TW200908953A - Massage machine - Google Patents

Abstract

A massage machine, including rubbing and squeezing mechanism, which is equipped with a therapy applying part that contact with human body through at least three rotary or parallel sliding articulations. The massage machine also includes actuators for independently driving the articulation individually, displacement detectors for detecting the displacement of each articulation, and control part for controlling the actuators. The control part includes a position controller and a force-applying controller. The position controller is capable of determining a predetermined trajectory control surface and controlling the trajectory of the therapy-applying part on the trajectory control surface. The force-applying controller is capable of controlling the force on the therapy-applying part that is applied in normal direction of the trajectory control surface.

Description

200908953 IX. Description of the Invention: [Technical Field] The present invention relates to a massage machine, and more particularly to a massage machine in which a kneading mechanism is disposed in a back pad of a chair. [Prior Art] In the past, a massaging machine having a massage mechanism in a back pad of a plurality of chairs has been provided in the industry (such as Japanese Patent No. 2733159). It is equipped with a kneading mechanism on the fixed structure, and exerts force control on the vertical direction of the frame and position control in the plane direction. In addition, when the user massages, position control with the body curve and control the force in the direction of the internal curve of the body is the most ideal control, but the conventional technique does not make the frame surface fit the body curve, so the force is applied. There is still room for improvement in control. SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object thereof is to provide an arbitrarily set size of a force vector of a treatment portion and a three-dimensional direction, and can be arbitrarily perpendicular to a direction of a force vector. Set the massage track massage machine. The massage machine of the present invention comprises a kneading mechanism, the mechanism is provided with a treatment portion that can be in contact with the human body by rotating or paralleling at least three joints, the massage machine comprising: an actuator capable of independently driving each joint; displacement detection And detecting a displacement of each joint; and a control unit for controlling the actuator; 5 200908953, wherein the control unit includes a predetermined control surface that can be determined, and the treatment unit is controlled on the obstruction control surface The position controller of the trajectory and the urging controller capable of performing the urging control of the treatment portion in the normal direction of the trajectory control surface. Therefore, the massage machine of the present invention can arbitrarily set the direction of the force vector of the treatment portion by arbitrarily setting the aforementioned trajectory control surface, and can be in the trajectory control surface perpendicular to the direction of the force vector. Set the execution of the treatment department. This ensures the user's desired pressing direction and the desired in-plane trajectory. The position controller may be adapted to the deviation of the current position of the treatment portion calculated from the target position of the treatment portion and the joint displacement measured by the displacement detector, or according to the displacement target value of each joint and the displacement detector. The displacement of each joint is now biased and the actuators are controlled. At this time, the feedback control of the displacement can be realized, so that the required in-plane trajectory can be realized with high precision. Preferably, the position controller performs position control of the treatment portion using a parallel equation of the surface parallel to the trajectory control surface and the coordinate system of the joint coordinate system, and is not parallel to the trajectory control surface when performing position feedback control. The position target value of the treatment portion is set in the direction. At this time, if the position control in the trajectory control plane and the urging control in the normal direction of the trajectory control surface are simultaneously performed, the displacement error of the position control can be prevented from affecting the urging error. The aforementioned control unit may provide a torque command value to the actuators of the joints to drive the joints. At this time, not only the direction of the applied force but also the force of the 200908953 can be controlled. The massage machine further includes a force sensor that can detect the force applied by the treatment portion to the user, and the force application controller can be based on the force application target value and the force applied by the force sensor. The actuators are controlled by deviations in values. At this time, the feedback control of the force application can be realized, so that the required pressing force can be achieved with high precision. Moreover, the massage machine further includes a memory device that memorizes the displacement and the target value of the force-applying portion, and the control portion controls the treatment portion according to the deviation between the target value and the current value of the displacement and the force applied by the memory device. Position and force. At this time, a preset massage action can be realized. Further, the control unit preferably changes the tracking control surface gradually so that the preceding tracking control surface is parallel to the tangential direction of the user's body. At this time, it is possible to match the shape of the human body to ensure that the desired trajectory and the required force are applied for massage. Further, the massage machine preferably includes an operation portion for allowing the user to set the magnitude and direction of the force applied to the treatment portion. At this time, the direction and size of the force set by the user can be realized. Further, the control unit may provide a torque command value to the actuators of the joints to drive the joints. At this time, it is possible to control the direction and magnitude of the force application by controlling the torque command value more to reduce the cost. Further, the massage machine may further include an operation portion for adjusting the adaptability of the biasing force, and the biasing controller may adjust the control gain according to the input of the operation portion. At this time, the adaptability of the force can be changed in accordance with the user's preference. 200908953 In addition, the force applying controller can also adjust the orientation of the direction from the human body to the treatment portion to be greater than the adjustment direction of the human body. At this time, if the massage force is less than the required force, the treatment part cannot immediately cooperate with the human body, and if the massage force is greater than the required force, the treatment part will quickly move away from the human body without excessively exerting force on the human body, the user Experience a relaxing massage. [Embodiment] Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. The massage machine of the present invention is provided with a treatment portion at the distal end of the kneading mechanism composed of at least three or more joints. As shown in the eleventh, the kneading mechanism is mounted on the structure constituting the yz surface. The massage machine having the kneading mechanism described above can be applied to the disclosed construction such as Japanese Laid-Open Patent Publication No. 2006-34635, but is not limited thereto. As shown in the first figure, each of the above joints is provided with a motor as an actuator, and a rotary decoder is provided as a displacement sensor for displacement detection, and the control circuit is based on the value obtained by the rotary decoder via the counter ( The control unit) determines the motor command value and drives the motor via the DA converter and the motor driver. At this time, the command value supplied to the motor should be the torque command value. The second diagram shows that the massage device is further provided with a force sensor that can detect the force applied to the user by the treatment portion. The detected value of the force sensor is input to the control circuit via the AD converter. Although the urging sensor is important for the urging feedback described later, the urging sensor is not absolutely necessary. Hereinafter, the control of the massage machine will be described in detail. In this embodiment, the control unit may determine a predetermined trajectory control surface, and the control unit includes a position controller capable of controlling the execution of the treatment portion on the aforementioned obstruction control surface at 200908953, and a normal direction of the trajectory control surface A force applying controller for controlling the force of the treatment portion is performed. The force controller can convert the force applied by the treatment unit into each motor output according to the position information of the treatment unit, and perform force control. The position controller controls the treatment according to the deviation between the displacement target value of each joint and the current value of the displacement of each joint detected by the displacement sensor. In the above case, it is determined that the motor command value u is, for example, the above formula T (number 1) where the superscript character T represents a transpose. [Number 1] ^ = KvAg -f KvAq — u : Motor command value qd : Target joint displacement

