WO2021096294A1 - Dispositif de massage capable de reconnaître la forme du corps et procédé de commande associé - Google Patents

Dispositif de massage capable de reconnaître la forme du corps et procédé de commande associé Download PDF

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Publication number
WO2021096294A1
WO2021096294A1 PCT/KR2020/016003 KR2020016003W WO2021096294A1 WO 2021096294 A1 WO2021096294 A1 WO 2021096294A1 KR 2020016003 W KR2020016003 W KR 2020016003W WO 2021096294 A1 WO2021096294 A1 WO 2021096294A1
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WIPO (PCT)
Prior art keywords
massage
information
user
actuator
module
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PCT/KR2020/016003
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English (en)
Korean (ko)
Inventor
이태환
정명주
Original Assignee
주식회사 바디프랜드
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Publication of WO2021096294A1 publication Critical patent/WO2021096294A1/fr

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    • 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
    • A61H37/00—Accessories for massage
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • 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
    • A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
    • 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
    • A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
    • A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
    • 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
    • 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
    • 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
    • A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
    • 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
    • A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
    • A61H7/007—Kneading
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/02—Terminal devices
    • 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
    • A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
    • A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
    • A61H2015/0042—Balls or spheres
    • 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
    • A61H2201/501—Control means thereof computer controlled connected to external computer devices or networks
    • 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
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5025—Activation means
    • 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
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5043—Displays
    • 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
    • A61H2201/5097—Control means thereof wireless

Definitions

  • the present disclosure relates to a massage device, and more particularly, to a massage device for recognizing a body shape.
  • Massage or massage controls the modulation of the subject's body by applying various types of mechanical stimulation to a part of the subject's body, such as kneading, pressing, pulling, tapping, or moving a part of the subject's body.
  • the increase in massage demand has caused an increase in demand for a massage device or massage device that provides an artificial massage function due to economic and temporal reasons. That is, as the demand for relieving fatigue or stress increases while releasing the lumped muscles through massage, various massage devices in a time and cost-effective manner are being released. Any type of apparatus, device, or device that performs a massage without a separate masseur through a mechanical device is referred to as a massage device.
  • the body shape eg, shoulder height, arm length, etc.
  • the problem to be solved through the embodiments is a massage device that provides a customized massage according to the body shape of each user, and allows the massage intensity and massage speed to be easily changed for each user body part according to the user's preference. It is to improve the convenience of operation and provide a new user experience.
  • the massage device includes a massage module providing a massage function to at least a part of the user's body, a user terminal including a user input unit and a display unit, and a control unit for controlling the massage device, and the control unit is at a current position of the massage module.
  • the controller of the massage device modifies information included in the massage mode based on the massage information, stores the modified massage mode in a memory, and the controller modifies from the memory based on an input signal received from the user terminal. Acquiring the modified massage mode, and providing a massage to the user based on the modified massage mode.
  • the control unit of the massage device calculates information on the pressure applied by the massage module to the user based on load information of at least one of a vertical movement actuator, a z-axis movement module, a kneading actuator, or a tapping actuator, and information on the pressure. It is characterized in that controlling the display of the user terminal to be displayed.
  • the control unit of the massage device includes a massage module including a plurality of arms extending in different directions, a massage ball frame, at least two massage balls provided in the massage ball frame, and a vertical movement that moves the massage module in the vertical direction.
  • the controller controls the vertical movement actuator so that at least two massage balls move from the user's shoulder to the user's hip, acquires load information applied to the vertical movement actuator, and based on the load information, the user's back Body type information is obtained, a massage is provided based on the body type information, and the body type information includes a degree of concave or convex back of the user.
  • the massage module of the massage device includes a z-axis movement module, and the controller controls the z-axis movement module so that the massage ball frame moves to the front of the z-axis as the concave degree of the current massage portion increases based on body shape information. And, based on the body shape information, as the convexity of the current massage part increases, the massage ball frame is characterized in controlling the z-axis movement module so that the massage ball frame moves to the rear of the z-axis.
  • the control unit of the massage device determines the z-axis position information of the massage ball frame for the massage part based on the input of the user terminal, and the z-axis movement module to move the massage ball frame based on the z-axis position information. It is characterized in that to control.
  • the massage device includes a kneading actuator that moves the massage ball frame so that the massage ball draws an oval shape, and a tapping actuator that moves the massage ball frame so that the massage ball strikes the user, and the control unit includes a display unit for the massage area.
  • the control unit of the massage device includes information included in the basic massage mode based on at least one of body shape information, z-axis position information of the massage ball frame for each massage part, kneading strength information for each massage part, or tap strength information for each massage part. And storing the modified massage mode in a memory.
  • the controller of the massage apparatus is characterized in that it receives an input for selecting a modified massage mode from a user terminal, and provides a massage to the user based on the modified massage mode.
  • the user terminal of the massage apparatus includes a display unit, and the control unit controls the display unit of the user terminal to display information on the user's body part corresponding to the current position of the massage module.
  • the control unit of the massage device receives massage information corresponding to information on the user's body part corresponding to the current position of the massage module from the user terminal in real time, and based on the massage information, the z-axis movement module, the kneading actuator Alternatively, at least one of the tapping actuators is controlled, information included in the massage mode is corrected based on the massage information, and the modified massage mode is stored in a memory, and the massage information is z-axis position information of the massage ball frame, kneading intensity information Or, it characterized in that it includes at least one of the tapping intensity information.
