WO2007111213A1

WO2007111213A1 - Massage chair

Info

Publication number: WO2007111213A1
Application number: PCT/JP2007/055816
Authority: WO
Inventors: Daisuke Morikawa; Keisuke Shimizu; Akihiro Michimori; Youji Kawamoto
Original assignee: Matsushita Electric Works, Ltd.
Priority date: 2006-03-28
Filing date: 2007-03-22
Publication date: 2007-10-04
Also published as: JP4670702B2; JP2007260176A

Abstract

A massage chair having right and left massage heads for providing the user with a massage simulating a real massage. The massage chair has right and left movable parts and a control part. The right and left movable parts are adapted to be independently movable, holding the right and left legs of the user. The control part controls the movement of the left movable part so that it can bend and stretch the left Achilles tendon of the user by independently moving the left leg of the user, and also controls the movement of the right movable part so that it can bend and stretch the right Achilles tendon of the user by independently moving the right leg of the user.

Description

Specification

Massashi Chair

Technical field

[0001] The present invention generally refers to a massage chair, and more specifically, a rehabilitation for both lower limbs of a user in addition to a massage function that provides the massage to the user with left and right massage heads that mimic the movement of the massage. It relates to a massage chair with functions.

Background art

[0002] For example, exercise apparatus power not related to a massage chair is disclosed in Japanese Patent Application Publication No. 2004-89672 issued on March 25, 2004. The device (hereinafter referred to as “first prior art”) is a means for fixing a person's left and right lower legs and the person's left and right legs so that the person's left and right Achilles tendons are stretched (stretched) simultaneously. It is equipped with a back bending means that moves repeatedly. In addition, the device described in Japanese Patent Application Publication No. H7-184968 issued on July 25, 1995 (hereinafter referred to as “second prior art”) is also used to attach a person's left and right feet to the person's left and right Achilles tendon. Move so that they are stretched at the same time.

[0003] However, in the first and second conventional techniques, since the left and right feet of the person are only moved so that the left and right Achilles tendons of the person are stretched simultaneously, the stretching effect of each Achilles tendon Can only be obtained. For this reason, it is not expected that the muscle strength is restored and the walking ability and the connection between the muscle tissue and the nervous system are improved.

[0004] This problem cannot be solved by conventional massage chairs. For example, massage 'Chi Air (hereinafter referred to as “Third Prior Art”) described in Japanese Patent Application Publication No. HI 1-47210 issued on February 23, 1999 is placed in front of the seat, The left and right leg platforms that respectively support the left and right knees and the drive unit that independently drives the left and right leg platforms so that the left and right knees of the person are bent and stretched alternately are provided, but the above-mentioned problems cannot be solved. Moreover, these conventional techniques cannot effectively exercise the left and right legs of a person.

Disclosure of the invention

[0005] Therefore, an object of the present invention is to restore muscle strength and to improve walking ability and between muscle tissue and nervous system. It is to move the left and right feet of the person more effectively than the first and second prior art so as to improve the connection of the person.

[0006] Another object of the present invention is to exercise the left and right legs of a person more effectively than the first to third prior arts.

[0007] The present invention relates to a massage chair having left and right massage heads that imitates the movement of a massage and gives the user a massage. The massage chair according to the present invention includes a left / right movable part and a control part (hereinafter referred to as “first configuration”). The left and right movable parts are configured to move independently while holding the left and right feet of the user. The control unit controls the movement of the left movable unit so that the left movable unit independently powers the left foot and flexes and stretches the user's left Achilles tendon, and the right movable unit independently powers the right foot. Then, the movement of the right movable part is controlled so that the right Achilles tendon of the user is bent and stretched. In this configuration, each foot can be bent in addition to dorsiflexion, and each Achilles tendon can bend and stretch, so that muscle strength is restored, walking ability and connection between muscle tissue and nervous system, etc. It can move the left and right legs of the person more effectively than the first and second conventional techniques to improve. For example, it has been found that even if the user is an elderly person, muscle strength can be restored by flexing and flexing each leg.

[0008] In accordance with one aspect of the present invention, in addition to the left and right movable portion as the first left and right movable portion, the massage chair of the present invention includes a second left and right movable portion (hereinafter referred to as "second configuration"). ) The second left and right movable part is a left and right leg stand that is coupled to a base including a seat part and configured to move independently while supporting the left and right lower legs of the user. The first left and right movable parts are left and right foot platforms that are respectively coupled to the left and right leg platforms. The control unit further controls the movement of the second left movable unit such that the second left movable unit independently moves the left lower leg and bends and stretches the user's left knee. The movement of the second right movable part is controlled so that the movable part independently moves the right lower leg and flexes and stretches the user's right knee. The knee of a person's lower limb is relatively easy to hurt, but according to the present invention, the knee rehabilitation force can be achieved without applying a great stress to the knee. In addition, the left and right legs of the person can be exercised more effectively than the first to third conventional techniques.