Kp : position gain q : now joint displacement

Kv: Velocity gain: The force applied by the treatment unit is converted into the vector of each motor output △q=qd—q: position deviation Fd: target force application The third figure is the block diagram at this time. In the third figure, the position vector of the X-system treatment unit, and the word d represents the target value. In addition, "inverse kinematics" in the third figure refers to the calculation of the position vector of the treatment part into the calculation of the 200908953 section vector q. In addition, the direction of the exerting force of the treatment portion can be controlled to be in a state of being orthogonal to the surface of the controllable treatment portion (ie, the trajectory control surface), and when the foregoing force applying sensor is also mounted, the force applying controller can According to the deviation between the target value of the force application and the current value of the force applied by the force sensor, the motor command value is determined as follows (2), and the position controller is based on the target position and displacement sensor of the treatment unit. The deviation between the detected joint displacement and the current position of the treatment portion determines the motor command value as shown in the following Equation 2 (number 2). The fourth picture is the block diagram at this time. [Number 2] U — JIfz(?) ·[liCyipAaJyz -j- ~ fd Kf-p — Jf ~ κfi J J 如 , 1 ' ^ batch '

Kyzp : position gain Kyzv : speed gain △ Xyz : Xyzd—Xyz Xyz=[y,z]AT

Jyz : yz plane and joint coordinate system of the Jacobian equation

Kfp : proportional gain of force applied fd : target applied force f : current applied force Δ f = fd — f : applied force deviation The following description predicts position control on the plane parallel to the aforementioned yz plane, and faces the yz plane The control rule of the force control is performed in the X direction of the straight line, but if the direction of the force control and the position control are in an orthogonal state, the direction can be arbitrarily determined. Hereinafter, a method of setting the direction of the force application in any direction will be described. 10 200908953 As shown in the fifth figure, if the equation for setting the surface to be controlled is z=ax+by+c, the geometric limit condition φ (X) of the treatment unit is the following formula 3 (number 3). [Number 3] Lu (y) =.ζ—ox-e = 〇 However, the three-dimensional position vector of the front end of the X-system treatment unit, x=(x, y, z). At this point, a new coordinate system 〇 — x'y'z1 can be defined for the aforementioned face. Here, position control is performed on the y'z1 plane, and force control is performed in the X' direction. From the above formula 3 (number 3), the normal vector φ X of the aforementioned face can be obtained as the number 4 below. [Number 4]