  • the control unit of the massage device calculates information on the pressure applied by the massage module to the user based on load information of at least one of a vertical movement actuator, a z-axis movement module, a kneading actuator, or a tapping actuator, and information on the pressure. It is characterized in that controlling the display of the user terminal to be displayed.
  • the massage device includes a massage module providing a massage function to at least a part of a user's body, a user terminal including a user input unit and a display unit, and a control unit for controlling the massage device
  • the operating method of the massage device includes controlling, by a controller, to display information on the user's body part corresponding to the current position of the massage module on the display of the user terminal, and providing massage information corresponding to the information on the user's body part to the user terminal.
  • the massage information includes z-axis position information, kneading intensity information, or tapping intensity information of the massage ball frame. It characterized in that it comprises at least one of.
  • the operating method of the massage device includes the steps of modifying information included in the massage mode based on the massage information, storing the modified massage mode in a memory, and the controller is configured to perform a memory based on an input signal received from a user terminal. It characterized in that it comprises the step of obtaining a modified massage mode from the, and providing a massage to the user based on the modified massage mode.
  • the operating method of the massage device includes calculating information on the pressure applied by the massage module to the user based on load information of at least one of a vertical movement actuator, a z-axis movement module, a kneading actuator, or a tapping actuator. And controlling the information on the display of the user terminal to be displayed.
  • a program for implementing the method of operating the massage device as described above may be recorded in a computer-readable recording medium.
  • the massage device can recognize the user's body shape, a massage suitable for the body shape can be provided to the user, and the user can intensively massage a desired area.
  • FIG. 1 is a view for explaining a massage device according to an embodiment of the present disclosure.
  • FIG. 2 is a diagram illustrating a main frame according to an embodiment of the present disclosure.
  • FIG 3 is a view showing a massage device according to an embodiment of the present disclosure.
  • FIG. 4 is a diagram illustrating an external device capable of communicating with the massage device 100 according to an embodiment of the present disclosure.
  • FIG 5 is a front view showing a state as viewed from the front of the massage module according to an embodiment of the present disclosure.
  • FIG. 6 shows a front side of the massage module according to an embodiment of the present disclosure.
  • FIG. 7 is a diagram illustrating a connection relationship between a massage ball frame and a frame housing according to an embodiment of the present disclosure.
  • FIG. 8 shows a rear side of the massage module according to an embodiment of the present disclosure.
  • FIG. 9 is a cross-sectional view of a part of a massage module according to an embodiment of the present disclosure.
  • FIG. 10 is a diagram for explaining a process in which a controller obtains body shape information of a user according to an embodiment of the present disclosure.
  • FIG. 11 is a diagram illustrating a user terminal according to an embodiment of the present disclosure.
  • FIG. 12 is a diagram illustrating a user terminal according to an embodiment of the present disclosure.
  • FIG. 13 is a diagram for describing an operation of a user terminal according to an embodiment of the present disclosure.
  • FIG. 14 is a diagram for describing an operation of a user terminal according to an embodiment of the present disclosure.
  • FIG. 15 is a view showing the operation of the massage device according to an embodiment of the present disclosure.
  • a massage module that provides a massage function to at least a portion of a user's body;
  • a user terminal including a user input unit and a display unit;
  • a control unit for controlling the massage device
  • the control unit controls the display unit of the user terminal to display information on the user's body part corresponding to the current position of the massage module, and provides massage information corresponding to the information on the user's body part from the user terminal.
  • Massage device comprising a.
  • unit used in the specification refers to software or hardware components, and “unit” performs certain roles. However, “unit” is not meant to be limited to software or hardware.
  • the “unit” may be configured to be in an addressable storage medium or may be configured to reproduce one or more processors.
  • unit refers to components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, procedures, Includes subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, database, data structures, tables, arrays and variables.
  • the functions provided within the components and “units” may be combined into a smaller number of components and “units” or may be further separated into additional components and “units”.
  • the "unit” may be implemented with a processor and a memory.
  • processor is to be interpreted broadly to include general purpose processors, central processing units (CPUs), microprocessors, digital signal processors (DSPs), controllers, microcontrollers, state machines, and the like.
  • processor may refer to an application specific application (ASIC), programmable logic device (PLD), field programmable gate array (FPGA), and the like.
  • ASIC application specific application
  • PLD programmable logic device
  • FPGA field programmable gate array
  • processor refers to a combination of processing devices, such as, for example, a combination of a DSP and a microprocessor, a combination of a plurality of microprocessors, a combination of one or more microprocessors in combination with a DSP core, or any other such configuration. You can also refer to it.
  • memory should be interpreted broadly to include any electronic component capable of storing electronic information.
  • the term memory refers to random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), programmable read-only memory (PROM), erase-programmable read-only memory (EPROM), electrical May refer to various types of processor-readable media such as erasable PROM (EEPROM), flash memory, magnetic or optical data storage, registers, and the like.
  • RAM random access memory
  • ROM read-only memory
  • NVRAM non-volatile random access memory
  • PROM programmable read-only memory
  • EPROM erase-programmable read-only memory
  • EEPROM erasable PROM
  • flash memory magnetic or optical data storage, registers, and the like.
  • the memory is said to be in electronic communication with the processor if the processor can read information from and
  • an actuator means a configuration capable of providing a driving force.
  • the actuator may include a motor, a linear motor, an electronic motor, a DC motor, an AC motor, a linear actuator, an electric actuator, and the like, but is not limited thereto.
  • the massage device may refer to a massage device including a body massage unit and a leg massage unit.
