KR20240024127A - Apparatus having independently movable leg massage unit and method for operating this - Google Patents

Abstract

The present invention relates to a massage device including an independent movable leg massage unit. The massage device according to an embodiment of the present disclosure includes a control unit that controls the massage device, and at least a portion of the user's body based on the control of the control unit. a body massage unit that massages the body, a leg massage unit disposed below the body massage unit and a leg massage unit that massages the user's legs based on control of the control unit, and the leg massage unit massages one leg of the user. It includes one leg massage unit and a second leg massage unit that massages the other leg of the user, wherein each of the first leg massage unit and the second leg massage unit is capable of independent movement, and the control unit controls the first leg. Determine whether to rotate the first leg massage unit and the second leg massage unit based on whether the rotational force of the user rotating at least one leg massage unit among the massage unit and the second leg massage unit is sensed; By controlling the rotation of the at least one leg massage unit based on the results, an exercise mode for exercising the leg can be provided to the user.

Description

Apparatus including an independently movable leg massage unit and a method of operating the same {APPARATUS HAVING INDEPENDENTLY MOVABLE LEG MASSAGE UNIT AND METHOD FOR OPERATING THIS}

The present invention relates to a device including an independent movable leg massage unit, and more specifically, to a massage device in which the leg massage units corresponding to both legs operate individually to provide a customized massage according to the user's body type or condition. It's about.

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.

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 below 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 leg, each of the first leg massage unit and the second leg massage unit is capable of independent movement, and the control unit is selected from among the first leg massage unit and the second leg massage unit. Determine whether to rotate the first leg massage unit and the second leg massage unit based on whether the rotational force of the user rotating the at least one leg massage unit is detected, and massage the at least one leg based on the decision result. By controlling the rotation of the arm, an exercise mode for exercising the leg can be provided to the user.

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 part.
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.

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 below 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 and a user input unit 1400 for receiving any type of input from the user. The body massage unit 1000 is a space of any shape for accommodating the user. can be formed. 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 is formed with a leg receiving space 2100 in which the user's legs are accommodated, and may include a calf massage unit 2400 and a foot massage unit 2600 for massaging the user's legs. there is.

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.

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 receiving space 2110 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 massage part 2000aa and a first lower massage part 2000ab, but is not limited thereto. The first upper 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 massage unit 2000ab is the first leg massage unit 2000a. (2000a) may be disposed at the other end (preferably the lower end) 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 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 can massage 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 lower 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 lowermost (or lowest lower surface) area of the first lower leg massage unit 2000ab. ) 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 2130 that accommodates the other leg of the user. The second leg massage unit 2000b may include a second massage member that massages the other leg of the user. 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 a second upper massage part 2000ba and a second lower massage part 2000bb, but is not limited thereto. The second upper 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 massage unit 2000bb is the second leg massage unit. It may be disposed at the other end (preferably the lower end) of (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 massage unit 2000ba can massage at least one of the calf and knee of the other leg. For example, the second upper massage unit 2000ba includes a second calf air cell (not shown) disposed on the inner side of the second upper massage unit 2000ba, and disposed on the inner rear of the second upper massage unit 2000ba. It may include at least one of the second calf massage units 2430. At this time, the inner side of the second upper 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 massage unit 2000ba. You can. The inner rear of the second upper 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 massage unit 2000ba.

The second lower massage unit 2000bb may massage at least one part of the foot and ankle of the other leg. For example, the second lower massage unit 2000bb includes a second foot air cell (not shown) disposed at least one of the inner side and rear of the second lower massage unit 2000bb, and a second lower massage unit ( It may include at least one of the second foot massage units 2630 disposed on the inner lower surface (or innermost bottom) of 2000bb). At this time, the inner side of the second lower 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 massage unit 2000bb. The inner rear of the second lower 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 massage unit 2000bb. The inner lower surface of the second lower massage unit 2000bb is an area corresponding to the sole of the other leg among the entire inner area of the second lower massage unit 2000bb and is the lowermost end (or lowermost surface) of the second lower massage unit 2000bb. You can.

