg massage part of the remaining leg massage part (or after adjusting the length of the remaining leg massage part), the control unit 1200 makes adjustments corresponding to the remaining leg massage part. Without stopping the module, the upper leg massage part of the remaining leg massage part can be moved toward the upper part of the remaining leg massage part. Specifically, the control unit 1200 causes the upper leg massage part of the remaining leg massage part to be disposed at (or correspond to) the knee of the leg corresponding to the remaining leg massage part based on the length of the leg corresponding to the remaining leg massage part. The upper leg massage part of the leg massage part can be moved toward the upper part of the remaining leg massage part. The control unit 1200 may move the upper leg massage part of the remaining leg massage part toward the upper side of the remaining leg massage part so that the upper leg massage part of the remaining leg massage part is disposed at the uppermost part of the remaining leg massage part.

The control unit 1200 moves the upper leg massage part of the remaining leg massage part, stops the control module corresponding to the remaining leg massage part, and then expands at least one air cell included in the upper leg massage part of the remaining leg massage part. .

Through this, the control unit 1200 accurately grabs the knee of the leg to be stretched and lifts the leg to be stretched, thereby stretching the hamstring of the leg to be stretched more accurately than when the knee of the leg to be stretched is not fixed. The stretching effect can be increased.

FIG. 61 shows a flowchart for explaining the hamstring stretching mode shown in FIG. 59.

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

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

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

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

As described above, the control unit 1200 may expand at least one air cell included in the remaining leg massage unit and then expand the first and second shoulder air cells 1911 and 1931, but the method is not limited thereto. For example, the control unit 1200 operates the first and second shoulder air cells 1911 and 1931 while expanding 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 unit. It can be inflated. After inflating the first and second shoulder air cells 1911 and 1931, the control unit 1200 may expand 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 unit. there is.

Through this, the control unit 1200 fixes the user's upper body and performs a rotational motion for the remaining leg massage unit, thereby performing the rotational motion more accurately than when the user's upper body is not fixed, thereby stretching the hamstring of the leg to be stretched. The effect can be increased.

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

*After fixing the lower part of the leg corresponding to the remaining leg massage part, the control unit 1200 expands the first and second pelvic air cells 1915 and 1935 to massage the user's pelvis before adjusting the length of the remaining leg massage part. It can be fixed (S5952b). The control unit 1200 can adjust the length of the remaining leg massage unit as described above while the lower part of the leg corresponding to the remaining leg massage unit and the user's pelvis are fixed (S5953b). Since the above-described operations can be applied to the pelvic air cell expansion operation and the leg massage unit length adjustment operation after fixing the head, detailed description will be omitted.

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

The control unit 1200 may rotate the remaining leg massage unit while the user's upper body is fixed (S5954c). However, before rotating the remaining leg massage unit while 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 remaining leg massage unit to expand the leg corresponding to the remaining leg massage unit. The upper part can be fixed.

The control unit 1200 may rotate the remaining leg massage unit while the user's upper body and the upper and lower parts of the leg corresponding to the remaining leg massage unit 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 remaining leg massage unit (S5953c).

In other words, the control unit 1200 may rotate the remaining leg massage unit while the upper and lower parts of the leg to be stretched 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 rotation movement more accurately than when the user's upper body and the upper and lower parts of the leg to be stretched are not fixed, and prevents injuries that may occur during the rotation movement compared to when the user's pelvis is fixed, thereby stretching. It can increase the stretching effect on the hamstrings of the target leg.

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

As described above, the control unit 1200 may rotate the remaining leg massage unit without adjusting the length of the remaining leg massage unit (S5953a), or may adjust the length of the remaining leg massage unit and then rotate the remaining leg massage unit (S5954c). . Since the above-described operation can be applied to the remaining leg massage unit rotation operation, detailed description will be omitted.

However, before rotating the remaining leg massage unit, the control unit 1200 may inflate at least one air cell included in one of the leg massage units to fix the leg corresponding to one of the leg massage units. The control unit 1200 may rotate the remaining leg massage unit by driving a rotation module corresponding to the remaining leg massage unit while fixing one leg and the other leg.

For example, before rotating the remaining leg massage unit, 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 massage one leg. At least one part of the upper and lower legs corresponding to the massage unit can be fixed.

Specifically, the control unit 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 level. The control unit 1200 may expand at least one air cell included in the target leg massage unit based on the decision result. The operation of determining the target leg massage unit will be described in detail below.

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

For example, the control unit 1200 may expand at least one air cell included in one leg massage unit while inflating at least one air cell included in the remaining leg massage unit. At this time, the control unit 1200 expands at least one air cell included in the upper leg massage part of the remaining leg massage part and at least one air cell included in the upper leg massage part and the lower leg massage part of any one leg massage part. Air cells can be inflated. The control unit 1200 may expand 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 remaining leg massage unit. .

Through this, the control unit 1200 stretches the hamstring of the leg to be stretched while the leg to be stretched and the leg not to be stretched are fixed, thereby stretching the hamstring of the leg to be stretched more than when the leg other than the leg to be stretched is not fixed. By stretching accurately and more, you can increase the stretching effect on the hamstrings of the leg being stretched.

Additionally, the control unit 1200 may rotate the remaining leg massage unit and then maintain the operation of the massage device 100 for the operation maintenance time (S5970). Since the above-described operations can be applied to the operation maintenance operation, detailed description will be omitted.

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

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

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

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

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

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

For example, the control unit 1200 rotates 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 control unit 1200 rotates one of the leg massage units 2000a and 2000b. Among the first and second air cells 1910 and 1930, an air cell that does not correspond to any one of the leg massage units can be expanded to stretch the user's waist.

For example, the control unit 1200 may fix the position of one of the first and second leg massage units 2000a and 2000b, which is different from the position of the remaining leg massage unit. Since the above-described operation can be applied to the position fixing operation of the remaining leg massage unit, detailed description will be omitted.

The control unit 1200 operates the rotation module corresponding to one of the first and second rotation modules 2271 and 2273 while the remaining leg massage unit is fixed, thereby massaging one of the leg massage units into the massage device 100. ) can be rotated in either the upper or lower direction. The control unit 1200 may rotate one of the leg massage units and then stop the rotation module corresponding to one of the leg massage units.

For example, the control unit 1200 may determine one of the upward and downward directions of the massage device 100 as the rotation direction in which one leg massage unit is to be rotated. The controller 1200 may determine any one of the first to third rotation angles as the rotation angle at which one leg massage unit is to be rotated. The control unit 1200 may rotate one of the leg massage units based on the rotation direction and rotation angle in which one of the leg massage units is to be rotated. At this time, the control unit 1200 may determine the rotation direction and rotation angle to rotate one of the leg massage units based on the stretching difficulty level 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 control unit 1200 may fix the leg corresponding to one of the leg massage units by expanding at least one air cell included in one of the leg massage units before rotating one of the leg massage units. At this time, at least one air cell included in the remaining leg massage unit may not be inflated. The control unit 1200 may rotate one of the leg massage units by driving a rotation module corresponding to one of the leg massage units while the leg corresponding to one of the leg massage units is fixed.