[0009] In one preferred embodiment, the control unit is configured to bend and extend the left and right knees alternately. The movements of the left and right movable parts are controlled, and the movements of the first right and left movable parts are controlled so that the bent Achilles tendon and the extended Achilles tendon are bent and extended, respectively.

[0010] In an alternative embodiment, the control unit controls each movement of the second left and right movable units so that the left and right knees are alternately bent and stretched, and the knee-side Achilles tendon to be bent and the knee-side to be extended The movements of the first left and right movable parts are controlled so that the Achilles tendon of the arm is extended and bent.

[0011] In another alternative embodiment, the control unit controls the movements of the second left and right movable units so that the left and right knees are alternately bent and stretched, and the first left and right movable units both move the left and right Achilles tendons. Each movement of the first left and right movable part is controlled to bend. The control unit controls each movement of the second left and right movable parts so that the left and right knees bend and stretch alternately, and the first left and right movable parts both extend the left and right Achilles tendons. Controls each movement of the left and right movable parts.

[0012] According to another feature of the present invention, the massage 'chair of the first configuration further includes a left and right thigh rest and a left and right leg rest. The left and right thigh mounts constitute a seat and are configured to move independently while supporting the left and right thighs of the user. The left and right leg platforms are placed in front of the seat and support the left and right leg of the user. The left and right movable parts are left and right foot platforms that are respectively coupled to the left and right leg platforms. The control unit further controls the movement of the left thigh platform so that the left thigh platform moves the left thigh independently and flexes and stretches the user's left hip joint, and the right thigh platform independently The movement of the right thigh platform is controlled so that the user's right hip joint is bent and stretched by moving the thigh. In this configuration, reno and spirit of the hip joint is possible without applying significant stress to the hip joint. In addition, the left and right lower limbs of a person can be exercised more effectively than the first to third prior arts.

[0013] According to another feature of the present invention, the massage chair having the second configuration further includes a third left and right movable portion. The third left and right movable parts are respectively left and right thigh mounts, which constitute a seat part and are configured to move independently while supporting the left and right thighs of the user. The control unit further controls the movement of the third left movable unit so that the third left movable unit independently moves the left thigh and flexes and stretches the user's left hip joint, and also the third right movable unit. Department is German The movement of the third right movable part is controlled so that the user's right hip joint is bent and stretched by standing and moving the right thigh. With this configuration, hip rehabilitation is also possible without applying significant stress to the hip joint. In addition, the left and right lower limbs of a person can be exercised more effectively than the first to third conventional techniques.

[0014] In one preferred embodiment, the control unit controls each movement of the third left and right movable unit so that the left and right hip joints are alternately bent and stretched, and the first left and right movable unit and the second left and right movable unit are controlled. At least one corresponding part of the user is extended or bent by controlling at least one movement of the moving part. With this configuration, a comprehensive improvement in walking ability can be expected.

[0015] In one enhanced embodiment, the massage 'chair further comprises a left and right massage' array. The left massage array is installed on the mounting surface of the left movable part and includes a plurality of massage heads arranged between the user's left toe and heel. The right massage 'array is installed on the mounting surface of the right movable part and includes multiple massage' heads arranged between the user's right toe and heel. The control unit controls the left massage 'array massage so that the head stimulates the sole of the left foot sequentially from the left toe to the left heel or from the left heel to the left toe. Also, the right massage 'array multiple massage' head controls the right massage 'array to stimulate the sole of the right foot sequentially on the right toe force or on the right toe force right toe. In this configuration, the connection between the muscle tissue and the nervous system can be further improved. In addition, when the left / right massage array is operated in synchronization with the landing of the walking or the timing when the foot leaves the ground after the landing, the feeling of the landing of the walking or the feeling of the foot separating from the ground after the landing is Can be brought to the soles of the feet.

Brief Description of Drawings

[0016] Preferred embodiments of the invention are described in further detail. Other features and advantages of the present invention will be better understood with reference to the following detailed description and accompanying drawings.

FIG. 1 is a schematic diagram of a first embodiment according to the present invention.

FIG. 2 is an explanatory diagram of an electric lifting mechanism for left and right footrests in the first embodiment.

[FIG. 3] A and B are explanatory views of the electric lifting mechanism. FIG. 4 is a block diagram of a part of the drive system in the first embodiment.

FIGS. 5A to 5C are operation explanatory views of the first embodiment.

[FIG. 6] —A schematic diagram of an alternative embodiment.

FIGS. 7A to 7D are operation explanatory views of the alternative embodiment.

FIGS. 8A to 8C are operation explanatory views of one modified embodiment.

FIG. 9 is an operation explanatory diagram of one modified embodiment.

[FIG. 10] A and B are operation explanatory views of the modified embodiment.

[FIG. 11] A and B are operation explanatory views of the modified embodiment.

[FIG. 12] A and B are operation explanatory views of the modified embodiment.

[FIG. 13] A and B are schematic views of a second embodiment according to the present invention.

