WO2001019316A2 - A vibratory therapy apparatus - Google Patents

A vibratory therapy apparatus Download PDF

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Publication number
WO2001019316A2
WO2001019316A2 PCT/GB2000/003523 GB0003523W WO0119316A2 WO 2001019316 A2 WO2001019316 A2 WO 2001019316A2 GB 0003523 W GB0003523 W GB 0003523W WO 0119316 A2 WO0119316 A2 WO 0119316A2
Authority
WO
WIPO (PCT)
Prior art keywords
therapy apparatus
motor
digitally controlled
vibration
vibratory therapy
Prior art date
Application number
PCT/GB2000/003523
Other languages
French (fr)
Other versions
WO2001019316A3 (en
Inventor
John Mcguire
Darren C. Swinnerton
Peter Nelson
G. R. Turner
Original Assignee
Niagara Manufacturing Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Niagara Manufacturing Limited filed Critical Niagara Manufacturing Limited
Priority to AU75324/00A priority Critical patent/AU7532400A/en
Publication of WO2001019316A2 publication Critical patent/WO2001019316A2/en
Publication of WO2001019316A3 publication Critical patent/WO2001019316A3/en

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M5/00—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases
    • H02M5/02—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc
    • H02M5/04—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters
    • H02M5/22—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M5/25—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means
    • H02M5/257—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only
    • H02M5/2573—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only with control circuit
    • H02M5/2576—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only with control circuit with digital control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
    • A61H23/0254—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with rotary motor
    • A61H23/0263—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with rotary motor using rotating unbalanced masses
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/032—Reciprocating, oscillating or vibrating motors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
    • A61H23/0254—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with rotary motor
    • A61H23/0263—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with rotary motor using rotating unbalanced masses
    • A61H2023/0281—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with rotary motor using rotating unbalanced masses multiple masses driven by the same motor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/02—Characteristics of apparatus not provided for in the preceding codes heated or cooled
    • A61H2201/0207—Characteristics of apparatus not provided for in the preceding codes heated or cooled heated
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled

Definitions

  • the present invention relates to a vibratory therapy apparatus and in particular to such an apparatus employing cycloid vibrations for use in the treatment of various medical conditions.
  • Vibratory therapy apparatus is known to be useful in the treatment of various medical conditions and particular benefit has been obtained in the areas of post operative treatment, muscle relaxation, alleviation of rheumatic pain, clearance of mucus and the treatment of retarded children.
  • a motor In traditional designs of cycloid vibrators, a motor is normally resiliently mounted in a housing with an offset weight either mounted on one end of a motor shaft, or alternatively, two weights can be mounted at either end of a double motor shaft.
  • the three-dimensional cycloid vibration is of a small amplitude and tends to be low frequency.
  • the effectiveness of benefit which can be derived from cycloid vibration, is also dependent upon the control of the motor. Coarse motor control can destroy the cycloid vibration resulting in a more percussionary type of vibration, which can be detrimental to the user, rather than beneficial as in the case of cycloid vibration.
  • a digitally controlled vibratory therapy apparatus comprising an electromechanical vibrator and digital control means capable of controlling the vibrator to provide a range of user-selectable vibration modes.
  • the digital control means preferably utilises linear time integrated frequency control (LTIFC), which enables a smooth and well controlled supply of energy to be applied to the motor to enhance the cycloid vibration of the electromechanical vibrator.
  • LTIFC linear time integrated frequency control
  • Such control system provides a cost effective solution which protects the life of the brushes of the motor and improves the cycloid vibration.
  • a key element of cycloid vibration is that it is a small amplitude vibration, whereas pulsed or intermittent supply of energy for example by burst fire or PCM would destroy such an effect.
  • the linear time integrated frequency control (LTIFC) of the preferred embodiment not only provides very good motor control for normal cycloid vibration, but also is very effective in controlling different modes of massage, which is particularly useful since it has been found that the body can become accustomed to cycloid vibration and thereby its effectiveness can be reduced and has been found that periodic variation of the cycloid vibration can reduce the incidence of resistance to treatment.
  • LTIFC linear time integrated frequency control
  • the cycloid vibrations are modulated to produce periodic variation, which consists of a fairly rapid acceleration and deceleration of the motor in a surging action from an upper, selectable speed and a minimum preset speed.
  • This surging action stimulates the muscles and reduces the tendency for treatment resistance.
  • there is a risk that such surging action can destroy the cycloid vibration.
  • the accurate motor control provided by LTIFC ensures that the Polymodulation remains cycloidal throughout the complete cycle, maintaining a linear acceleration/deceleration of the motor without any attendant jerking which ensures that the cycloidal vibration is not compromised.
  • a further feature of utilising a digital LTIFC control system is that it provides a variety of available rhythms and in particular can produce a "relaxing" rhythm which comprises a rhythmic sinusoidal variation of the motor speed which has been found extremely beneficial in the relaxation of muscles.
  • the massage speed is varied between an upper, selectable speed and the minimum preset speed. Increasing the upper limit extends the duration of the cycle, thus ensuring a smooth acceleration/deceleration.
  • This rhythmic action produces a relaxed feeling of well being as well as contributing to an improvement in the circulatory system of a patient.
  • Fig 1. shows various graphs of the start-up sequence for the three available operating modes
  • Fig 2. is a block diagram of the motor control unit
  • Fig. 2 the arrangement of the apparatus of the present invention is shown, which comprises a motor 10, which is installed within an electromechanical vibrator, which is in the form of a pad (not shown), and which motor 10 is connected to a control unit , incorporating a digital control device, including, a control microprocessor 11, a motor control interface 12, a non-volatile memory 13 and a keypad 14. Additionally, if required the pad may incorporate heater means 16, in which case a heater control interface 15 will also be included.
  • the control unit also includes a display 18 for displaying elapsed time 19 and speed 20, and a control keyboard or keypad 14.
  • Fig. 1 Examples of the three different types of waveforms, which can be produced for the available operating modes are shown in Fig. 1 , including a continuous vibration at a predetermined continuous speed (a), a pulsating vibration (b) comprising square wave modulation of a maximum speed set by the operator, and also a "relaxing" rhythm (c) or glide function, comprising a linear progression of a pre-set minimum to the operators set maximum.
  • the motor control is effected digitally utilising linear time integrated frequency control (LTIFC) as discussed above.
  • LTIFC linear time integrated frequency control
  • such suitably comprises an 8-bit microcontroller 11 , for controlling the functions of the vibrator motor 10, to provide various operating modes, including the modes illustrated in Fig 1 (a), (b) and (c).
  • the keypad 14 is utilised to select the required mode, increase or decrease the vibration frequency, and the period of operation, which can be increased incrementally, for example, in increments of 5 minutes up to a maximum treatment time.
  • the operator can determine the frequency of the vibration and duration of the treatment by means of the keypad 14 and the microcontroller 11 , the frequency and the time being displayed in display 18 on the keypad 14.
  • the microcontroller 11 computes the required ramp and fall angle of the increase and decrease in the motor speed during each cycle, altering the ramp angle by a computed amount according to the maximum speed set by the operator. As such, at high speed the microcontroller 11 would decrease the ramp and fall angle whilst at low speed would increase the ramp and fall angle, thereby producing a smooth and linear progression of the speed of the motor between a minimum pre-set speed and a maximum speed set by the operator.

Abstract

A digitally controlled vibratory therapy apparatus comprising an electromechanical vibrator and digital control means capable of controlling the vibrator to provide a range of user-selectable vibration modes. The digital control means preferably utilises linear time integrated frequency control (LTIFC), which enables a smooth and well controlled supply of energy to be applied to the motor to enhance the cycloid vibration of the electromechanical vibrator.