  • the body massage unit 2100 and the leg massage unit 2300 may exist as separate separate devices (eg, a body massage device and a leg massage device), and the massage device is a body massage device. It may refer to a device or a leg massage device.
  • FIG. 1 is a view for explaining a massage device according to an embodiment of the present disclosure.
  • the massage device 100 forms an area for accommodating at least a part of the user's body, and a body massage unit 2100 that massages the user's body, and massages the user's leg. It may include a leg massage unit 2300.
  • the body massage unit 2100 may provide a massage to at least a part of a user's body.
  • the body massage unit 2100 includes a massage module 2170 that provides a massage function to at least a part of a user's body, an audio output module 2160 for providing an audio output in an arbitrary form to the user, and a body massage unit 2100 It may include a main frame 2110 constituting the skeleton of the user and a user input unit 2180 for receiving an input of an arbitrary form from the user.
  • Components included in the above-described body massage unit 2100 are merely exemplary embodiments, and the body massage unit 2100 may include various configurations in addition to the above-described configuration.
  • the shape and structure of the massage device 100 shown in FIG. 1 is only exemplary, and as long as it does not depart from the scope of the rights defined by the claims of the present disclosure, various types of massage device 100 are also disclosed. May be included within the scope of the content.
  • the body massage unit 2100 may form an arbitrary type of space for accommodating a user.
  • the body massage unit 2100 may have a space having a shape corresponding to the shape of the user's body.
  • the body massage unit 2100 may be implemented as a seating type capable of accommodating a user's whole body or a part of the body.
  • a portion of the body massage unit 2100 in contact with the ground may include an arbitrary material for increasing the frictional force or an arbitrary member (eg, an anti-slip pad, etc.) for increasing the frictional force, and the massage device 100 It may include a wheel to enhance the mobility of the.
  • At least a portion of the body massage unit 2100 may slide. For example, when the body massage unit 2100 starts a massage, at least a part of the body massage unit 2100 may slide forward. In addition, the body massage unit 2100 may be inclined rearward. As a result, the body massage unit 2100 may provide air massage in a state in which it is inclined to the rear.
  • the massage device 100 may include at least one air cell (not shown).
  • the air cell may be located in the user's shoulder part, pelvis part, arm massage part, leg massage part 2300, and the like, but is not limited thereto and may be disposed in various parts of the massage device 100.
  • the massage device 100 may include an air supply unit, and the air supply unit may inflate the air cell by supplying air to the air cell.
  • the air supply unit may be located inside the body massage unit 2100 and may be located at the leg massage unit 2300. In addition, the air supply unit may be located outside the massage device 100.
  • the leg massage unit 2300 may provide a leg massage to a user.
  • the leg massage unit 2300 may include a calf massage unit that massages the user's calf and/or a foot massage unit that massages the user's foot.
  • the leg massage unit 2300 may be adjustable in length according to the user's body characteristics. For example, when a tall user uses the massage device 100, the length of the leg massage unit 2300 needs to be lengthened because the length of the calf is long. In addition, when a user with a small height uses the massage device 100, the leg massage unit 2300 needs to be shortened because the length of the calf is short. Accordingly, the leg massage unit 2300 may provide a leg massage customized to the user's height.
  • the massage module 2170 may be provided inside the body massage unit 2100 to provide an arbitrary type of mechanical stimulation to a user accommodated in the body massage unit 2100. As shown in FIG. 1, the massage module 2170 may move along the main frame 2110 provided inside the body massage part 2100.
  • a rack gear may be provided on the main frame 2110 of the body massage unit 2100, and the massage module 2170 may move along the rack gear, while mechanically controlling various parts of the user's body. Can provide stimulation.
  • the massage module 2170 may include a ball massage unit or a roller massage unit, but is not limited thereto.
  • the main frame 2110 constitutes a skeleton of the internal structure of the body massage unit 2100 and may be implemented with a metal material or a plastic material.
  • the main frame 2110 may be implemented with iron, alloy, steel, or the like, but is not limited thereto and may be implemented with various hard materials.
  • the massage device 100 may include an audio output module 2160.
  • the audio output module 2160 may be provided in various locations.
  • the audio output module 2160 is an upper audio output unit disposed on the upper part of the seat in contact with the user, a front audio output unit attached to the front end of the left and right arm massage parts of the seat part, and/or attached to the rear end of the arm massage part. It may include a plurality of output units such as a rear audio output unit and the like, but is not limited thereto.
  • the audio output module 2160 may provide 3D sound such as 5.1 channels, but is not limited thereto.
  • a user may control the massage apparatus 100 using the massage apparatus control device 2200.
  • the massage apparatus control device 2200 may be connected to the massage apparatus 100 through wired communication and/or wireless communication.
  • the massage device control device 2200 may include a remote controller, a cellular phone, a personal digital assistant (PDA), and the like, but is not limited thereto, and through wired or wireless communication with the massage device 100 It may include a variety of connectable electronic devices.
  • PDA personal digital assistant
  • FIG. 2 is a diagram illustrating a main frame according to an embodiment of the present disclosure.
  • the main frame 2110 may include an upper frame 2250 in which the massage module 2170 is provided and a base frame 2210 supporting the upper frame 2250.
  • a rack gear 2251 may be provided on at least a portion of the upper frame 2250.
  • the rack gear 2251 is a member for guiding the upward movement of the body massage module 2170 and may include a plurality of valleys and a plurality of floors.
  • the rack gear 2251 may be provided to face both sides of the upper frame 2250, and the body massage module 2170 may move along the rack gear 2251. .