FIG. 14 is a diagram for explaining the operation of the second embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION

1 and 2 show a first embodiment, ie a massage chair 1, according to the present invention. For example, the chair 1 includes a base 10 including a seat portion 11, left and right leg platforms 13 and 14, left and right foot platforms 15 and 16, a reclining backrest 17, left and right armrests 18 and 19, and a drive system 100 (see FIG. 4). Is provided. The backrest 17 can be tilted to several positions such as a seating position and a reclining position through an electric reclining mechanism (not shown) in the same manner as a conventional massage chair. The backrest 17 also includes an elevating massage mechanism (not shown) having left and right massage 'heads (for example, kneading balls) that imitate the movement of the massage and give the user a pine surge. An airbag (not shown) is provided. This type of backrest is well known to those skilled in the art and will not be described in detail here.

[0018] Each of the leg platforms 13 and 14 is supported by at least one shaft fixed to the base 10 and is connected to the shaft through left and right electric lifting mechanisms (not shown) placed in the base 10. It is configured to move up and down by rotating. These mechanisms are well known to those skilled in the art and will not be described in detail here. Further, the leg platform 13 has a recess 130 for accommodating the user's left lower leg. For example, airbags 131, 132, and 133 arranged in the length direction are provided on the inner left side of the recess 130, while the airbag 134 is also arranged in the length direction on the inner right side. , 135 and 136. Massa Each airbag of the chair 1 is made of a soft material so that it can be inflated and deflated, and is airtight. The airbags 131 to 136 constitute holding means for holding the left lower leg, in addition to a massage function for giving massage to the left lower leg. Similarly, the leg platform 14 has a recess 140 that accommodates the user's right lower leg, and airbags 141, 142, and 143 are provided on the inner left side of the recess 140, while the inner right side thereof is provided. Air bags 144, 145 and 146 are also provided on the surface. These airbags 141 to 146 constitute a holding means for holding the right lower leg in addition to a massage function for giving massage to the right lower leg. The holding means is not limited to an airbag, and may be an elastic belt, for example.

[0019] The footrests 15 and 16 are coupled to the legrests 13 and 14, respectively. Further, the footrest 15 has a recess 150 for accommodating the user's left foot. For example, airbags 151, 152 and 153 forces S are provided on the inner left side surface, the inner right side surface and the inner bottom surface of the recess 150, respectively. The airbags 151 to 153 constitute massage means for giving massage to the left foot, and the airbags 151 and 152 constitute holding means for holding the left foot. Similarly, the footrest 16 has a recess 160 that accommodates the user's right foot, and airbags 161, 162, and 163 are provided on the inner left side, inner right side, and inner bottom of the recess 160, respectively. It is equipped. The airbags 161 to 163 constitute massage means for giving massage to the right foot, and the airbags 161 and 162 constitute holding means for holding the right foot. The holding means for holding the user's feet is not limited to an airbag, and may be, for example, an elastic belt or a cover such as a slipper front (vamp).

[0020] In the first embodiment, the footrests 15 and 16 are configured to move independently while holding the left and right feet of the user, respectively. For example, as shown in FIGS. 2, 3A and 3B, the footrest 15 is supported by a shaft 154 fixed to the footrest 13 and rotates about the shaft 154 through the left electric lifting mechanism. It is comprised so that it may raise / lower. This mechanism includes, for example, left and right link poles and at least one motor (not shown). The motor is placed, for example, in a leg stand 13. Each of the left and right link poles is composed of a cylinder nut and a bolt inserted into the nut. Left link 'Paul 1 Both ends of 55 are coupled to the left side of the leg platform 13 and the foot platform 15, and one end of the pole 155 can be spun by the motor by the pole 155 (ie, one of the cylinder nut and bolt). To be fixed. Both ends of the right link pole are also coupled to the right side of the leg platform 13 and the foot platform 15, and one end of the pole is fixed so that the pole can be rotated by the motor. Therefore, the footrest 15 can be raised or lowered by rotating one end side of the left and right links' poles, and can be moved in the opposite direction by reversing the spin on one end side of the poles. it can.

[0021] Similarly, the footrest 16 is supported by a shaft fixed to the legrest 14, and is configured to move up and down by rotating about the shaft through the right electric lifting mechanism. This mechanism includes, for example, left and right link poles and at least one motor. Each of the left and right link poles is composed of a cylinder nut and a bolt inserted into the nut. Both ends of the left link 'pole are coupled to the left side of the leg platform 14 and the foot platform 16, and one end of the pole is fixed so that it can be spun by the motor. Both ends of the right link pole are also coupled to the right side of the leg platform 14 and foot platform 16 and one end of the pole is fixed so that the pole can be spun by a motor.

As shown in FIG. 4, the drive system 100 includes a keypad 101 and a control unit 102 as input means in addition to various mechanisms. The various mechanisms include the electric reclining mechanism, the back-and-back massage mechanism of the backrest 17, the airbag drive mechanism of the backrest 17, the electric lift mechanism of the legrest 13, the electric lift mechanism of the legrest 14, and the airbag 131- 136 drive mechanism 103, airbag 141-: 146 drive mechanism 104, electric lift mechanism for footrest 15, electric lift mechanism for footrest 16, drive mechanism 105 for airbags 151-153, and airbag 161 ~: 163 drive mechanisms 106 and the like are included.