Φχ - (5^(λτ) I dx)T = (d^(x) l dx, δφ{χ) /dy, δψ{χ) / 3z)T [number 5] rdxt dqx dxt dg2 dx/dq^

Jx(Q)= &yfdq2 dyfdqi ^dz / dqx dzi dg2 dz I dg3 ^ Further, using Equation 4 (Number 4) and Equation 5 (Number 5), it is defined to apply force to the normal direction of the aforementioned surface. The conversion vector J φ for each joint force (motor command value) is expressed by the following formula 6 (number 6). [Number 6]

M)' IKII The above formula 6 (number 6) is used to convert the vector of the joint force to the normal side 11 200908953 of the above formula 3 (number 3), by changing the formula 3 (number 3) The parameters a, b, and c can be used to determine the joint forces for applying force in any direction. Next, the method of obtaining the sub-comparable equation Jyz(q) required for position control will be explained. Let the rotation matrix of the reference coordinate system 〇 xyz toward the aforementioned coordinate system x — x'y'z' be R. Thereby, the coordinate system 〇 x'y'z1 can represent the position vector of the aforementioned treatment portion. If it is represented by xl = (x', y', z'), the relationship with x = (x, y, z) can be expressed by the formula 7 (number 7). [Equation 7] x'=JRx Even if it is located at △ XyZ, it can be expressed by the above coordinate system 〇 - χ > 'Ζ'. Hereinafter, the following equation 8 (number 8) represents the yz plane of the equation 2 (number 2) and the sub-comparability equation Jyz(q) of the joint coordinate system. [Number 8] J (g)J^'/dq' ^ ~[dz'ldq, dz'!dq% dz'ldq^ As explained above, if the direction of force control and position control is orthogonal, then In the above, the direction can be arbitrarily determined. Therefore, the control unit may gradually change the trajectory control surface such that the trajectory control surface is parallel to the tangential direction of the user's body, thereby moving the treatment portion along the back of the user, and applying a vertical force to the back surface to Make the most ideal massage. Further, as can be seen from Equation 2, although the position controller can perform the position control of the treatment portion using the Jacobian equation Jyz(q), when the position feedback control is performed, the treatment portion is not set in the direction parallel to the execution control surface. The location target value. This is to prevent the displacement error of the position control from affecting the force error 12 200908953. The first system shows that the massage device of the second figure has been attached to the memory device for the purpose of the treatment of the target value. In response to the target value, the control unit can control the treatment unit according to the deviation between the target value and the current value of the force. With force. At this time, it is possible to easily reproduce the massage suitable for the user. As shown in the seventh figure, the operation portion 1 of the magnitude and direction of the force applied to the massage unit can also be applied. User =; f The direction and magnitude of the force applied to the treatment portion are input via the operation unit 1G. In the seventh embodiment, the three-axis urging sensor 11 of the square operation unit 10 detects the direction of the operation direction, and the control unit controls the detection value as the target value of the small value. Although it has been explained that each actuator is provided with a torque command value = 3@ (four) 'but a speed command value can also be provided to control the force applied. One of the eight diagrams shows an example of such control. When controlling the force, if = Press ! Γ is greater than the required force, then move away from the body. The treatment unit α ^ ' is less than", then set the speed command in the direction of the human body approaching: 2 = force control input (A in the eighth figure). Also, the control obstruction: 'is the desired speed command value for the execution to generate the control input. This time, the position and speed error is fed back to generate the speed command value and is applied to the desired speed command value to generate the control input for the trace (B in Figure 8). The speed command value after superimposing the control input of the urging force and the trajectory is the speed command of the treatment unit, so the borrowing method % is converted into the speed command value of each actuation 13 200908953 (motor), and then input to Each actuator. [Equation 9] 々 = field 疒 1^ Here, as in the above-mentioned direction of force control in the direction of the plate, and when performing position control, it can be set to the following formula ι〇, [10]