  • the rack gear 2251 is formed in an up-down direction, but is not limited thereto.
  • the rack gear 2251 may include a rack gear in a front-rear direction or a rack gear in an up-down direction.
  • the front-rear direction refers to a direction from the body massage module 2170 to the user or from the user to the body massage module 2170, and may also be referred to as a Z-axis direction.
  • upward and downward may mean upward and downward guided by the rack gear 2251. That is, the top and bottom may not be perpendicular to the ground.
  • the body massage module 2170 may include a gear engaged with the rack gear 2251.
  • the body massage module 2170 may include gears that are respectively meshed with the rack gear in the front-rear direction and the rack gear in the up-down direction.
  • the gear is rotated by an actuator provided in the body massage module 2170, the body massage module 2170 may move forward, backward, upward or downward.
  • the intensity of the massage may increase.
  • the intensity of the massage may decrease.
  • the rack gear 2251 may be implemented with a metal material or a plastic material.
  • the rack gear 2251 may be implemented with iron, steel, alloy, reinforced plastic, melamine resin, phenol resin, etc., but is not limited thereto.
  • the upper frame 2250 may be implemented in various shapes.
  • the upper frame 2250 may be classified into an S frame, an L frame, an S&L frame, and a double S&L frame according to the shape, but is not limited thereto.
  • the S frame refers to a frame in which at least a portion of the upper frame 2250 has a curved shape such as “S”.
  • the L frame refers to a frame in which at least part of the upper frame 2250 has a curved shape like “L”, and the S&L frame includes both a curved shape like “S” and a curved shape like “L”
  • the double S&L frame refers to a frame that includes a curved shape like “L” and a curved shape like “S” of two parts.
  • the base frame 2210 refers to a portion of the main frame 2110 that supports the upper frame 2250 and contacts the ground.
  • the base frame 2210 may include a base upper frame 2211 and a base lower frame 2212.
  • the base upper frame 2211 may support the upper frame 2250, and the base lower frame 2212 may contact the ground. In addition, the upper base frame 2211 may be positioned in contact with the lower base frame 212.
  • the upper base frame 2211 may move along the lower base frame 2212.
  • the base upper frame 2211 may slide forward or backward along the base lower frame 2212.
  • the upper frame 2250 is connected to the base upper frame 2211 and may move according to the movement of the base upper frame 2211.
  • the upper frame 2250 may also move forward, and when the base upper frame 2211 moves backward, the upper frame 2250 is also moved backward. You can move. For this reason, the sliding movement of the body massage unit 2100 may be allowed.
  • a moving wheel may be provided below the base upper frame 2211.
  • a guide member capable of guiding the moving wheel may be provided above the base lower frame 2212. The moving wheel provided in the base upper frame 2211 moves along the guide member provided in the base lower frame 2212, so that the base upper frame 2211 can be moved forward or backward.
  • the massage device 100 may not provide a sliding function, and in this case, the base frame 2210 may not be separated into upper and lower frames.
  • FIG 3 is a view showing a massage device according to an embodiment of the present disclosure.
  • the massage device 100 may include a control unit 300 that controls the operation of the massage device 100.
  • the controller 300 may include a processor 110 and a memory 120.
  • the processor 110 may execute instructions stored in the memory 120.
  • the processor 110 may control the operation of the massage device 100.
  • the massage device 100 may include one processor and may include a plurality of processors. When the massage apparatus 100 includes a plurality of processors, at least some of the plurality of processors may be located at a physically spaced distance. In addition, the massage device 100 is not limited thereto and may be implemented in various ways.
  • the processor 110 may control the operation of the massage device 100.
  • the massage apparatus 100 may include a plurality of actuators, and the massage apparatus 100 may control the operation of the massage apparatus 100 by controlling the operation of the plurality of actuators.
  • the massage device 100 includes a driving unit 810 for moving the armrest frame support 530, a massage module 2170, an up-and-down actuator, at least one actuator included in the massage module, a back angle actuator, and a leg angle. It may include at least one of an actuator, a foot massage actuator, a leg length adjustment actuator, and a sliding actuator, and the processor 110 may control the operation of the massage device 100 by controlling them.
  • the vertical movement actuator is an actuator that enables the vertical movement of the massage module 2170, and the massage module 2170 may move along the rack gear by the movement of the vertical movement actuator of the massage module 2170.
  • a vertical movement actuator that moves the massage module in the vertical direction may be included in the massage module 2170.
  • the back angle actuator is an actuator that adjusts the angle of a portion of the massage device 100 where the user's back abuts, and the conformal angle of the massage device 100 may be adjusted by the operation of the isometric actuator.
  • the leg angle actuator is an actuator that adjusts the angle of the leg massage unit 2300 of the massage device 100, and the angle between the leg massage unit 2300 and the body massage unit 2100 can be adjusted by the operation of the leg angle actuator. have.
  • the foot massage actuator refers to an actuator that operates the foot massage module included in the leg massage unit 2300. Using the foot massage actuator, the massage device 100 may provide a foot massage to a user.
  • the massage module 2170 may include at least one actuator, and the processor 110 may provide various massage operations by operating at least one actuator.
  • the processor 110 may provide a tapping massage and a kneading massage by operating at least one actuator included in the massage module 2170, but is not limited thereto and may provide various massage operations.
  • the leg length adjustment actuator represents an actuator that adjusts the length of the leg massage unit 2300.
  • the processor 110 may adjust the length of the leg massage unit 2300 to suit the user by using the leg length adjustment actuator, and as a result, the user may receive a massage suitable for a body shape.