The first embodiment is characterized by the electric lifting mechanism of the footrests 15 and 16, the drive mechanism 103 to 106, and the control unit 102. The mechanism 103 includes an air pump 103 and a pump 103.

Consists of intake and exhaust valves (103, 103, ...) coupled with the output of 0 0. Examples of intake and exhaust valves

1 2

For example, the output of the valves (103, 103, ...) includes air valves via conduits.

1 2

Connected to the devices 131-136. Similarly, mechanism 104 includes air pump 104 and pump 104. Is composed of intake and exhaust valves (104, 104, ...) combined with the output of the valve (104, 104, ...)

1 2 1 2

) Are connected to the airbags 141 to 146 via respective conduits.

[0024] The mechanism 105 is coupled to the same (or another) air pump 103 and the output of the pump 103.

0 0

Consists of intake and exhaust valves (105, ...). Each intake / exhaust valve includes, for example, a solenoid valve, and the outputs of the valves (10 5,...) Are connected to the airbags 151 to 153 through conduits, respectively. Similarly, mechanism 106 is coupled to the same (or another) air pump 104 and pump 104 output.

0 0

Inlet / exhaust valves (106, ...) are provided, and the outputs of the valves (106, ...) are respectively connected via conduits.

1 1

And connected to the airbag 161-163.

The control unit 102 includes, for example, one or more microcomputers and various programs, and controls each unit of the drive system 100. In addition to various controls executed in the same way as a conventional massage chair, the control unit 102 controls each part of the drive system 100 according to the characteristics of the first embodiment. That is, according to the command input through the keypad 101, the control unit 102 controls at least the drive mechanisms 105 and 106 to hold the left and right feet of the user with the airbags of the footrests 15 and 16, respectively. Subsequently, the control unit 102 sends the footrest 15 through the electric lifting mechanism of the footrest 15 so that the footrest 15 can move the left foot independently and bend and stretch the left Achilles tendon of the user. Controls the movement of the footrest 16 through the electric lifting mechanism of the footrest 16 so that the foot 16 independently moves the right foot and flexes and stretches the user's right Achilles tendon. .

Next, an example of the operation of the first embodiment will be described with reference to FIGS. 5A, 5B and 5C. Fig. 5 A Massage 'User power sitting on chair 1 When a command corresponding to the motion of the walking foot is input through the keypad 101, the control unit 102 activates the air pumps 103 and 104.

0 0 Actuate to open valves that are coupled to airnogs 131-136, 141-146, 151, 152, 161 and 162. Accordingly, the left and right lower legs of the user are held by the airbags of the leg platforms 13 and 14, respectively, and the left and right legs of the user are held by the airbags of the foot platforms 15 and 16, respectively.

[0027] When the specified compressed air is supplied to each airbag, the control unit 102 closes the valve, and as shown in FIG. 5B, the footrest 15 imitates the dorsiflexion movement of the user. The movement of the footrest 15 is controlled through the electric lifting mechanism of the footrest 15 so that the left Achilles tendon is extended. same At times, the control unit 102 controls the movement of the footrest 16 through the electric lifting mechanism of the footrest 16 so that the footrest 16 bends the user's right Achilles tendon by simulating the movement of the bottom flexion. The

[0028] Thereafter, as shown in FIG. 5C, the control unit 102 places the footrest through the electric lifting mechanism of the footrest 15 so that the footrest 15 bends the left Achilles tendon by simulating the movement of the bottom flexion. The movement of the platform 15 is controlled, and the movement of the foot platform 16 is controlled through the electric lifting mechanism of the platform 16 so that the right achilles tendon is extended by imitating the dorsiflexion movement. Subsequently, the control unit 102 repeats each control of FIGS. 5B and 5C up to a specified number of times or for a specified time. After that, the control unit 102 stops the air pumps 103 and 104, opens the valve,

0 0

Return each of the pedestals 15 and 16 to the base position of FIG. 5A. In response, the user's lower leg and foot are released. Thus, by alternately bending the dorsiflexion and plantar flexion of the left and right feet, the muscle strength can be recovered, and the walking ability and the connection between the muscle tissue and the nervous system can be improved. However, the present invention is not limited to this, and the control unit 102 can also bend and buckle the left and right feet simultaneously.

[0029] In an alternative embodiment, as shown in FIG. 6, massage 'chair 1 includes left and right massage' arrays 156 and 166, respectively, instead of airbags 153 and 163. The array 156 is installed on the mounting surface of the footrest 15 and includes a plurality of massage heads (for example, 156 to 156) arranged between the left toe of the user and the heel. Array 166 also has a foot

14

It includes a plurality of massage heads (for example, 166 to 166) installed on the mounting surface of the mounting table 16 and arranged between the right toe of the user and the heel. Heads 156 to 156 and 166 to

1 4 1 4 1

Each of 166 is an airbag, and each of arrays 156 and 166 is configured as in FIG.