For example, the control unit 1200 controls at least one leg massage unit included in at least one of the upper and lower leg massage units of any leg massage unit while the position of the remaining leg massage unit and the length of any one leg massage unit are fixed. By inflating the air cell, at least one part of the upper and lower legs corresponding to one of the leg massage units can be fixed. The control unit 1200 may rotate one of the leg massage units by driving a rotation module corresponding to one of the leg massage units while at least one of the upper and lower portions of the one leg massage unit is fixed.

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

When the air cell corresponding to the remaining leg massage unit includes at least one air cell from the back air cell and the thigh air cell and includes a pelvic air cell, the control unit 1200 pre-inflates at least one air cell from the back air cell and the thigh air cell to control the user's health. The user's waist can be stretched and the pelvic air cells can be expanded to re-stretch the user's waist.

Through this, the control unit 1200 can accurately grab and lower the leg corresponding to one of the leg massage units and sequentially stretch the user's waist, thereby stretching the user's waist significantly and increasing the stretching effect on the user's waist. there is.

As another example, the control unit 1200 rotates both the first and second leg massage units 2000a and 2000b in different rotation directions as shown in Motion 3e and 3f of FIG. 63 (S6230b), and Motion 3c of FIG. 63, 3d One of the first and second air cells 1910 and 1930 can be expanded to stretch the user's waist. At this time, one air cell may be an air cell corresponding to a 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 one of the first and second leg massage units 2000a and 2000b toward the upper side of the massage device 100 while rotating the first and second leg massage units 2000a. , 2000b), one of the leg massage units and the remaining leg massage units that are different from each other may be rotated in the downward direction of the massage device 100. At this time, the control unit 1200 may determine the rotation echo and rotation angle to rotate each leg massage unit based on the stretching difficulty level as described above.

However, the control unit 1200 may fix each leg by expanding at least one air cell included in each leg massage unit before rotating each leg massage unit. At this time, the control unit 1200 may fix at least one part of the upper and lower parts of each leg by expanding at least one air cell included in at least one leg massage part among the upper and lower leg massage parts of each leg massage part. . The control unit 1200 may rotate each leg massage unit by driving a rotation module corresponding to each leg massage unit while each leg is fixed (or at least one part of the upper and lower parts of each leg is fixed). there is.

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

Through this, the control unit 1200 accurately grasps the leg corresponding to each leg massage unit, rotates it in different directions, and sequentially stretches the user's waist while each leg is rotated, thereby stretching the user's waist as one leg. After only rotating, the stretching effect on the user's waist can be increased by stretching it more than when the user's waist is rotated.

Figure 64 shows a flow chart for explaining the waist stretching mode shown in Figure 62.

As described above, the control unit 1200 adjusts the length of each leg massage unit based on the length of each leg (S6210), rotates at least one leg massage unit among the first and second leg massage units 2000a and 2000b, and (S6230), the air cell corresponding to the remaining leg massage part can be expanded (S6250). At this time, the at least one leg massage unit may be one of the leg massage units, or one of the leg massage units and the remaining 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 provide comfort to the user. 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 secure the user's upper body. The control unit 1200 expands the shoulder air cell corresponding to the remaining leg massage part among the first and second shoulder air cells 1911 and 1931 to expand the upper body corresponding to the remaining leg massage part in the user's upper body (or the remaining leg in the user's shoulder) The shoulder corresponding to the massage part) can be fixed. The control unit 1200 may expand the air cells corresponding to the remaining leg massage unit while the user's upper body is fixed.

Through this, the control unit 1200 rotates the user's waist while the user's upper body is fixed, thereby stretching the user's waist more accurately and more than when the user's upper body is stretched without fixing the user's waist. The stretching effect can be increased.

Additionally, the control unit 1200 may expand the air cells corresponding to the remaining leg massage unit and then maintain the operation of the massage device 100 for the operation maintenance time (S6270). When the air cell corresponding to the remaining leg massage unit includes at least one air cell among the back air cell and the thigh air cell, the control unit 1200 inflates at least one air cell and then performs the first operation while the at least one air cell is inflated. The operation of the massage device 100 may be maintained during the maintenance time. The control unit 1200 maintains the operation of the massage device 100 during the first operation maintenance time, inflates the pelvic air cells, inflates the pelvic air cells, and then massages the massage device 100 during the second operation maintenance time while the pelvic air cells are inflated. The operation of the device 100 can be resumed. At this time, the controller 1200 may determine the first and second motion maintenance times based on the stretching difficulty level. The first and second operation maintenance times may be the same or different from each other. The first and second operation maintenance time determination operations will be described in detail below.

FIG. 65 shows a flowchart for explaining the bicycle mode shown in FIG. 54, and FIG. 66 shows a diagram for explaining the operation of the bicycle mode shown in FIG. 54. Specifically, Figure 66a shows the overall operation of the bicycle mode, Figure 66b shows Motion 4b in Figure 66a, Figure 66c shows Motion 4c in Figure 66a, Figure 66d shows Motion 4d in Figure 66a, and Figure 66e shows Motion 4b in Figure 66a. It represents Motion 4e of 66a.

Referring to FIGS. 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, as described above, the control unit 1200 may perform at least one of the reclining operation and the massage providing operation, or may control the operation of the massage device 100 in a bicycle mode without performing the reclining operation and the massage providing operation.

Hereinafter, for convenience of explanation, it will be assumed that the control unit 1200 reclines the massage device 100 and then provides the bicycle mode to the user.

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

The control unit 1200 can adjust (or re-adjust) the lengths of the first and second leg massage units 2000a and 2000b whose lengths have been adjusted as shown in Motion 4b of FIG. 66 (S6530). The control unit 1200 may rotate the first and second leg massage units 2000a and 2000b whose lengths have been adjusted (or readjusted) in different directions as shown in Motion 4c of FIG. 66 (S6550). The controller 1200 can readjust (or re-adjust) the length of the rotated first and second leg massage units 2000a and 2000b as shown in Motion 4d of FIG. 66 (S6570). The control unit 1200 re-rotates each leg massage unit whose length has been re-adjusted (or re-adjusted) in a direction different from the rotation direction in which each leg massage unit rotated, as shown in Motion 4e of FIG. 66 (S6590), thereby adjusting the user's legs. You 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 move 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, the length of which is adjusted, is moved in a first expansion direction, which is one of the upper and lower directions, in the second expansion and contraction direction, which is one of the upper and lower directions of the second leg massage part. By moving it to , the length of the first and second leg massage units 2000a and 2000b can be adjusted (or readjusted).