  • the sliding actuator enables the sliding operation of the massage device 100.
  • the horizontal base upper frame may move forward or backward, and as a result, the upper frame connected to the horizontal base upper frame may also move forward or backward.
  • the memory 120 may store various types of information related to the massage device 100.
  • the memory 120 may include massage control information and personal authentication information, but is not limited thereto.
  • the memory 120 may be implemented through a non-volatile storage medium capable of continuously storing arbitrary data.
  • the memory 120 may include a storage device based on a flash memory and/or a battery-backup memory, as well as a disk, an optical disk and a magneto-optical storage device, but is not limited thereto. Does not.
  • the massage device 100 may include a sensor unit.
  • the sensor unit may acquire various information using at least one sensor.
  • the sensor unit may be provided as a sensor using measuring means such as pressure, electric potential, and optics.
  • the sensor may include, but is not limited to, a pressure sensor, an infrared sensor, an LED sensor, and a touch sensor.
  • the sensor unit may include a biometric information acquisition sensor.
  • the biometric information acquisition sensor may acquire fingerprint information, face information, voice information, iris information, weight information, electrocardiogram information, body composition information, and the like, but is not limited thereto and may include various biometric information.
  • the massage device 100 may detect a contact area and/or a contact location with a user through sensors.
  • the massage device 100 may provide a customized massage based on information acquired through sensors.
  • the massage device 100 may include a communication unit.
  • the communication unit of the massage device 100 may receive a signal to an external device.
  • the processor 110 may obtain a result signal by processing the received signal.
  • the communication unit may output a result signal to an external device.
  • the communication unit may communicate with a module inside the massage device 100, an external massage device, and/or the user terminal 2200 through a network of any type.
  • the communication unit may include a wired/wireless connection module for network access.
  • a wireless access technology for example, wireless LAN (WLAN) (Wi-Fi), wireless broadband (Wibro), World Interoperability for Microwave Access (Wimax), and High Speed Downlink Packet Access (HSDPA) may be used.
  • WiFi wireless LAN
  • Wibro wireless broadband
  • Wimax World Interoperability for Microwave Access
  • HSDPA High Speed Downlink Packet Access
  • XDSL Digital Subscriber Line
  • FTH Fibers to the Home
  • PLC Power Line Communication
  • the network connection unit may include a short range communication module and transmit and receive data to and from any device/terminal located in a short range.
  • a short range communication technology Bluetooth, Radio Frequency Identification (RFID), infrared data association (IrDA), Ultra-Wideband (UWB), ZigBee, etc. may be used. It is not limited to this.
  • the massage device 100 may further include an input unit or an output unit.
  • the massage device 100 may receive an input from a user using an input unit.
  • the massage device 100 may output the processing result of the processor 110 to an output unit.
  • the input unit may receive a command related to motion control of the massage apparatus 100 from a user
  • the input unit 2180 may be implemented in various forms.
  • the input unit 2180 may be provided in the body massage unit 2100 and may be provided in the leg massage unit 2300, but is not limited thereto.
  • the massage device 100 may obtain various commands from a user through the input unit 2180.
  • the massage device 100 selects a massage module, selects a massage type, selects a massage intensity, selects a massage time, selects a massage site, selects the position and motion of the body massage unit 2100, and massages Arbitrary commands may be received for selection of power on-off of the device 100, selection of whether or not to operate the heating function, selection related to sound source reproduction, and the like, but are not limited thereto.
  • the massage device 100 may provide an interface for selecting a massage mode.
  • the input unit 2180 or the output unit may include the massage apparatus control device 2200.
  • Medical massage lists of various modes related to body improvement may be listed through the massage apparatus control device 2200.
  • the medical massage mode may include at least one of a concentration mode, a meditation mode, a recovery mode, a stretching mode, a sleep mode, a vitality mode, a golf mode, a hip-up mode, a candidate mode, a zero gravity mode, and a growth mode.
  • the input unit 2180 performs hot key type buttons and/or direction selection, cancellation, and input according to a preset user setting function or a self-preset function. It may be provided with a selection button or the like for.
  • the input unit 2180 may be implemented as a keypad, a dome switch, a touch pad (positive pressure/electrostatic), a jog wheel, a jog switch, and the like, but is not limited thereto. Also, the input unit 2180 may obtain a command through a user's utterance based on a speech recognition technology.
  • the output unit may include a display for displaying an operation state of the massage apparatus 100 or a current state of a user.
  • the display is a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display.
  • LCD liquid crystal display
  • TFT LCD thin film transistor-liquid crystal display
  • OLED organic light-emitting diode
  • the output unit may include an audio output module 2160.
  • the audio output module 2160 may provide an arbitrary type of audio output to a user.
  • the audio output module 2160 may provide brain stimulation to the user by outputting a sound source and/or binaural beat optimized for a massage pattern provided by the massage device 100 to the user.
  • the audio output module 2160 may output sound signals received through a network (not shown) or stored in an internal/external storage medium (not shown).
  • the audio output module 2160 may output a sound source according to the control of the user terminal 2200 through a network connection (eg, Bluetooth connection, etc.) with the user terminal 2200.
  • the audio output module 1600 may output an arbitrary type of sound signal generated in connection with the operation of the massage device 100.
  • the present invention may be implemented in combination with other program modules and/or as a combination of hardware and software.
  • the present invention can be implemented by a computer-readable medium.