Description

A VIBRATORY THERAPY APPARATUS
The present invention relates to a vibratory therapy apparatus and in particular to such an apparatus employing cycloid vibrations for use in the treatment of various medical conditions.
Vibratory therapy apparatus is known to be useful in the treatment of various medical conditions and particular benefit has been obtained in the areas of post operative treatment, muscle relaxation, alleviation of rheumatic pain, clearance of mucus and the treatment of retarded children.
In traditional designs of cycloid vibrators, a motor is normally resiliently mounted in a housing with an offset weight either mounted on one end of a motor shaft, or alternatively, two weights can be mounted at either end of a double motor shaft. Dependent on the mass and inertia of the motor, the size of the weights on the motor shaft and the resilience of the motor mounting, a three-plane vibratory action is produced, termed as cycloid vibration. Changing the speed of rotation changes the amplitude and frequency of the vibration, and specific settings are selected to optimise the benefit to the user.
The three-dimensional cycloid vibration is of a small amplitude and tends to be low frequency. However, it has been found that the effectiveness of benefit, which can be derived from cycloid vibration, is also dependent upon the control of the motor. Coarse motor control can destroy the cycloid vibration resulting in a more percussionary type of vibration, which can be detrimental to the user, rather than beneficial as in the case of cycloid vibration.
An example of a prior art arrangement is discussed in UK Patent No. 2096899, which discloses a vibratory therapy apparatus which utilises an analogue control means for controlling the motor in a regular periodic manner. Whilst the prior art arrangement has proved effective, it is considered that it would be desirable and beneficial to improve the controllability and variety of vibration rhythms available without detriment to the life of the motor.
Various control systems have been investigated, for example burst fire, which is a cheap and simple motor control, but such has been found to destroy the cycloid vibration and compromise the brush life of the motor. Alternatively, a control system such as pulse width modulation (PCM) has been found to provide good motor control without significantly effecting the life of the motor, but such is an expensive system to produce.
According to the present invention there is provided a digitally controlled vibratory therapy apparatus comprising an electromechanical vibrator and digital control means capable of controlling the vibrator to provide a range of user-selectable vibration modes.
The digital control means preferably utilises linear time integrated frequency control (LTIFC), which enables a smooth and well controlled supply of energy to be applied to the motor to enhance the cycloid vibration of the electromechanical vibrator. Such control system provides a cost effective solution which protects the life of the brushes of the motor and improves the cycloid vibration. In particular, a key element of cycloid vibration is that it is a small amplitude vibration, whereas pulsed or intermittent supply of energy for example by burst fire or PCM would destroy such an effect.
The linear time integrated frequency control (LTIFC) of the preferred embodiment not only provides very good motor control for normal cycloid vibration, but also is very effective in controlling different modes of massage, which is particularly useful since it has been found that the body can become accustomed to cycloid vibration and thereby its effectiveness can be reduced and has been found that periodic variation of the cycloid vibration can reduce the incidence of resistance to treatment.
In the above mentioned prior art arrangement, the most recent versions of which utilise a facility called Polymodulation, the cycloid vibrations are modulated to produce periodic variation, which consists of a fairly rapid acceleration and deceleration of the motor in a surging action from an upper, selectable speed and a minimum preset speed. This surging action stimulates the muscles and reduces the tendency for treatment resistance. However, there is a risk that such surging action can destroy the cycloid vibration.
In contrast, the accurate motor control provided by LTIFC ensures that the Polymodulation remains cycloidal throughout the complete cycle, maintaining a linear acceleration/deceleration of the motor without any attendant jerking which ensures that the cycloidal vibration is not compromised.
A further feature of utilising a digital LTIFC control system is that it provides a variety of available rhythms and in particular can produce a "relaxing" rhythm which comprises a rhythmic sinusoidal variation of the motor speed which has been found extremely beneficial in the relaxation of muscles. According to this action, the massage speed is varied between an upper, selectable speed and the minimum preset speed. Increasing the upper limit extends the duration of the cycle, thus ensuring a smooth acceleration/deceleration. This rhythmic action produces a relaxed feeling of well being as well as contributing to an improvement in the circulatory system of a patient.
The invention will be described further with reference to the accompanying drawings, in which:- Fig 1. shows various graphs of the start-up sequence for the three available operating modes;
Fig 2. is a block diagram of the motor control unit; and
In Fig. 2, the arrangement of the apparatus of the present invention is shown, which comprises a motor 10, which is installed within an electromechanical vibrator, which is in the form of a pad (not shown), and which motor 10 is connected to a control unit , incorporating a digital control device, including, a control microprocessor 11, a motor control interface 12, a non-volatile memory 13 and a keypad 14. Additionally, if required the pad may incorporate heater means 16, in which case a heater control interface 15 will also be included. The control unit also includes a display 18 for displaying elapsed time 19 and speed 20, and a control keyboard or keypad 14.
Examples of the three different types of waveforms, which can be produced for the available operating modes are shown in Fig. 1 , including a continuous vibration at a predetermined continuous speed (a), a pulsating vibration (b) comprising square wave modulation of a maximum speed set by the operator, and also a "relaxing" rhythm (c) or glide function, comprising a linear progression of a pre-set minimum to the operators set maximum. In all of the instances the motor control is effected digitally utilising linear time integrated frequency control (LTIFC) as discussed above.
Referring now to the digital control system in more detail, such suitably comprises an 8-bit microcontroller 11 , for controlling the functions of the vibrator motor 10, to provide various operating modes, including the modes illustrated in Fig 1 (a), (b) and (c). The keypad 14 is utilised to select the required mode, increase or decrease the vibration frequency, and the period of operation, which can be increased incrementally, for example, in increments of 5 minutes up to a maximum treatment time. For each of the operating modes (a), (b) and (c), the operator can determine the frequency of the vibration and duration of the treatment by means of the keypad 14 and the microcontroller 11 , the frequency and the time being displayed in display 18 on the keypad 14.
Concerning the principle of operation of the motor control, as a supply half-cycle is detected at a zero crossing, an internal timer within the microcontroller is started 11. The value of such is compared with a pre-set value programmed within the system memory 13, which value is variable by means of the operator, via the keypad 14. When such values are equal, the motor control power stage 12 is turned on and remains on until the next zero crossing point turns off the power stage 12. This is then repeated at every cycle. Each supply half cycle is divided up into 256 increments of time and the variable speed is achieved by counting x increments before switching-on and restarting the count at every zero voltage crossing point.
For the relaxing rhythm, or glide function, mode (c), such is achieved by means of an up-down counter, according to which the rhythm is adjusted according to the speed set by the operator, which not only adjusts the speed of the motor 10, but also alters the timer. In turn, the microcontroller 11 computes the required ramp and fall angle of the increase and decrease in the motor speed during each cycle, altering the ramp angle by a computed amount according to the maximum speed set by the operator. As such, at high speed the microcontroller 11 would decrease the ramp and fall angle whilst at low speed would increase the ramp and fall angle, thereby producing a smooth and linear progression of the speed of the motor between a minimum pre-set speed and a maximum speed set by the operator.