Specifically, the controller 1200 may adjust (or readjust) the length of each leg massage unit based on the third reference length. At this time, the third standard length may be a standard indicating the degree to which the legs are sufficiently exercised. In other words, the third reference length may be a movement length (or movement distance) to move each leg massage unit to exercise each leg. For example, the third reference length may be preset in various ways 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, and stored in the storage unit 1300.

The third reference length may be preset to a length at which the user's legs can sufficiently move and exercise by moving 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 level selected by the user. The third reference length determination operation will be described in detail below.

However, before adjusting (or readjusting) the length of each leg massage unit whose length is adjusted, the control unit 1200 expands at least one air cell included in each leg massage unit to fix one leg and the other leg. You can. The control unit 1200 can adjust (or readjust) the length of each leg massage unit while one leg and the other leg are fixed (or at least one part of the upper and lower parts of one leg and the other leg is fixed). You can.

For example, 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 each leg massage unit to fix at least one part of the upper and lower legs of each leg. You can. Preferably, the control unit 1200 can secure the lower part of each leg by expanding at least one air cell included in the lower leg massage part of each leg massage part.

Through this, the control unit 1200 can increase the effect of exercising the user's legs by accurately grasping and exercising the user's legs so that the user's legs can be exercised more accurately than when the user's legs are not fixed.

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

For example, the controller 1200 may rotate each leg massage unit based on the fourth rotation angle. At this time, the fourth rotation angle may be a standard indicating the degree to which the leg is sufficiently exercised. In other words, the fourth rotation angle may be a rotation angle at which each leg massage unit is rotated to exercise each leg. For example, the fourth rotation angle may be preset in various ways 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, and stored in the storage unit 1300.

The fourth rotation angle may be preset to an angle at which the user's legs 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 to this. For example, the controller 1200 may determine the fourth rotation angle based on the exercise difficulty level selected by the user. The fourth rotation angle determination operation will be described in detail below.

However, when the control unit 1200 inflates at least one air cell included in the lower leg massage part of each leg massage part before adjusting the length of each leg massage part, the upper leg massage part of each leg massage part before rotating each leg massage part. At least one air cell included in can be expanded. For example, the control unit 1200 readjusts the length of each leg massage unit while 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 massage unit. The upper part can be fixed. The control unit 1200 may rotate each leg massage unit while the upper and lower parts of each leg are fixed.

The control unit 1200 moves the first leg massage unit 2000a rotated in the first rotation direction as shown in Motion 4d of FIG. 66 to a third stretch direction that is different from the first stretch direction among the upper and lower directions of the first leg massage unit. By removing the second leg massage unit 2000b, which has been rotated in the second rotation direction while removing the second leg massage unit 2000b, to the fourth stretch direction, which is a direction different from the second stretch direction, among the upper and lower directions of the second leg massage unit, The length of the first and second leg massage units 2000a and 2000b may be readjusted (or re-adjusted). For example, the controller 1200 may readjust (or re-adjust) the length of each leg massage unit based on the third reference length.

However, before readjusting the length of each leg massage unit, the controller 1200 may not fix the upper part of each leg by contracting at least one air cell included in the upper leg massage unit of each leg massage unit. The control unit 1200 may readjust the length of each leg massage unit in a state where 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, an operation to readjust the length of each leg massage unit is performed, but is not limited to this. For example, the controller 1200 may simultaneously perform the air cell contraction operation and the 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, which has been moved in the third expansion/contraction direction, to the second rotation direction, as shown in Motion 4e of FIG. 66, and the second leg massage unit 2000b has moved in the fourth expansion/contraction direction. ) can be re-rotated in the first rotation 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 control unit 1200 may re-inflate at least one air cell included in the upper leg massage unit of each leg massage unit to re-secure the upper part of each leg. The control unit 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-inflation operation as described above, a re-rotation operation of each leg massage unit is performed, but is not limited to this. For example, the control unit 1200 may simultaneously perform the air cell re-inflation operation and the re-rotation operation of each leg massage unit in conjunction with each other.

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

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

Through this, the control unit 1200 allows the air cell contraction and re-expansion operation, the rotation operation of each leg massage part, the length re-adjustment operation, and the re-rotation operation to be performed naturally, so that the user's legs naturally move like riding a bicycle. By moving it, you can 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 re-adjustment operation, and re-rotation operation of each leg massage unit, but is not limited to this. . For example, the control unit 1200 expands at least one air cell included in the upper leg massage part of each leg massage part and then, without deflating it, performs a rotation operation, a length re-adjustment operation, and a re-rotation operation of each leg massage unit. It can be done.

In addition, the control unit 1200 performs a length adjustment operation (S6510; Motion 4a), a length re-adjustment operation (S6530; Motion 4b), a rotation operation (S6550; Motion 4c), and a length re-adjustment operation (S6570; Motion 4d) of each leg massage unit. ), and the re-rotation motion (S6590; Motion 4e) can be sequentially and repeatedly performed to exercise the user's legs. As an example, the control unit 1200 may sequentially and repeatedly perform Motion 4a, Motion 4b, Motion 4c, Motion 4d, and Motion 4e. As another example, the control unit 1200 may perform Motion 4a and then sequentially and repeatedly perform Motion 4b, Motion 4c, Motion 4d, and Motion 4e.

As described above, each operation is performed sequentially, but is not limited to this. For example, the control unit 1200 can perform Motion 4b and Motion 4c simultaneously, and Motion 4d and Motion 4e at the same time. As an example, the control unit 1200 stops the first and second adjustment modules 2500a and 2500b with the length of each leg massage unit adjusted according to the length of each leg, and then controls the first and second adjustment modules 2500a. , 2500b) and the first and second rotation modules 2271 and 2273 can be driven simultaneously. As another example, the control unit 1200 operates the first and second adjustment modules 2500a and 2500b without stopping them while the length of each leg massage unit is adjusted according to the length of each leg. The rotation modules 2271 and 2273 can be driven together. The control unit 1200 drives the first and second adjustment modules 2500a and 2500b and the first and second rotation modules 2271 and 2273 together to readjust the length of each leg massage section and rotate each leg massage section, Each leg massage part can be re-rotated while readjusting the length of each leg massage part.

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

Through this, the control unit 1200 can increase the effect of exercising the user's legs by continuously exercising them.

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

As described above, the control unit 1200 performs the air cell expansion operation of each leg massage unit and the shoulder air cell expansion operation in conjunction with each other, but the present invention is not limited to this. For example, the controller 1200 may perform a 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 control unit 1200 can adjust the length of each leg massage unit while the user's upper body is fixed. In other words, the control unit 1200 performs a length adjustment operation (or a length re-adjustment operation), a rotation operation, and a length adjustment operation of each leg massage part while the one leg and the other leg (or the lower part of the one leg and the other leg) and the user's upper body are fixed. A re-adjustment operation (or length re-adjustment operation), and a re-rotation operation may be performed.