  • Computer-readable media can be any computer-readable media, including volatile and nonvolatile media, transitory and non-transitory media, removable and non-transitory media. Includes removable media.
  • computer-readable media may include computer-readable storage media and computer-readable transmission media.
  • Computer-readable storage media include volatile and nonvolatile media, temporary and non-transitory media, removable and non-removable media implemented in any method or technology for storing information such as computer readable instructions, data structures, program modules or other data. Includes the medium.
  • Computer-readable storage media include RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital video disk (DVD) or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage, or other magnetic storage. Devices, or any other medium that can be accessed by a computer and used to store desired information.
  • FIG. 4 is a diagram illustrating an external device capable of communicating with the massage device 100 according to an embodiment of the present disclosure.
  • the massage device 100 may communicate with an external device by wire or wirelessly to transmit and receive various data.
  • the external device may include a portable electronic device 410 such as an AI speaker, a tablet, or a smartphone.
  • the portable electronic device 410 may be dedicated to the massage device 100 or may be a general-purpose portable electronic device.
  • the external device may include a wearable device 420 such as a smart watch or a smart band.
  • the external device may include a massage device 430 other than the massage device 100 currently being used by the user.
  • the external device may include a hospital server 440.
  • the external device may include a personal health record (PHR) server.
  • PHR personal health record
  • the external device may include a cloud server 450.
  • the external device may include a medical measuring device such as an electronic scale, a blood glucose meter, or a blood pressure meter.
  • FIG 5 is a front view showing a state as viewed from the front of the massage module according to an embodiment of the present disclosure.
  • FIG. 6 shows a front side of the massage module according to an embodiment of the present disclosure.
  • the massage module 2170 may include a Z-axis movement module, a massage ball frame 700, and a frame housing 800, but is not limited thereto. .
  • the massage module 2170 may include at least one massage ball frame 700.
  • the massage module 2170 may include two massage ball frames 700.
  • the massage ball frame 700 may include a plurality of arms extending in different directions.
  • massage balls 710 and 720 may be mounted on each of a plurality of arms included in the massage ball frame 700.
  • the massage ball frame 700 may be provided in a shape similar to the letter “V”.
  • the massage ball frame 700 may include at least two massage balls 710 and 720.
  • the massage module 2170 may include a kneading actuator that moves the massage ball frame so that the massage ball draws an oval shape.
  • the kneading actuator may operate based on a signal received from the control unit. Also, the kneading actuator can turn the massage ball clockwise or counterclockwise. By the movement of the massage ball, the user may receive a hand massage from the massage device 100.
  • the massage module 2170 may include a tapping actuator by repeatedly moving the massage ball frame 700 forward or backward so that the massage balls 710 and 720 hit the user.
  • the tapping actuator may operate based on a signal received from the control unit. By the movement of the massage ball, the user may receive a tapping massage from the massage device 100.
  • the massage ball frame 700 may be connected to the frame housing 800 at a bent portion in a V-shaped shape.
  • the massage ball frame 700 may be coupled to the frame housing 800 through a shaft (not shown) penetrating a part of the bent portion.
  • the massage ball frame 700 may be connected to the Z-axis moving module.
  • FIG. 7 is a diagram illustrating a connection relationship between a massage ball frame and a frame housing according to an embodiment of the present disclosure.
  • the massage ball frame 700 when looking inside the frame housing 800, the massage ball frame 700 may be coupled to the frame housing 800 so as not to be rotatable.
  • the massage ball frame 700 is coupled to the protruding portion of the frame housing 800 by a shaft penetrating through a portion of the V-shaped bent portion, and is supported by the recessed portion to be fixed so as not to swing up and down. I can.
  • the kneading actuator may move the massage ball 710 located at the top of the at least two massage balls to draw an elliptical shape at a predetermined angle with the ground.
  • the predetermined angle may include an angle 892 in the downward direction of the paper or an angle 891 in the upward direction of the paper. Also, the predetermined angle may include 0 degrees.
  • the user may receive a hand massage by the massage ball 710 performing an elliptical motion by the hand massage actuator.
  • the tapping actuator may repeatedly move at least one of the at least two massage balls 710 and 720 forward or backward while forming a predetermined angle with the ground.
  • the predetermined angle may include an angle 892 in the downward direction of the paper or an angle 891 in the upward direction of the paper. Also, the predetermined angle may include 0 degrees.
  • the user may receive the tapping massage by the massage balls 710 and 720 that are moved by the tapping actuator.
  • FIG. 8 shows a rear side of the massage module according to an embodiment of the present disclosure.
  • FIG. 9 is a cross-sectional view of a part of a massage module according to an embodiment of the present disclosure.
  • the Z-axis movement module may include a shaft 900, at least one pinion gear 920 fitted in the shaft 900, and a rack gear 930 meshing with the pinion gear 920, and the frame housing 800 It may be connected to the rack gear 920.
  • the rack gear 930 may move forward or backward along the Z axis according to the direction in which the pinion gear 920 rotates.
  • the rack gear 930 may move forward on the Z axis, and conversely, when the pinion gear 920 rotates in a counterclockwise direction, The rack gear 930 may move rearward on the Z axis.
  • the frame housing 800 connected to the rack gear 930 moves, and interlocking therewith, the massage ball frame 700 may move along the Z axis.
  • the controller 300 may control the vertical movement actuator so that at least two massage balls move from the user's shoulder to the user's hip.
  • the controller 300 may obtain the user's body shape information based on a load applied to the vertically moving actuator. This will be described in detail with reference to FIG. 10.