Four

Actuated by a driven mechanism. In addition, the control unit 102 controls the arrays 156 and 166 through the driving mechanism so as to give a feeling of landing on the back of each foot. For example, the control unit 102 controls the array 156 so that the plurality of heads of the array 156 sequentially stimulate the sole of the left foot from the left heel side to the left toe side, and the plurality of heads of the array 166 The array 166 is controlled so as to stimulate the sole of the right foot sequentially from the heel side to the right toe side (see FIGS. 7A-7D). Specifically, the control unit 102 causes the arrays 156 and 166 to expand sequentially from the left and right heel side to the toe side of the heads of the arrays 156 and 166. Control alternately. At this time, the specified pressure is applied to each of the heads 156 to 156 and 166 to 166.

4 2 4 2

When compressed air is supplied, each of the corresponding valves is closed until the prescribed compressed air is supplied to each of the heads 156 and 166. In this embodiment, the feeling of landing on walking can be given to the sole of each foot.

[0030] It should be noted that the control unit 102 is not limited to this, so that the plurality of heads of the array 156 sequentially stimulate the sole of the left foot from the left toe to the left heel or from the left heel to the left toe. The array 166 may also control multiple heads of the array 166 so that the right toe force is applied to the right heel or to the right toe in order to stimulate the sole of the right foot. ,. As a result, the connection between the muscle tissue and the nervous system can be further improved. It is also desirable for the controller 102 to control the arrays 156 and 166 so that each foot has a feeling that the foot leaves the ground after landing. Specifically, after giving the feeling of landing on the left foot to the back of the left foot, the control unit 102 controls the array 156 so that the head of the array 156 is contracted sequentially from the left heel side to the toe side. Similarly, after giving the feeling of landing on the right foot to the back of the right foot, the control unit 102 controls the array 166 so that the head of the array 166 is contracted sequentially from the right heel side to the toe side. In this configuration, the sole of each foot can be given a feeling that the foot leaves the ground after landing. Further, instead of the airbag, the heads of the arrays 156 and 166 may be components that are divided in the length direction to form the mounting portions of the footrests 15 and 16 and are individually raised and lowered. The left and right massage 'arrays of these alternative embodiments can also be applied to the following modified embodiment and the second embodiment, for example, the left and right massage arrays are separated from the ground after walking or foot landing. It is desirable to operate in synchronization with the timing.

[0031] In one modified embodiment, the massage "chair 1" includes legs and footrests 1A that support the user's left and right lower legs and legs instead of the footrests 13 and 14 and the footrests 15 and 16. Is provided. This leg and footrest 1A has left and right movable parts configured to move independently while holding the left and right feet of the user instead of the electric lifting mechanism of the footrests 15 and 16. Is done. In addition to the airbags 151 and 152, as shown in FIGS. 8A to 8C, the left movable part includes airbags 153, 153, and 153 arranged in the length direction, the back of the left foot

one two Three

Air bags 154 for holding the air bag, and these air bags are driven individually as in FIG. A drive mechanism is provided. Similarly, in addition to the airbags 161 and 162, the right movable part has three airbags arranged along the length direction, an airbag for holding the right instep, and these airbags individually. A drive mechanism for driving is provided.

In this case, as shown in FIG. 8A, the control unit 102 inflates the airbags 151 and 152 to hold the left foot, and the airbags 161 and 162 to hold the right foot. Inflate. Thereafter, as shown in FIG. 8B, the control unit 102 controls the heights (thicknesses) of the airbags 153, 153, and 153 so as to imitate the dorsiflexion movement. At the same time, the control unit 102

one two Three

Control the height of each of the three airbags for the right foot so as to simulate the movement of a buckle, while inflating the airbag that holds the back of the foot. At this time, the height of each airbag is controlled based on, for example, the air supply amount or the output of the pressure sensor. Thereafter, as shown in FIG. 8C, the control unit 102 controls the heights of the airbags 153, 153, and 153 so as to imitate the movement of bottom buckling while inflating the airbag 154. At the same time, the control unit 102

one two Three

The height of each of the three airbags for the right foot is controlled so as to simulate the dorsiflexion movement while the airbag that holds the back of the foot is contracted. Each airbag is controlled so that each foot moves continuously like a seesaw. Subsequently, the control unit 102 repeats the same control as described above up to a specified number of times or for a specified time.

[0033] In one modified embodiment, the leg platforms 13 and 14 are each configured to move independently while holding the left and right lower legs of the user. For example, the leg platforms 13 and 14 are lifted and lowered by left and right electric lifting mechanisms configured in the same manner as the foot platforms 15 and 16, respectively. According to the first to third features, the control unit 102 further moves the leg platform 13 so that the leg platform 13 independently moves the left lower leg and flexes and stretches the user's left knee. In addition, the movement of the leg platform 14 is controlled so that the leg platform 14 moves the right lower leg independently to bend and stretch the right knee of the user.