As described above, the control unit 1200 may provide each stretching mode and bicycle mode. However, the controller 1200 may perform a length adjustment operation to provide each stretching mode and a length adjustment operation to provide a bicycle mode based on a preset length adjustment speed. The controller 1200 may perform a rotation operation to provide each stretching mode and a rotation operation to provide a bicycle mode based on a preset rotation speed. At this time, the preset length adjustment speed is the speed at which the length of each leg massage unit is adjusted and may be the speed at which each leg massage unit moves in at least one direction among the upper and lower directions of each leg massage unit. The preset rotation speed may be the speed at which each leg massage unit rotates and the speed at which each leg massage unit moves in at least one direction among the upper and lower directions of the massage device 100. The preset length adjustment speed and rotation speed may be preset differently depending on each stretching mode and/or bicycle mode and stored in the storage unit 1300, but are 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 to this. 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 muscle and hamstring stretching mode, but are not limited to this. The length adjustment speed and rotation speed corresponding to each mode can be set in various ways.

As described above, the control unit 1200 performs stretching in a state in which the massage device 100 is reclined and a massage is provided (or at least one state among the state in which the massage device 100 is reclined and a massage is provided). By performing movements corresponding to the mode and/or bicycle mode, the user's legs may be stretched or exercised, or the user's 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 the preceding operation in each mode while the massage device 100 is reclined and a massage is provided (or at least one state). For example, the control unit 1200 performs at least one of a length adjustment operation and a rotation operation of a leg massage unit when the massage device 100 is reclined and a massage is provided (or at least one state). Alternatively, at least one of a length adjustment operation and a rotation operation of each leg massage unit may be performed, or an operation of fixing the position of any one leg massage unit may be performed.

Figure 67 shows an example to explain a method by which a control unit determines a control value for controlling a massage device, according to an embodiment.

The control unit 1200 may obtain information about the user (S6910).

The information about the user may include information about at least one of the user's biometric information, a stretching difficulty level selected by the user from among a plurality of stretching difficulties, and an exercise difficulty level selected by the user from among a plurality of exercise difficulties. The user's biometric information may include information about at least one of the user's age and medical history information. Medical history information may be history information about whether the user has and has had a disease in the body. More specifically, the medical history information may be history information about whether the user has a disease in at least one of the user's legs and waist. At this time, the disease is a disease that lowers the ability to exercise for at least one joint, and may be a variety of diseases such as a lumbar disc, a knee disc, or at least one of frozen shoulder for at least one area. The plurality of stretching difficulties includes a beginner's stretching difficulty, a beginner's stretching difficulty, an intermediate stretching difficulty, and an advanced stretching difficulty, and the plurality of exercise difficulties include a beginner's exercise difficulty, a beginner's exercise difficulty, an intermediate stretching difficulty, and Exercise difficulty level for advanced users can be included.

First, the control unit 1200 may obtain information about the user based on the user's input signal.

Specifically, the user may include an execution response for executing at least one of the stretching mode and the exercise mode, the user's identifier information, the user's biometric information, the stretching difficulty level selected by the user, and the exercise difficulty level selected by the user. Input information including information may be input to at least one device among the user input unit 1400 and an external device capable of communicating with the massage device 100. At this time, the execution response may be at least one of a stretching mode execution response for executing at least one of the iliopsoas stretching mode, hamstring stretching mode, and waist stretching mode and an exercise mode executing response for executing the bicycle mode. The user's identifier information is information representing the user and may be diverse, such as at least one of ID (identification) and name. 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. At this time, the input signal may include input information. The control unit 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.

As described above, the control unit 1200 obtains the input information included in the input signal as information about the user, but is not limited to this. 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 control unit 1200 may receive an input signal transmitted from at least one device and obtain identifier information included in the input signal. The control unit 1200 may obtain information about the user based on identifier information. For example, the control unit 1200 may obtain information about one user corresponding to identifier information among information about a plurality of arbitrary users as information about the user. At this time, information about 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. The information about the plurality of random users includes at least one of the identifier information of each random user, the biometric information of each random user, the stretching difficulty level selected by each random user, and the exercise difficulty level selected by each random user. It can be included.

Afterwards, the control unit 1200 may determine the user's physical state indicating whether the user is flexible based on the acquired biometric information of the user (S6930). For example, the control unit 1200 determines the user's body state based on biometric information into 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 It can be determined to be at least one state among the fourth state, which is a state in which the body is not very flexible.

Specifically, the controller 1200 may determine the user's first physical state based on information about the user's age.

If the user is under the age of 20, the controller 1200 may determine the user's first body state as a first state, which is a very flexible state. If the user is in his 20s or 40s, the controller 1200 may determine the user's first body state as a second state, which is a flexible state. If the user is in his 50s or 60s, the controller 1200 may determine the user's first body state to be a third state, which is an inflexible state. If the user is in his 70s or older, the controller 1200 may determine the user's first body state to be a fourth state, which is a very inflexible state.

The controller 1200 may determine the user's third physical condition based on the user's medical history information.

If the user does not have a disease in the body and has no history of having the disease, the controller 1200 may determine the user's second body state as the first state. If the user does not have a disease in at least one part of the user's legs or back, but has a disease in a body part other than at least one part or has a history of having a disease in another body part, the control unit 1200 The second body state of can be determined as the second state. If the user does not have a disease in at least one part of the user's back or lower back, but has a history of having a disease in at least one part, the control unit 1200 may determine the user's second body state as the third state. . If at least one of the user's back and lower back area contains a disease, the controller 1200 may determine the user's second body state as the fourth state.

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

When the first and second body states are the same, the controller 1200 may determine the user's final body state to be the first body state or the second body state, the same as the first and second body states.

If the first and second body states are different, the control unit 1200 determines the user's final body state to be one of the less flexible body states among the first and second body states, or It can be determined by intermediate physical condition.

For example, when the first and second body states are different from each other and are in a state immediately before and/or after each other (for example, the first body state is the first state, and the second body state is the first state) 2 state, etc.), the first and second body states may be compared to determine which body state among the first and second body states is less flexible as the user's final body state. If the first body state is less flexible than the second body state, the controller 1200 may determine the user's final body state to be the first body state. If the second body state is less flexible than the first body state, the controller 1200 may determine the user's final body state to be the second body state.

As another example, if the first and second body states are different from each other, but are not the states immediately before and/or after each other, the controller 1200 sets the user's final body state to an intermediate body state between the first and second body states. You can decide. For example, the controller 1200 operates when there is one body state between the first and second body states (for example, when the first body state is the first body state and the second body state is the third body state) etc.), the user's final body state can be determined by the intermediate body state. When there are two intermediate physical states between the first and second physical states (for example, when the first physical state is the first state and the second physical state is the fourth state, etc.), the controller 1200 generates a plurality of intermediate physical states. Among the body states, the final body state of the user can be determined as any intermediate body state that is less flexible.