  • FIG. 10 is a diagram for explaining a process in which a controller obtains body shape information of a user according to an embodiment of the present disclosure.
  • the controller 300 may control the vertical movement actuator to move the massage module 2170 to an initial position.
  • the controller 300 may move the massage module 2170 to the highest position among the movable ranges of the massage module 2170.
  • the controller 300 may move the massage module 2170 to a predetermined initial position other than the highest position.
  • the initial position may be a position near the user's shoulder.
  • the controller 300 may control the vertical movement actuator so that at least two massage balls 710 move from the user's shoulder to the user's hip.
  • the controller 300 may control the Z-axis movement module so that the massage ball 710 presses the user in order to measure the user's body shape information. That is, the control unit 300 may control the Z-axis movement module to move the massage module 2170 to the foremost position.
  • the controller 300 may control the Z-axis movement module to move the massage ball frame 700 included in the massage module 2170 to a predetermined position on the z-axis.
  • the controller 300 may control the vertical movement actuator so that at least two massage balls 710 move from the user's shoulder to the user's hip while the massage ball frame 700 maintains a predetermined position on the z-axis.
  • maintaining a predetermined position on the z-axis may mean that the position of the pinion gear 920 with respect to the rack gear 930 is the same.
  • the controller 300 may obtain load information applied to the vertically moving actuator.
  • the load information may be information related to a current value applied to the vertically moving actuator. For example, when the massage ball 710 moves a convex part of the user's back, the vertical movement actuator may have great resistance to movement. The larger the resistance, the larger the current can flow through the vertically moving actuator. Also, as the larger current flows, the load information may be larger.
  • the load information may be information related to a time it takes for the massage module 2170 to move a unit distance.
  • the controller 300 may acquire body shape information of the user's back based on the load information.
  • the body shape information may include a degree to which the user's back is concave or convex.
  • the body shape information may include location information where the user's shoulder starts.
  • the controller 300 may determine that the larger the load information is, the more convex it is.
  • the control unit 300 may determine that the smaller the load information is, the more concave the region is.
  • the controller 300 may determine that as the load information increases, the shape of the user's back is greater in a distance from the rear per unit distance in the vertical direction. Also, as the load information is smaller, the control unit 300 may determine that the shape of the user's back has a smaller distance from the rear per unit distance in the vertical direction.
  • the controller 300 may provide a massage based on body shape information.
  • the massage module 2170 may include a z-axis movement module.
  • the controller 300 may control the z-axis movement module to move the massage ball frame 700 to the front of the z-axis as the concave degree of the current massage portion increases based on the body shape information.
  • the controller 300 may control the z-axis movement module so that the massage ball frame 700 moves to the rear of the z-axis as the convexity of the current massage portion increases based on the body shape information.
  • the current massage part may mean a position on the rack gear 2251 of the massage module 2170 corresponding to the part currently receiving the massage by the user.
  • the controller 300 may divide the user's back into at least one detailed area.
  • the controller 300 may obtain body shape information indicating a convex degree or a concave degree for each of the detailed regions.
  • the controller 300 may determine a position on the z-axis of the massage ball frame 700 included in the massage module 2170 for each detailed area based on the body shape information.
  • the control unit 300 may divide the user's back into four such as near the shoulder, near the wing bone, near the waist, and near the pelvis.
  • the controller 300 may divide the user's back into two such as near the chest or near the waist.
  • the present invention is not limited thereto, and the user's body may be divided into detailed regions in various ways.
  • control unit 300 automatically controls the position of the massage module 2170, so that the massage device 100 may not cause pain to the user.
  • the massage device 100 may efficiently provide massage to a concave part of the user's body part.
  • FIG. 11 is a diagram illustrating a user terminal according to an embodiment of the present disclosure.
  • the massage device 100 may include a user terminal 2200.
  • the user terminal 2200 is a device independent from the massage device 100 and may be connected to the massage device 100 by wire or wirelessly.
  • the user terminal 2200 may control the operation of the massage device 100.
  • the present invention is not limited thereto, and the user terminal 2200 is a device subordinate to the massage device 100 and may control the operation of the massage device.
  • the user may transmit a signal to the controller 300 using a user terminal.
  • the controller 300 may determine z-axis position information of the massage ball frame for the massage part based on an input from the user terminal.
  • the user terminal 2200 may include an input unit.
  • the input unit may include a button, a touch screen, a keyboard, a mouse trackball, and the like.
  • the user terminal 2200 may include a touch screen.
  • the user terminal 2200 may display an area 1121 indicating position information on the z-axis of the massage ball frame. As the number of arrows displayed in bold in the area 1121 increases, it may mean that the massage ball frame is positioned toward the user. That is, as the number of arrows displayed in bold in the area 1121 increases, it may mean that the massage ball frame is located in front of the z-axis.
  • the controller 300 may differently control position information on the z-axis of the massage ball frame according to the position of the massage module 2170 in the vertical direction.
  • the user terminal 2200 may differently display position information on the z-axis of the massage ball frame according to the position of the massage module 2170 in the vertical direction.
  • the user terminal 2200 may display information related to a position of the massage module 2170 in the vertical direction.
  • the massage module 2170 may be located near the user's waist.
  • the user terminal 2200 may indicate a position on the z-axis of the massage ball frame 700 relative to the position of the massage module 2170 in the vertical direction in the area 1121.
  • the position of the massage ball frame 700 on the z-axis may be indicated by three arrows.
  • the controller 300 may automatically or manually determine the position information on the z-axis of the massage ball frame 700.