Specifically, according to the first feature, the control unit 102 controls the movements of the leg platforms 13 and 14 so that the left and right knees are alternately bent and stretched, and the knee-side Achilles tendon is bent. And the movements of the footrests 15 and 16 are controlled so that the Achilles tendon on the knee side to be extended is bent and extended, respectively. For example, after holding the user's left and right lower legs and feet, the control unit 102 causes the left knee and the left foot to bend and bend, respectively, as shown in FIG. 9A. The movements of the leg platform 14 and the foot platform 15 are controlled at the same time, and the movements of the leg platform 14 and the foot platform 16 are controlled so that the right knee and the right foot are extended and bent, respectively. . Thereafter, as shown in FIG. 9B, the control unit 102 controls each movement of the leg platform 13 and the foot platform 15 so as to extend and dorsiflex the left knee and the left foot, respectively, and at the same time, And the movements of the leg platform 14 and the foot platform 16 are controlled so that the right foot is bent and bent, respectively. Subsequently, the control unit 102 repeats the same control as described above up to a specified number of times or for a specified time. However, the present invention is not limited to this, and the control unit 102 controls the movement of each footrest so that one foot and the other foot are dorsiflexed and plantarly bent, and then controls one knee and the other knee. You may control the movement of each leg stand so that it may bend and extend.

[0035] In this first feature, general gait patterns are referenced (Ryuichi Nakamura, Hiroshi Saito, "Basic Kinematics", 5th edition, Ishiyaku Shuppan Publishing, 2000) ₀ From the landing of the heel to the next landing (hereinafter referred to as the “walking cycle”), it is extended and bent once. That is, after the landing of one heel, the hip joint of the supporting leg is kept extended, and is bent after the landing of the other heel. Each knee joint is extended and flexed twice during the walking cycle. After the landing of one of the heels, the knee joint of the supporting leg is slightly bent and extended, and after the landing of the other heel, the knee joint is bent and subsequently extended. Each foot is dorsiflexed and plantar bent twice during the walking cycle. After the landing of the one of the heels, the legs of the supporting legs are bent back, immediately dorsiflexed, and then bent down, separated from the ground and dorsiflexed. In short, when the heel is landed, its heel side knees and feet are extended and dorsiflexed, respectively. Conversely, when the knee is bent, the foot on the knee side is bent to the bottom.

[0036] According to the second feature, the control unit 102 controls each movement of the leg platforms 13 and 14 so that the left and right knees are alternately bent and stretched, and the knee-side Achilles tendon to be bent and extended. The movements of the footrests 15 and 16 are controlled so that the knee-side Achilles tendon is extended and bent, respectively. For example, after holding the user's left and right lower legs and legs, the control unit 102, as shown in FIG. 10A, causes the left knee and the left leg to extend and buckle, respectively, so that the leg platform 13 and the footrest are stretched. At the same time as controlling the movements of the platform 15, the movements of the leg platform 14 and the foot platform 16 are controlled so that the right knee and the right foot are bent and bent, respectively. Thereafter, as shown in FIG. 10B, the control unit 102 controls the movements of the leg platform 13 and the foot platform 15 so that the left knee and the left foot are bent and bent, respectively. knee And the movements of the leg platform 14 and the foot platform 16 are controlled so that the right leg is extended and bent, respectively. Subsequently, the control unit 102 repeats the same control as described above up to a specified number of times or for a specified time.

[0037] According to the third feature, the control unit 102 controls each movement of the leg platforms 13 and 14 so that the left and right knees are alternately bent and stretched, and the foot platforms 15 and 16 both have the left and right Achilles tendons. Each movement of the footrests 15 and 16 is controlled to bend. The control unit 102 controls the movements of the leg platforms 13 and 14 so that the left and right knees bend and stretch alternately, and the footrests 15 and 16 both extend the left and right Achilles tendons. Control each movement of platforms 15 and 16. For example, after holding the user's left and right lower legs and legs, the control unit 102, as shown in FIG. 11A, causes the left knee and the left foot to bend and bend, respectively, so that the leg platform 13 and the foot are bent. At the same time as controlling the movements of the platform 15, the movements of the leg platform 14 and the foot platform 16 are controlled so that the right knee and the right foot are extended and bent, respectively. Thereafter, as shown in FIG. 11B, the control unit 102 controls the movements of the leg platform 13 and the foot platform 15 so that the left knee and the left foot are extended and bent, respectively, and at the same time, the right knee And the movements of the leg platform 14 and the foot platform 16 are controlled so that the right foot is bent and bent, respectively. Subsequently, the control unit 102 repeats the same control as described above up to a specified number of times or for a specified time.