Finally, the controller 1200 may determine a control value to control each component of the massage device 100 based on at least one of the user's body state (or final body state) and the level of difficulty for at least one mode. At this time, the difficulty level may be the level selected by the user. The controller 1200 controls the operation of at least one of each leg massage unit and the massage device 100 based on the control value, thereby providing the user with at least one of the stretching mode and exercise mode described above. At this time, the operation of each leg massage unit may be at least one of a length adjustment operation for adjusting the length of each leg massage unit and a rotation operation for rotating each leg massage unit, as described above.

The control value may be a control value for controlling each leg massage unit and a control value for controlling the operation of the massage device 100. For example, the control values include the reference length for adjusting the length of each leg massage unit, the rotation angle for rotating each leg massage unit, the operation maintenance time for maintaining the operation of the massage device 100, and the target leg as described above. It may include at least one control value among the massage unit and control speed. The control speed may be at least one of the length adjustment speed and rotation speed described above.

As an example, the controller 1200 may determine a control value based on the user's final physical state.

For example, the controller 1200 may generate a new control value by adding or subtracting a control value corresponding to the final body state from at least one preset control value. The control unit 1200 may determine the new control value as the final control value for controlling at least one of each leg massage unit and the massage device 100.

In the case of the reference length, the control unit 1200 adds or subtracts the reference length corresponding to the final body condition to a preset reference length (e.g., at least one reference length among the first to third reference lengths) to create a new reference length. can be created. The control unit 1200 may determine the new standard length as the final standard length to control each leg massage unit.

The lengths corresponding to the first and fourth states may be the same length and be 5 to 10 Cm, and the lengths corresponding to the second and third states may be the same length and be 2 to 5 Cm, but are not limited thereto. For example, the lengths corresponding to the first and fourth states may be longer than the lengths corresponding to the second and third states.

When the final body state is one of the first and second states, the controller 1200 may generate a new reference length by adding the length corresponding to either state to the preset reference length. When the final body state is one of the third and fourth states, the controller 1200 may generate a new standard length by subtracting the length corresponding to either state from the preset standard length.

In the case of the rotation angle, the controller 1200 adds or subtracts the rotation angle corresponding to the final body state from the preset rotation angle (e.g., at least one rotation angle among the first to fourth rotation angles) to create a new rotation angle. can be created. The controller 1200 may determine the new rotation angle as the final rotation angle to control each leg massage unit.

The rotation angles corresponding to the first and fourth states may be the same and be 5 to 10 degrees, and the rotation angles corresponding to the second and third states may be the same and be 2 to 5 degrees, but are not limited thereto. For example, the rotation angles corresponding to the first and fourth states may be larger than the rotation angles corresponding to the second and third states.

When the final body state is one of the first and second states, the controller 1200 may generate a new rotation angle by adding the rotation angle corresponding to either state to the preset rotation angle. When the final body state is one of the third and fourth states, the controller 1200 may generate a new rotation angle by subtracting the rotation angle corresponding to either state from the preset rotation angle.

In the case of the motion maintenance time, the controller 1200 adds the time corresponding to the final body state to the preset motion maintenance time (for example, the motion maintenance time, at least one of the first and second motion maintenance times), or By subtracting, a new operation maintenance time can be created. The controller 1200 may determine the new operation maintenance time as the final operation maintenance time for controlling the operation of the massage device 100 (or each leg massage unit).

The times corresponding to the first and fourth states may be the same and be 5 to 10 seconds, and the times corresponding to the second and third states may be the same and be 2 to 5 seconds, but are not limited thereto. For example, the times corresponding to the first and fourth states may be longer than the times corresponding to the second and third states.

When the final body state is one of the first and second states, the controller 1200 may generate a new motion maintenance time by adding the time corresponding to either state to the preset motion maintenance time. When the final body state is one of the third and fourth states, the controller 1200 may generate a new motion maintenance time by subtracting the time corresponding to either state from the preset motion maintenance time.

In the case of the target leg massage unit, the control unit 1200 determines 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 as the target leg massage unit to inflate the air cell, based on the final body state. You can. When the final body state is the first state, the controller 1200 may determine both the upper and lower leg massage units of any one leg massage unit as the target leg massage unit. When the final body state is the second state, 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. When the final body state is the third state, the controller 1200 may determine the lower leg massage portion as the target leg massage portion among the upper and lower leg massage portions of any one leg massage portion. When the final body 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. If 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.

In the case of the length adjustment speed, the controller 1200 may generate a new length adjustment speed by adding or subtracting the speed corresponding to the final body state from the preset length adjustment speed. The control unit 1200 may determine the new length adjustment speed as the final length adjustment speed to control each leg massage unit.

The speeds corresponding to the first and fourth states may be faster than the speeds corresponding to the second and third states at the same speed. The speeds corresponding to the second and third states may be slower than the speeds corresponding to the first and fourth states at the same speed.

When the final body state is one of the first and second states, the controller 1200 may generate a new length adjustment speed by adding the speed corresponding to either state to the preset length adjustment speed. When the final body state is one of the third and fourth states, the controller 1200 may generate a new length adjustment speed by subtracting the speed corresponding to either state from the preset length adjustment speed.

In the case of rotational speed, the controller 1200 may generate a new rotational speed by adding or subtracting the rotational speed corresponding to the final body state from the preset rotational speed. The control unit 1200 may determine the new rotation speed as the final rotation speed to control each leg massage unit.

The rotation speeds corresponding to the first and fourth states may be faster than the rotation speeds corresponding to the second and third states at the same speed. The rotation speeds corresponding to the second and third states may be slower than the rotation speeds corresponding to the first and fourth states at the same speed.

When the final body state is one of the first and second states, the controller 1200 may generate a new rotation speed by adding the rotation speed corresponding to either state to the preset rotation speed. When the final body state is one of the third and fourth states, the controller 1200 may generate a new rotation speed by subtracting the rotation speed corresponding to either state from the preset rotation speed.

As another example, the control unit 1200 may determine a control value based on the level of difficulty selected by the user. At this time, the level of difficulty selected by the user is the level of difficulty for at least one of the stretching mode and the exercise mode, and may be at least one of the stretching level and the exercise level. If the control unit 1200 determines the control value based on the level of difficulty, step S6730 may be omitted.

For example, the control unit 1200 may acquire any one difficulty selected by the user among beginner difficulty, beginner difficulty, intermediate difficulty, and advanced difficulty corresponding to at least one mode as the difficulty level for at least one mode. You can. The control unit 1200 may generate a new control value by adding or subtracting a control value corresponding to the level of difficulty selected by the user from at least one preset control value. The control unit 1200 may determine the new control value as the final control value for controlling at least one of each leg massage unit and the massage device 100.

In the case of the standard length, the control unit 1200 may generate a new standard length by adding or subtracting the standard length corresponding to the difficulty level selected by the user from the preset standard length. The control unit 1200 may determine the new standard length as the final standard length to control each leg massage unit.