Claims

1. A digitally controlled vibratory therapy apparatus comprising an electromechanical vibrator pad and digital control means capable of controlling the vibrator to provide a range of user-selectable vibration modes.
2. A digitally controlled vibratory therapy apparatus as claimed in claim 1 , wherein, the digital control means utilises linear time integrated frequency control (LTIFC), to enable a smooth and well controlled supply of energy to be applied to a motor of the vibrator to enhance the cycloid vibration of the electromechanical vibrator.
3. A digitally controlled vibratory therapy apparatus as claimed in claim 2, wherein, the cycloid vibration is a small amplitude vibration.
4. A digitally controlled vibratory therapy apparatus as claimed in claim 2, wherein the digital LTIFC control system provides a variety of available rhythms.
5. A digitally controlled vibratory therapy apparatus as claimed in claim 4, wherein the digital LTIFC control system provides a "relaxing" rhythm which comprises a rhythmic sinusoidal variation of the motor speed.
6. A digitally controlled vibratory therapy apparatus as claimed in claim 4, wherein the digital LTIFC control system, varies the massage speed between an upper, selectable speed and a minimum preset speed.
7. A digitally controlled vibratory therapy apparatus as claimed in any preceding claim, wherein the vibrator pad includes a heater.
8. A digitally controlled vibratory therapy apparatus as claimed in claim 7, wherein the digital control means comprises a control microprocessor, a motor control interface, a heater control interface, a display and a keyboard or keypad.
9. A method of controlling a motor of a digitally controlled vibratory therapy apparatus utilising a microcontroller, to enable a smooth and well controlled supply of energy to be applied to the motor to enhance the cycloid vibration of the electromechanical vibrator, and to provides a variety of operating modes, comprising: a) detecting a zero-crossing point of a half-cycle of the A.C. power supply; b) starting an internal timer of the microcontroller upon detection of a zero-crossing point; c) comparing the count from said timer until a preset value is attained and then turning on said motor until the next zero-crossing point is detected; d) repeating steps a) to c) for each cycle of the power supply.
10. A method of controlling a motor of a digitally controlled vibratory therapy apparatus, as claimed in claim 9, wherein, each power supply cycle is divided into 256 time increments and the variable speed is achieved by counting x increments before switching-on, and restarting the count at every zero-crossing-point.
PCT/GB2000/003523 1999-09-15 2000-09-14 A vibratory therapy apparatus WO2001019316A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU75324/00A AU7532400A (en) 1999-09-15 2000-09-14 A vibratory therapy apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GBGB9921649.1A GB9921649D0 (en) 1999-09-15 1999-09-15 A vibratory therapy apparatus
GB9921649.1 1999-09-15