[0038] After holding the left and right lower legs and feet according to another command or the following program, the control unit 102 flexes and spines the left knee and the left foot, respectively, as shown in FIG. 12A. The movements of the leg platform 14 and the foot platform 15 are controlled so that the right knee and the right foot are extended and bent, respectively, while the movements of the leg platform 13 and the foot platform 15 are controlled so as to bend. To control. Thereafter, as shown in FIG. 12B, the control unit 102 controls the movements of the leg platform 13 and the foot platform 15 so as to extend and dorsiflex the left knee and the left foot, respectively. The movements of the leg platform 14 and the foot platform 16 are controlled so that the knee and the right leg of the leg are bent and bent, respectively. Subsequently, the control unit 102 repeats the same control as described above up to a specified number of times or for a specified time. However, the present invention is not limited thereto, and the control unit 102 may repeatedly bend and dorsiflex the left and right feet during the operation.

[0039] FIGS. 13A and 13B show a second embodiment according to the invention, namely a massage chair 2. The chair 2 includes a base 20, left and right leg platforms 23 and 24, left and right foot platforms 25 and 26, a reclining backrest 27, and left and right armrests 28 and 29, as in the above-described modified embodiment. Similarly to the modified embodiment, the leg platforms 23 and 24 are provided with airbags 23:! To 236 and 241 to 246 respectively, and the foot platforms 25 and 26 are respectively provided with airbags 251 to 251. 253 and 261-263 force S are provided.

[0040] The second embodiment is characterized by left and right thigh mounts 21 and 22 provided in the base 20. Therefore, the leg platforms 23 and 24 are supported by shafts fixed to the thigh platforms 21 and 22, respectively, and left and right electric lifting mechanisms (not shown) placed in the thigh platforms 21 and 22 respectively. And is configured to move up and down by rotating about the axis. The thigh mounts 21 and 22 form a seat and are configured to move independently while supporting the left and right thighs of the user. For example, as shown in FIGS. 14A and 14B, the thigh platforms 21 and 22 are respectively supported by at least one shaft 210 fixed to the base 20 and left and right electric lifting mechanisms placed in the base 20 It is configured to move up and down by rotating about axis 210 through. The left electric lifting mechanism includes, for example, a left / right link pole and at least one motor (not shown). Each of the left and right link 'poles is composed of a cylinder' nut and a bolt inserted into the nut. Both ends of the left link 'pole 211 are joined to the left side of the base 20 and the thigh platform 21, and one end of the pole 211 is a pole 21 1 (ie, one of the cylinder' nut and bolt) that is spun by the motor. Fixed so that it can. Both ends of the right link pole are also coupled to the right side of the base 20 and the thigh mount 21, and one end of the pole is fixed so that the pole can be spun by the motor.

Similarly, the right electric lifting mechanism includes, for example, left and right link poles and at least one motor (not shown). Each of the left and right link 'poles is composed of a cylinder' nut and a bolt inserted into the nut. Both ends of the left link 'pole 221 are coupled to the left side of the base 20 and the thigh mount 22, and one end of the pole 221 is fixed so that the pole 221 can be spun by the motor. Both ends of the right link pole are also coupled to the right side of the base 20 and thigh mount 22, and one end of the pole is fixed so that the pole can be spun by the motor. [0042] These electric lifting mechanisms are operated by the control unit 202 in the driving system of the second embodiment, and the driving system 202 controls each movement of the thigh mounts 21 and 22 via these electric lifting mechanisms. Except for further control, the configuration is the same as that of the modified embodiment. That is, the control unit 202 controls the movement of the thigh platform 21 so that the thigh platform 21 independently moves the left thigh to bend and stretch the left hip joint of the user, and the thigh platform 22 independently. The movement of the thigh platform 22 is controlled such that the right thigh is moved to flex and extend the user's right hip joint.

Next, an example of the operation of the second embodiment will be described. When the user sitting on the massage chair 2 inputs a command corresponding to the movement of the walking foot and leg through the keypad (not shown), the control unit 202 activates each air pump of the drive system. Open the valve connected to the airbag 2 31-236, 241-246, 251, 252, 261 and 262. Correspondingly, the left and right lower legs of the 禾 IJ user are held by the leg mounts 23 and 24, respectively, and the left and right legs of the 禾 IJ user are held by the foot mounts 25 and 26, respectively. It is done.

[0044] When the specified compressed air is supplied to each airbag, the control unit 202 closes the valve and passes the backrest 27 through the electric reclining mechanism (not shown) of the massage chair 2 to the reclined position. Tilt to. As shown in FIG. 14A, the control unit 202 continues to bend the left hip joint while stretching and dorsiflexing the user's left knee and foot, respectively. And each movement of the footrest 25 is controlled. At the same time, the control unit 202 moves each of the thigh platform 22, the leg platform 24, and the foot platform 26 so that the right knee and the leg of the user are bent and bent, respectively, while extending the right hip joint. To control. After that, as shown in FIG. 14B, the control unit 202 extends the left hip joint and flexes and flexes the left knee and foot, respectively, while extending the left hip joint, and the thigh platform 21, leg platform 23, and foot platform. Control each of the 25 movements. At the same time, the control unit 202 controls the movements of the thigh platform 22, the leg platform 24, and the foot platform 26 so that the right knee and foot are extended and dorsiflexed while bending the right hip joint. Subsequently, the control unit 202 repeats each control in FIGS. 14A and 14B up to a specified number of times or for a specified time. Thereafter, the control unit 202 stops the air pump and opens the valve, and the thigh mounts 21 and 22, the leg mounts 23 and 24, and the footrests. Return each of the pedestals 25 and 26 and the backrest 27 to their original positions.