The lengths corresponding to the difficulty levels for beginners and advanced users (e.g., the stretching difficulty level for beginners and advanced users, the exercise difficulty level for beginners and advanced users) are the same length and are 5 to 10 Cm, and the difficulty levels for beginners and intermediate users (beginner level The length corresponding to the stretching difficulty level for beginners and intermediate users and the exercise difficulty level for beginners and intermediate users may be the same length and be 2 to 5 cm, but is not limited thereto. For example, the length corresponding to the difficulty level for beginners and advanced users may be longer than the length corresponding to the difficulty level for beginners and intermediate users.

If the difficulty level selected by the user is one of the difficulty levels for intermediate users and the difficulty level for advanced users, the control unit 1200 may generate a new standard length by adding the length corresponding to either difficulty level to the preset standard length. If the difficulty level selected by the user is one of beginner level and beginner level level, the control unit 1200 may generate a new standard length by subtracting the length corresponding to either level of difficulty from the preset standard length.

In the case of the rotation angle, the controller 1200 may generate a new rotation angle by adding or subtracting the rotation angle corresponding to the difficulty level selected by the user from the preset rotation angle. The controller 1200 may determine the new rotation angle as the final rotation angle to control each leg massage unit.

The rotation angles corresponding to the beginner and advanced difficulty levels may be 5 to 10 degrees at the same rotation angle, and the rotation angles corresponding to the beginner and intermediate difficulty levels may be 2 to 5 degrees at the same rotation angle, but are not limited to this. No. For example, the rotation angle corresponding to the difficulty level for beginners and advanced users may be larger than the rotation angle corresponding to the difficulty level for beginners and intermediate users.

If the difficulty level selected by the user is one of the intermediate and advanced levels of difficulty, the control unit 1200 may generate a new rotation angle by adding the rotation angle corresponding to one difficulty level to the preset rotation angle. If the difficulty level selected by the user is one of beginner level and beginner level level, the control unit 1200 may generate a new rotation angle by subtracting the rotation angle corresponding to either level of difficulty from the preset rotation angle.

In the case of the motion maintenance time, the controller 1200 may generate a new motion maintenance time by adding or subtracting the motion maintenance time corresponding to the difficulty level selected by the user from the preset motion maintenance time. The controller 1200 may determine the new operation maintenance time as the final operation maintenance time for controlling the operation of the massage device 100 (or each leg massage unit).

The movement maintenance time corresponding to the beginner and advanced difficulty levels may be the same for 5 to 10 seconds, and the time corresponding to the beginner and intermediate difficulty levels may be the same for 2 to 5 seconds, but is not limited thereto. For example, the time corresponding to the beginner and advanced difficulty levels may be longer than the time corresponding to the beginner and intermediate difficulty levels.

If the difficulty level selected by the user is one of the difficulty levels for intermediate and advanced users, the control unit 1200 may generate a new motion maintenance time by adding the time corresponding to one difficulty level to the preset motion maintenance time. If the level of difficulty selected by the user is either for beginners or for beginners, the control unit 1200 may generate a new operation maintenance time by subtracting the time corresponding to either difficulty level from the preset operation maintenance time.

In the case of the target leg massage unit, the control unit 1200 expands the air cells of 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 based on the level of difficulty selected by the user to make it the target leg massage unit. You can decide. If the difficulty level selected by the user is the stretching difficulty level for advanced users, the control unit 1200 may determine both the upper and lower leg massage parts of any one leg massage part as the target leg massage part. When the difficulty level selected by the user is the stretching difficulty level for intermediate users, 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. If the level of difficulty selected by the user is the stretching level for beginners, the control unit 1200 may determine the lower leg massage part as the target leg massage part among the upper and lower leg massage parts of any one leg massage part. If the level of difficulty selected by the user is the beginner's level of stretching difficulty, the control unit 1200 may not determine both the upper and lower leg massage parts of any one leg massage part as the target leg massage part. If 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.

In the case of the length adjustment speed, the control unit 1200 may generate a new length adjustment speed by adding or subtracting the speed corresponding to the difficulty level selected by the user from the preset length adjustment speed. The control unit 1200 may determine the new length adjustment speed as the final length adjustment speed to control each leg massage unit.

The speed corresponding to the beginner and advanced difficulty levels may be faster than the speed corresponding to the beginner and intermediate difficulty levels at the same speed. The speed corresponding to the beginner and intermediate difficulty levels may be slower than the speed corresponding to the beginner and advanced difficulty levels at the same speed.

If the difficulty selected by the user is one of the intermediate and advanced difficulty levels, the control unit 1200 may generate a new length adjustment speed by adding the preset length adjustment speed to the speed corresponding to one difficulty level. If the difficulty level selected by the user is one of beginner level and beginner level level, the control unit 1200 may generate a new length control speed by subtracting the speed corresponding to either level of difficulty from the preset length control speed.

In the case of rotation speed, the control unit 1200 may generate a new rotation speed by adding or subtracting the rotation speed corresponding to the difficulty level selected by the user from the preset rotation speed. The control unit 1200 may determine the new rotation speed as the final rotation speed to control each leg massage unit.

The rotation speed corresponding to the difficulty level for beginners and advanced users may be faster than the rotation speed corresponding to the difficulty level for beginners and intermediate users at the same rotation speed. The rotation speed corresponding to the difficulty level for beginners and intermediate users may be slower than the rotation speed corresponding to the difficulty level for beginners and advanced users at the same rotation speed.

If the difficulty level selected by the user is one of the intermediate and advanced levels of difficulty, the control unit 1200 may generate a new rotation speed by adding the rotation speed corresponding to one difficulty level to the preset rotation speed. If the difficulty level selected by the user is one of beginner and beginner levels, the control unit 1200 may generate a new rotation speed by subtracting the rotation speed corresponding to either difficulty level from the preset rotation speed.

As another example, the controller 1200 may determine a control value based on the user's physical condition and the level of difficulty selected by the user.

First, the controller 1200 may determine a primary control value to control each leg massage unit based on the final body state as described above. The primary control value is the reference length (or first reference length) determined based on the final body state, rotation angle (or first rotation angle), motion maintenance time (or primary motion maintenance time), and target leg massage unit ( It may include at least one of a first target leg massage unit), a length adjustment speed (or first length adjustment speed), and a rotation speed (or first rotation speed).

Afterwards, the controller 1200 may determine a secondary control value to control each leg massage unit based on the level of difficulty selected by the user as described above. The secondary control value is the reference length (or secondary reference length), rotation angle (or secondary rotation angle), motion maintenance time (or secondary motion maintenance time), and target leg massage unit determined based on the level of difficulty selected by the user. It may include at least one of (or a secondary target leg massage unit), a length adjustment speed (or a secondary length adjustment speed), and a rotation speed (or a secondary rotation speed).

Finally, the control unit 1200 determines a final control value to control each leg massage unit based on the first control value and the secondary control value, and sets the final control value to at least one of each leg massage unit and the massage device 100. can be determined as the control value to be controlled. Through this, the control unit 1200 can control at least one of each leg massage unit and the massage device 100 based on the final control value.