X yd ^KpAy+KvAy will be d+KpAz+KvAi. Therefore, in the eighth figure, A is equivalent to cent (1), and the eighth b is equivalent to Equation 12 (number 12). [Number 11] 0 0 v . [12] / 0 yd+^pAy + KvAy In addition, when the treatment unit adjusts the force applied to the human body to the required force, the relative feedback term of the force application error will change the adaptability of the force. If the control gain setting related to the force application is set larger, the adaptability will be improved, and if the control gain setting is set smaller, the adaptability will be lowered. Alternatively, the user can select the size of the adaptability. It is shown that the massage unit is provided with a magnetic drive unit for adjusting the direct drive of the force of 5 weeks. The user operates the operation unit 10, and the art controller is The control gain can be adjusted by inputting from the input of the operation unit 10, whereby the adjustment can be changed. The operation unit is not limited to the above-mentioned form, and any form in which the adjustment can be adjusted is also suitable for the control of the adjustment. When the human body 12 moves closer to the treatment part, the direction (the α direction in the tenth figure) is less adaptive, and the self-human body η The adjustment of the direction of the treatment unit 1 (the direction of the stone in the tenth figure) is higher, and when the difference between the required force fd and the current force f is positive, since the massage power is weak now, the treatment is performed. The part moves toward the direction in which the human body approaches. At this time, the control gain can be reduced to reduce the adaptability. Therefore, when the current massage force is weaker, the 4' massage force will gradually increase, and the user will not feel pain. When the difference between the force fd and the current force f is negative, since the massage force is too strong, the treatment unit moves in a direction away from the human body. At this time, the control gain can be increased to improve the adjustability. Nowadays, when the massage force is strong and the user feels pain, the force can be quickly weakened. Thus, the user can massage comfortably. [Fig. Simple description] The figure is a block diagram of the massage machine of the embodiment of the present invention. The second figure is a block diagram of a massage machine according to an embodiment of the present invention with a force-applying sensor. The third figure is a block diagram for explaining the control of the massage machine of the first figure. 200908953 f4 Used to explain the control of the massage machine in the second figure Block diagram. The fifth diagram is used to illustrate the coordinates of the track control surface. f Six diagrams have been added to the block diagram of the second diagram memory block diagram. The seventh diagram is used to explain the operator The eighth diagram is a block diagram for controlling the actuators by the speed command. The ninth diagram is for explaining the operation of the adjustment portion of the treatment unit. The tenth diagram is for explaining the adjustment of the treatment unit. The eleventh figure is used to explain the coordinate axis. [Main component symbol description] The treatment part 9... Finger 10··· Operation part u··· Force sensor 12··· Human body 16

Claims (1)

200908953 X. Patent application scope: The massage machine is equipped with a kneading crane. The mechanism has a treatment unit that can be swayed or parallel to the side section and is in contact with the human body. The massage machine includes: Each joint; a displacement detector that detects displacement of each joint, and a control unit for controlling the actuator; and the rotation control unit includes a predetermined control surface that can be determined and controlled on the trajectory control surface The position control of the trajectory of the treatment unit, and the urging control of the urging force of the treatment unit can be performed in the normal direction of the wheel control surface. 2. The massaging machine of claim 1, wherein the position controller is adapted to deviate from a current position of the treatment portion that is different from a target position of the treatment portion and a joint displacement measured by the displacement detector, or Each actuator is controlled based on the deviation of the displacement of each joint from the current value of the displacement of each joint measured by the aforementioned displacement detector. Values such as the scope of application of the benefits! The massage machine of the item, wherein the (4) air compressor can perform the position control of the treatment portion by using the parallel surface of the control surface of the river and the sub-parameter of the joint coordinate system, and when performing feedback control of the position = Set the position of the treatment unit in the direction parallel to the control surface of the cockroach. 4. If you apply for a massage machine with a special 围 丨 item, the _ (4) part can provide torque to each of the actuators of the 2009 200908953 section. Command values to drive the joints. 5. The massage machine of claim 3, further comprising a force sensor capable of detecting a force applied by the treatment unit to the user, wherein the force application controller can be based on the target value of the force application and the above Each actuator is controlled by the deviation of the current value of the applied force detected by the force sensor. 6. If you apply for a massage machine with a special fiber circumference, the step further includes a memory device that can memorize the target value of the displacement and force of the treatment unit, and the control unit can be based on the displacement of the memory device and The deviation between the target value of the force and the current value controls the position and force of the treatment unit. 7. If the application frequency of the special machine is applied, the front touch part of the towel can gradually change the above-mentioned track control surface so that the track control surface is parallel to the tangential direction of the user's body. 8. If the frequency of the application is ¥1, the step further includes an operation unit for the user to set the magnitude and direction of the force applied to the treatment unit. 9. The massaging machine of claim </ RTI> wherein the control unit provides a torque command value for each of the joints to drive the joints. 10. The massage machine of claim 5, further comprising an operation unit including an adjustment of the rib adjustment force, wherein the force application controller adjusts the control gain according to the input of the operation unit. 1] The massaging machine of claim 5, wherein the force applying controller can adjust the orientation of the body away from the body to be greater than the direction of the human body. 19