Publications (2)

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WO2001019316A2 true WO2001019316A2 (en) 2001-03-22
WO2001019316A3 WO2001019316A3 (en) 2001-11-15

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GB (1) GB9921649D0 (en)
WO (1) WO2001019316A2 (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1281382A2 (en) * 2001-07-31 2003-02-05 Omron Corporation Method of controlling massaging machine
FR2878056A1 (en) * 2004-11-18 2006-05-19 Euro Prot Surveillance Soc Par Two-way remote control for alarm system, has motor with unbalancing mass whose functioning is controlled by management unit through interface based on signal/messages received at transmission and reception unit or instructions input by user
US7892192B2 (en) 2006-01-18 2011-02-22 Panasonic Electric Works Co., Ltd. Massaging device having a controller to give different reciprocating movements to each applicator along different axes
GB2538047A (en) * 2015-04-09 2016-11-09 Nhc Tech Ltd Vibration device and method for using the same
WO2017198283A1 (en) 2016-05-16 2017-11-23 Satina Medical Ug (Haftungsbeschränkt) Stimulating device
EP3586811A1 (en) * 2018-06-26 2020-01-01 Beurer GmbH Chest massage device
WO2020227230A1 (en) * 2019-05-07 2020-11-12 Theragun, Inc. Percussive massage device with force meter
US11813221B2 (en) 2019-05-07 2023-11-14 Therabody, Inc. Portable percussive massage device
US11857481B2 (en) 2022-02-28 2024-01-02 Therabody, Inc. System for electrical connection of massage attachment to percussive therapy device
US11890253B2 (en) 2018-12-26 2024-02-06 Therabody, Inc. Percussive therapy device with interchangeable modules
US11957635B2 (en) 2015-06-20 2024-04-16 Therabody, Inc. Percussive therapy device with variable amplitude

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GB2096899A (en) 1981-03-16 1982-10-27 Niagara Manufacturing Ltd Vibratory therapy apparatus

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WO1998005288A1 (en) * 1996-08-02 1998-02-12 Jb Research, Inc. Microcontroller based massage system
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GB2096899A (en) 1981-03-16 1982-10-27 Niagara Manufacturing Ltd Vibratory therapy apparatus

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1281382A3 (en) * 2001-07-31 2003-07-09 Omron Corporation Method of controlling massaging machine
US6932779B2 (en) 2001-07-31 2005-08-23 Omron Corporation Method of controlling massaging machine
EP1281382A2 (en) * 2001-07-31 2003-02-05 Omron Corporation Method of controlling massaging machine
FR2878056A1 (en) * 2004-11-18 2006-05-19 Euro Prot Surveillance Soc Par Two-way remote control for alarm system, has motor with unbalancing mass whose functioning is controlled by management unit through interface based on signal/messages received at transmission and reception unit or instructions input by user
US7892192B2 (en) 2006-01-18 2011-02-22 Panasonic Electric Works Co., Ltd. Massaging device having a controller to give different reciprocating movements to each applicator along different axes
GB2538047A (en) * 2015-04-09 2016-11-09 Nhc Tech Ltd Vibration device and method for using the same
US11957635B2 (en) 2015-06-20 2024-04-16 Therabody, Inc. Percussive therapy device with variable amplitude
WO2017198283A1 (en) 2016-05-16 2017-11-23 Satina Medical Ug (Haftungsbeschränkt) Stimulating device
EP3586811A1 (en) * 2018-06-26 2020-01-01 Beurer GmbH Chest massage device
US11890253B2 (en) 2018-12-26 2024-02-06 Therabody, Inc. Percussive therapy device with interchangeable modules
WO2020227230A1 (en) * 2019-05-07 2020-11-12 Theragun, Inc. Percussive massage device with force meter
US10940081B2 (en) 2019-05-07 2021-03-09 Theragun, Inc. Percussive massage device with force meter
US11813221B2 (en) 2019-05-07 2023-11-14 Therabody, Inc. Portable percussive massage device
US11857481B2 (en) 2022-02-28 2024-01-02 Therabody, Inc. System for electrical connection of massage attachment to percussive therapy device

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Publication number Publication date
AU7532400A (en) 2001-04-17
WO2001019316A3 (en) 2001-11-15
GB9921649D0 (en) 1999-11-17

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