For example, as described above, the control unit 1200 generates a first new control value by adding or subtracting a control value corresponding to the final body state from at least one preset control value, and sets the first new control value to 1. It can be determined by the difference control value. As described above, the control unit 1200 generates a secondary new control value by adding or subtracting a control value corresponding to the level of difficulty selected by the user from at least one preset control value, and converts the secondary new control value into the secondary control value. can be decided.

The control unit 1200 compares the first and second control values to determine whether the first and second control values are the same, and massages each leg based on whether the first and second control values are the same. The final control value to control the unit can be determined.

If the first and second control values are the same, the control unit 1200 can determine one of the first and second control values as the final control value. If the first and second control values are not the same, the controller 1200 may determine the average value of the first and second control values as the final control value.

FIG. 68 is a diagram illustrating 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 one embodiment, the leg massage parts on both sides include shaft members on the left and right sides, respectively. Specifically, each leg massage unit 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 example, the first shaft member 2310' and the second shaft member 2330' may be firmly coupled while inserted into the leg frame 2210', and may be welded, for example.

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

The side holder 2320' is inserted into the first shaft fixing member 1150', and the first shaft fixing member 1150' can 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 parts 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' is inserted into the second axis fixing member 1170', and the second axis fixing member 1170' can 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 sides, and the first shaft member 2310' and the second shaft member 2330' are It is fixed on both sides. Accordingly, side holders 2320' and center holders 2340' are disposed on both sides of the first leg massage unit and the second leg massage unit, respectively. Ultimately, the leg massage unit requires a total of four fixations to rotate the two separate 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 connection frame 1130'. ), two second axis fixing members 1170' and two second connecting members 1160' are required to connect them to each other. That is, the two center holders 2340' are each connected to the leg connection 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 parts are misaligned due to rotation of the leg massage parts. Additionally, 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 aligned. It can be placed in .

Figure 69 is a diagram for explaining the structure in which the leg massage parts 2000'' on both sides are connected in the massage device 100'' according to another embodiment of the present invention, and Figure 70 shows the connection structure of Figure 69. This is an exploded perspective view of the composition.

Referring to FIGS. 69 and 70 , a massage device 100'' according to another embodiment of the present invention may include individually rotatable leg massage units 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 other leg of the user. can do. Additionally, each leg massage unit 2000'' may include a shaft member on its side. For example, the leg massage unit 2000'' includes a first shaft member 2310'' on both sides, and a second shaft member 2330'' is provided between the leg massage units 2000''. It can be included.

Specifically, the first leg massage unit 2000a'' includes a second shaft member 2330'' and a second shaft member 2330'' disposed in a direction facing the second leg massage unit 2000b''. It may include a first shaft member 2310'' disposed in an opposite direction, that is, in a 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, the leg massage unit 2000'' has first shaft members 2310'' disposed on the left and right sides, respectively, and a first leg massage unit 2000a'' and a second leg massage unit 2000b'. '), two second shaft members 2330'' are disposed between them.

As an example, the first leg massage unit 2000a'' and the second leg massage unit 2000b'' may each include a leg frame 2210''. The leg frame 2210'' is disposed at the rear 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''. ) may be configured to be connected to. 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 inserted into both sides of the leg frame 2210'' and then firmly fixed, for example, by welding. can be combined by However, it is not limited to this 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'' 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 connected to the leg massage unit 2000''.

The massage device 100'' according to another embodiment of the present invention includes a side holder 2320'' disposed on both sides of the leg massage unit 2000'' 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 holders 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 holders 2320'', respectively. It can be fixed.

In addition, the massage device 100'' according to another embodiment of the present invention is disposed between the first leg massage unit 2000a'' and the second leg massage unit 2000b'' and has 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 two inserted second shaft members 2330''. That is, the two second shaft members 2330'' can be inserted into and fixed to one center holder 2340''.

As an embodiment, the massage device 100'' includes a first axis fixing member 1150'' for fixing the side holder 2320'' and a second axis fixing member for fixing the center holder 2340''. It may include a member 1170''. Additionally, the massage device 100'' may include a first connection member 1140'' connecting the first axis fixing member 1150'' and the leg connection frame 1130'', and a second axis fixing member 1150''. It may include a second connection member 1160'' connecting the fixing member 1170'' and the leg connection frame 1130''.

Referring again 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''. Describe the structure in detail.

A first shaft member 2310'' and a second shaft member 2330'' may be inserted and fixed on 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''. You can. The first axis fixing member 1150'' can stably support the inserted side holder 2320''. The first shaft fixing member 1150'' may be connected and coupled to the first connecting member 1140'', and the first connecting member 1140'' may be connected to the leg connecting frame 1130''. . At this time, the first connection member 1140'' may be connected to one side of the leg connection frame 1130''. Additionally, 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 on 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''. You can. The first shaft fixing member 1150'' can stably support the inserted side holder 2320''. The first shaft fixing member 1150'' may be connected and coupled to the first connecting member 1140'', and the first connecting member 1140'' may be connected to the leg connecting frame 1130''. . At this time, the first connection member 1140'' may be connected to the other side of the leg connection frame 1130'', and specifically, the first connection member 1140'' connected to the first leg massage unit 2000a''. It 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'', and specifically, the second shaft member 2330'' of the first leg massage unit 2000a'' ) can be inserted and fixed in the direction opposite to the direction in which it was inserted.

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

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

Ultimately, the massage device 100'' according to another embodiment of the present invention includes one 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'' can be connected. In addition, the massage device 100'' according to another embodiment of the present invention includes only one center holder 2340'', a second axis fixing member 1170'', and a second connecting member 1160''. Including, the leg massage unit (2000'') and the body massage unit (1000'') can 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 axes do not deviate, and the two leg massage units This has the advantage of reducing the number of components required to connect (2000'') with the body massage unit (1000'').

Figure 71 is a diagram schematically showing 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 remaining components. At this time, one component may be made of synthetic resin, for example, lubricating plastic. Additionally, the remaining components may be made of metal and, for example, may include iron (Fe).

Therefore, since the side holder 2320' according to an embodiment of the present invention is composed of a plurality of components, there was a problem that a large number of parts were needed, and noise or vibration generated by the rotation of the leg massage unit 2000' was prevented. There was difficulty in fully charging it.

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

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

Referring to Figures 72 and 73, the side holder 2320'' according to another embodiment of the present invention may be formed as one piece.

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

The first extension 2321'' may be a part 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 locking protrusion 2322'' is a part formed at one end of the first extension 2321'', and is formed to have a larger diameter than the first extension 2321'', so that it can perform a stopper function. Accordingly, the side holder 2320'' can be inserted into the first axis fixing member 1150'' only in the part corresponding to the first extension part 2321'', and the first locking protrusion 2322'' It may not be inserted into the first axis 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 protrusion 2322'', and may be formed along the longitudinal direction up to a portion of the first extension part 2321''. You can. That is, the first insertion hole 2323'' may be formed by extending from the end of the first locking protrusion 2322'' to a portion corresponding to a portion of the first extension part 2321'', and the first extension part 2321'' The end of portion 2321'' may be closed.