[0045] In a modified embodiment, the drive system is configured in the same manner as in the first embodiment, except that the control unit 202 further controls the movements of the thigh mounts 21 and 22 via these electric lift mechanisms. The That is, the control unit 202 of this embodiment controls the movements of the thigh platform 21 and the foot platform 25 so that the left foot is bent or bent while the left hip joint is bent or extended, In addition, each movement of the thigh platform 22 and the foot platform 26 is controlled so that the right foot is bent back or bent while the right hip joint is extended or bent.

[0046] While this invention has been described in terms of several preferred embodiments, various modifications and variations can be made by those skilled in the art without departing from the true spirit and scope of this invention.

Claims

The scope of the claims

[1] A massage 'chair with left and right massage heads that gives massage to the user by imitating the movement of the massage,

Left and right movable parts configured to move independently while holding the left and right feet of the user,

The left movable part independently controls the movement of the left movable part so as to move the left foot and flex and stretch the left Achilles tendon of the user, and the right movable part independently A control unit that controls the movement of the right movable unit so that the right Achilles tendon is bent and stretched by moving the foot;

Massage 'chair with.

[2] In addition to the left and right movable part as the first left and right movable part, the massage chair includes a second left and right movable part,

The second left and right movable part is a left and right leg platform coupled to a base including a seat part and configured to move independently while supporting the left and right lower legs of the user,

The first left and right movable parts are left and right footrests respectively coupled to the left and right leg rests.

The control unit further controls the movement of the second left movable unit such that the second left movable unit independently powers the left lower leg to bend and stretch the left knee of the user, Further, the second right movable portion controls the movement of the second right movable portion so that the right lower leg is independently powered to bend and stretch the right knee of the user.

The massage chair according to claim 1.

[3] The control unit controls each movement of the second left and right movable unit so that the left and right knees are alternately bent and stretched, and the bent side Achilles tendon and the extended side Achilles tendon 3. The massage chair according to claim 2, wherein each movement of the first left and right movable part is controlled so as to be bent and extended.

[4] The control unit controls each movement of the second left and right movable units so that the left and right knees are alternately bent and stretched, and the bent Achilles tendon and the extended Achilles tendon 3. The respective movements of the first left and right movable parts are controlled so as to be extended and bent, respectively. The listed massage 'chair.

[5] The control unit

The left and right knees are alternately bent and stretched to control each movement of the second left and right movable parts, and the first left and right movable parts both bend the left and right Achilles tendons. Control each movement of the moving part,

In addition, each movement of the second left and right movable parts is controlled so that the left and right knees are bent and stretched alternately, and the first left and right movable parts both extend the left and right Achilles tendons. Control each movement of the left and right movable parts

3. A massage 'chair according to claim 2 configured to.

[6] Left and right thigh mounts configured to constitute a seat and move independently while supporting the left and right thighs of the user,

Left and right leg platforms that are arranged in front of the seat and support the left and right lower legs of the user;

Further comprising

The left and right movable units are left and right foot platforms that are respectively coupled to the left and right leg platforms, and the control unit further includes the left thigh platform independently moving the left thigh to The right thigh is controlled so that the left thigh mount is bent and stretched, and the right thigh mount is independently moved to move the right thigh so that the right hip joint of the user is bent and stretched. Control the movement of the platform

Claim 1 'Massage' chair.

[7] The seat further comprises a third left and right movable part as a left and right thigh mount configured to move independently while supporting the left and right thighs of the user,

The control unit further controls the movement of the third left movable unit such that the third left movable unit independently moves the left thigh to bend and stretch the left hip joint of the user. The movement of the third right movable part is controlled such that the third right movable part independently moves the right thigh to bend and extend the right hip joint of the user.

The massage chair according to claim 2.

[8] The control unit is configured so that the left and right hip joints bend and extend alternately. 8. The movement is controlled, and at least one movement of the first left and right movable part and the second left and right movable part is controlled to extend or bend at least one corresponding part of the user. Massage 'chair.

A plurality of massage 'left massage including heads' array installed on the mounting surface of the left movable part and arranged between the left toe of the user and the heel;

A plurality of massage 'right massage including heads' array installed on the mounting surface of the right movable part and arranged between the right toe of the user and the heel;

Further comprising

The control unit sequentially stimulates the back of the left foot from the left toe to the left heel or from the left heel to the left toe. Controls the left massage 'array, and multiple massage heads in the right massage' array sequentially stimulate the sole of the right foot from the right toe to the right heel or from the right heel to the right toe The massage 'chair of claim 1 wherein the right massage' array is controlled.