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 the rotation module 2270 (see FIG. 14) and can be controlled to rotate independently of each other. At this time, the rotation module 2270 may rotate the leg massage unit 2000 based on the control of the controller 1200 to change the angle between the body massage unit 1000 and the leg massage unit 2000. The rotation module 2270 may be implemented as a leg angle actuator 2270 as shown in FIGS. 3, 6, and 14, but is not limited thereto. For example, the rotation module 2270 rotates the leg massage unit 2000 to change the angle between the body massage unit 1000 and the leg massage unit 2000 (for example, at least one of a motor and an airbag). etc.) can be implemented. Hereinafter, for convenience of explanation, it will be assumed that the rotation module 2270 is implemented as a leg angle actuator.

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

The first rotation module 2271 may be disposed on at least one of the rear and side surfaces of the first leg massage unit 2000a. When the first rotation module 2271 is implemented 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 may rotate the first leg massage unit 2000a in at least one direction among clockwise and counterclockwise based on the control of the controller 1200.

The second rotation module 2273 may be disposed on at least one of the rear and side surfaces of the second leg massage unit 2000b. When the second rotation module 2273 is implemented 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 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 may include a leg frame 2210 including a rotation axis and a sliding bar 2230 (see FIGS. 9 and 10) connected to the leg frame 2210. there is.

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. The link bar 2250 may be connected to at least one actuator and the second connection frame 1140. That is, the link bar 2250 may be connected to at least one actuator to transmit rotational power to the leg massage unit 2000. Meanwhile, at this time, the actuator may be a leg angle actuator 2270.

A leg rotation wheel 2240 may be provided on one side of the link bar 2250. 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 sliding bar 2230 can 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. there is. 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.

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. As an example, the first adjustment module 2500a moves the first leg massage unit 2000a in at least one direction among the upper and lower sides of the first leg massage unit 2000a. 1 Length 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. As an example, the first adjustment module 2500b moves the second leg massage unit 2000b in at least one direction from the upper and lower sides of the second leg massage unit 2000b to 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 of 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 (e.g., the first accommodation space 2110), 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 2130).

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 (2110, 2130), 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 so that the position of the user's legs does not change within the leg accommodation space 2100 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 2100 formed in the leg massage unit 2000.

The linear motion mode may be an exercise mode that allows the leg massage unit 2000 to 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 2100 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 2100 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 detected. 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, if 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 (for example, 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 rotational 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 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.

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.

100: Massage device 2211: Guide rail
1000: Body massage unit 2220: Rotating axis member
1100: main frame 2220a: first rotation axis member
1110: Upper frame 2220b: Second rotation axis member
1111: rack gear 2230: sliding bar
1120: Base frame 2240: Leg rotation wheel
1121: Base upper frame 2250: Link bar
1122: Base lower frame 2260: Link bracket
1130: first connection frame 2261: first area
1140: second connection frame 2262: second area
1200: Control unit 2270: Rotation module
1300: storage unit 2310: center bushing
1400: User input unit 2320: Side bushing
1500: Audio output module 2400: Calf massage unit
1600: Network connection 2510: Lead screw
1700: Massage module 2520: Leg length adjustment actuator
1800: Sensor unit 2530: Guide bar
2000: Leg massage unit 2540: Guide roller
2000a: first leg massage unit 2551: guide wheel
2000aa: first upper leg massage unit 2552: guide wheel bracket
2000ab: first lower leg massage unit 2600: foot massage unit
2000b: second leg massage unit 2611, 2613: foot massage actuator
2000ba: second upper leg massage unit 2610: first foot massage unit
2000bb: second lower leg massage unit 2630: second foot massage unit
2100: Leg accommodation space CD: Massage device control device
2210: Leg frame S: Anti-entrapment sensor

Claims (1)

Massage device.