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

As an example, the side holder 2320'' may include a plurality of grooves formed along its outer surface. For example, a plurality of grooves may be formed on the surface of the first locking protrusion 2322''.

Referring again 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 a plurality of grooves included in each row may be formed at predetermined intervals 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 locking protrusion 2322''. Additionally, the formed grooves may have the same width and length. Accordingly, the force applied from the outside to the side holder 2320'' can be uniformly distributed.

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

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

Accordingly, the side holder 2320'' can have strong resistance to wear due to rotation of the leg massage unit 2000'', can secure high strength, and can be manufactured to be lightweight. Additionally, the side holder 2320'' has self-lubricating properties, so it can have strong resistance to friction caused by the rotation of the leg massage unit 2000''. Ultimately, the durability of the side holder 2320'' is improved.

As an optional embodiment, the side holder 2320'' may include glassfiber. For example, the side holder 2320'' can be manufactured by an injection process, and glass fiber can be added to polyacetal in the injection process. As a specific example, glass fiber may be contained in an amount of 10% or more, preferably 20 to 50%. Accordingly, the side holder 2320'' can have improved corrosion resistance and insulation, and improved durability against heat or chemical action generated by friction.

Referring to FIGS. 72 and 74 , the side holder 2320'' may further include a first elastic member 2350'' disposed therein so as to contact the first shaft member 2310''.

Specifically, when the leg massage unit 2000'' rotates while the first shaft member 2310'' is inserted into the side holder 2320'', the first shaft member 2310'' is the side holder ( 2320'') or moves in the axial direction. Accordingly, such vibration may be transmitted or noise may be generated throughout the massage device 100''. To solve this problem, a 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 portion 2321'' of the side holder 2320'', and specifically, the first insertion hole 2323'' ) can be placed at the end of.

Therefore, when the first shaft member 2310'' moves in the axial direction or vibration or noise occurs due to rotation of the leg massage unit 2000'', the first elastic member 2350'' The movement of the shaft member 2310'' can be cushioned.

The first elastic member 2350'' is made of an elastic material, and may be formed in a form capable of contracting and expanding in a direction parallel to the moving direction of the first shaft member 2310''. Specifically, the first elastic member 2350'' may be formed so that its integrated surfaces form curved surfaces with different heights, as shown in FIG. 74 . As a result, the first elastic member 2350'' can be formed to have a thin overall thickness.

Therefore, when the first shaft member 2310'' is inserted deeper into the side holder 2320'', the first elastic member 2350'' contracts and the first shaft member 2310'' The force of insertion can be cushioned, and this force can be canceled out by elastic force.

In addition, since the side holders 2320'' are disposed on both sides of the leg massage unit 2000'', there is a limitation in that they cannot have a length exceeding a certain level, so the first elastic member 2350'' is thin as described above. It is formed with a thickness that can overcome spatial limitations.

FIG. 75 is a diagram for explaining the cushioning action at the center of the leg massage unit 2000'' of FIG. 69, and FIG. 76 is a diagram schematically showing the center holder 2340'' of FIG. 70.

Referring to FIGS. 75 and 76, the center holder 2340'' may be formed as one piece. Accordingly, the center holder 2340'' may have second shaft members 2330'' inserted on both sides, respectively.

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

The second extension part 2341'' may be a part 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 protrusion portion 2342'' is formed at both ends of the second extension portion 2341'', and is formed to have a larger diameter than the second extension portion 2341'', and can perform a stopper function. . Accordingly, the center holder 2340'' may not shake left or 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 into which the second shaft member 2330'' is inserted. 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 example, the center holder 2340'' may include a plurality of grooves formed along its outer surface.

Referring again 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 at predetermined intervals along the outer diameter. You can. Accordingly, a shape in which a plurality of ribs are formed is implemented on the surface of the center holder 2340''.

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

Additionally, among the plurality of grooves formed on the surface of the second extension 2341'', the groove formed along the center line may be formed to have a greater thickness than the remaining grooves. Additionally, the grooves formed on the left and right portions based on the groove 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 driving the leg massage unit 2000'' can be easily eliminated.

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

Accordingly, the center holder 2340'' can have strong resistance to wear due to rotation of the leg massage unit 2000'', can secure high strength, and can be manufactured to be lightweight. In addition, the center holder 2340'' has self-lubricating properties, allowing it to have strong resistance to friction caused by rotation of the leg massage unit 2000''. Ultimately, the durability of the center holder 2340'' is improved.

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

Referring again 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 while the second shaft member 2330'' is inserted into the center holder 2340'', the second shaft member 2330'' is connected to the center holder (2340''). 2340'') or moves in the axial direction. Accordingly, such vibration may be transmitted throughout the 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, a second elastic member 2360'' may be disposed inside the second extension part 2341'' of the center holder 2340''.

Therefore, when the second shaft member 2330'' moves in the axial direction or vibration or noise occurs due to rotation of the leg massage unit 2000'', the second elastic member 2360'' The movement of the shaft member 2330'' can be cushioned.

The second elastic member 2360'' is made of an elastic material, 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. As a result, the second elastic member 2360'' can stably cushion the applied force even if the second shaft member 2330'' applies force from both sides.

Therefore, when the second shaft member 2330'' is inserted deeper into the center holder 2340'', the second elastic member 2360'' contracts and the second shaft member 2330'' The force of insertion can be cushioned, and this force can be canceled out by elastic force.

Meanwhile, the second shaft member 2330'' is inserted into the center holder 2340'', and is inserted past the second locking protrusion 2342'' and up to a portion of the second extension part 2341''. You 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 is inserted into the center of the second extension part 2341''. The second elastic member 2360'' is disposed, and the second shaft member 2330'' is inserted to protrude past the second locking protrusion 2342'' and up to the second extension part 2341'', thereby forming a second A second shaft member 2330'' may be disposed on both sides of the elastic member 2360''.

Therefore, a load is applied to the center holder 2340'' by the leg massage unit 2000'', causing the center holder 2340'' to be damaged, or the second shaft member 2330'' to be damaged by the center holder 2340''. ) can prevent problems such as separation from the

Meanwhile, the method of operating the massage device 100 according to the present invention described above may be executed by a computer. Additionally, a program for executing the operating method of the massage device 100 may be recorded on a computer-readable recording medium.

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

Although 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 without departing from the technical spirit of the present disclosure. . Accordingly, the embodiments disclosed in the present disclosure are not intended to limit the technical idea of the present disclosure but are for illustrative purposes, and the scope of the technical idea of the present disclosure is not limited by these embodiments. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive. The scope of protection of this disclosure should be interpreted in accordance with the claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of rights of this disclosure.

Claims (1)

Massage device.