  • the controller 300 may control the z-axis movement module to move the massage ball frame based on the z-axis position information.
  • the user terminal 2200 may display a location where the user is currently receiving a massage. Alternatively, the user terminal 2200 may display a position of the massage module 2170 in the vertical direction. Referring to FIG. 11, an item 1111 may indicate a location where a user is currently receiving a massage. The item 1111 may be moved to the location where the user is currently receiving a massage when the location changes.
  • the controller 300 may display the item 1111 in various shapes or colors.
  • the shape or color of the item 1111 may have meaning.
  • the table 1110 describes the meaning of the item 1111 according to the color.
  • the color of the item 1111 may indicate the intensity of the massage.
  • the controller 300 may measure the intensity of the massage based on the load of the actuator. More specifically, the controller 300 may calculate information about the pressure applied by the massage module to the user based on load information of at least one of a vertical movement actuator, a z-axis movement module, a massage actuator, and a tapping actuator. The information on the pressure may be a value proportional to the pressure applied to the user.
  • the controller 300 may obtain information on the pressure applied to the user, such as W1 * A + W2 * B + W3 * C + W4 * D.
  • W1, W2, W3, and W4 may mean predetermined weights.
  • A, B, C, D may represent the load information of each actuator.
  • the above equation represents the case of 4 actuators. However, the present invention is not limited thereto, and the equation may be changed according to the number of actuators used to calculate the pressure applied to the user.
  • the control unit 300 may control the pressure information to be displayed on the display of the user terminal.
  • the item 1111 is red like the table 1110, it may indicate that the load applied to the actuator is high.
  • the item 1111 is red, it may indicate that the pressure applied to the user is strong.
  • the item 1111 is black, it may indicate that the load applied to the actuator is low.
  • the item 1111 is black, it may indicate that the pressure applied to the user is weak.
  • the controller 300 may control the display unit included in the user terminal to display information on the intensity of kneading or the intensity of tapping on the massage area.
  • the item 1123 may represent currently set kneading strength information or tapping strength information. Even if the item 1123 is set identically according to the user's body shape, the intensity felt by the user may be different. The intensity felt by the user may be indicated by the color of the item 1111.
  • the control unit 300 may modify the kneading intensity information or the tapping intensity information for the massage part based on the user's input.
  • the user terminal 2200 may include a touch screen or a button.
  • the user terminal 2200 may display an area 1122 indicating information on the strength of the kneading or the information on the strength of the tapping.
  • the button icon 1123 moves to the right, it may mean that the kneading intensity information or the tapping intensity information becomes stronger.
  • the button icon 1123 moves to the left in the area 1122, it may mean that the kneading strength information or the tapping strength information is weakened.
  • buttons 1123 may mean that the kneading strength information or the tapping strength information is weakened, or as the button icon 1123 moves to the left, the kneading strength information or the tapping strength information becomes stronger.
  • the controller 300 may control the display unit included in the user terminal to display the corrected kneading strength information or tapping strength information based on a user input.
  • the control unit 300 may increase the driving speed of the kneading actuator or the tapping actuator as the kneading intensity information or the tapping intensity information increases.
  • the control unit 300 may decrease the driving speed of the kneading actuator or the kneading actuator as the kneading strength information or the tapping strength information is weaker.
  • the controller 300 may control the current flowing through the kneading actuator or the tapping actuator, or by transmitting information about the speed to the kneading actuator or tapping actuator to control the speed of the kneading actuator or tapping actuator.
  • the controller 300 includes information included in the basic massage mode based on at least one of body shape information, z-axis position information of the massage ball frame for each massage part, kneading strength information for each massage part, or tapping intensity information for each massage part. Can be modified.
  • the massage mode may be information related to body type information, z-axis position information of the massage ball frame for each massage part, information on the kneading strength for each massage part, or information on the tapping strength for each massage part.
  • the massage mode may represent a combination of information on a massage sequence, a massage type, a massage time, a massage intensity, a massage position, a temperature of a massage device, or a massage posture.
  • the massage position may refer to a user's body part that the massage device 100 massages.
  • the massage device 100 may provide a massage to a user's body part by controlling the actuator in the corresponding part to move.
  • the type of massage may represent a motion of the massage apparatus 100 hitting a user, a massage motion, or a complex motion.
  • the massage device 100 may control the actuator to move based on information on the type of massage.
  • the massage time represents a time during which the massage device 100 provides a massage to a user.
  • the massage apparatus 100 may determine a time to provide a massage to a user based on information on the massage time.
  • the massage intensity represents the intensity at which the massage device 100 presses, kneads, or taps a user.
  • the massage device 100 may control the actuator to adjust the intensity of pressing, kneading, or tapping the user.
  • the intensity of pressing, kneading, or tapping the user may vary depending on the body part.
  • the temperature of the massage device may be adjusted.
  • the temperature of the massage device 100 may vary depending on the body part.
  • the massage device 100 may lower or increase the temperature of the massage device below room temperature.
  • the massage device 100 may cool or warm a user's body part.
  • the massage posture may represent a posture taken when a user sits on the massage device 100 and receives a massage.
  • the shape of the massage device 100 may be changed by a driving unit or an actuator, and based on the shape of the massage device 100, the user is laid down, the user is raised, the user's leg is bent, the user's leg You can open it.
  • the massage order represents a change over time in information about the intensity of the massage, the location of the massage, the temperature of the massage device, or the massage posture.
  • the massage device 100 may provide various massages according to time based on a massage sequence. For example, the user's leg may be intensively massaged during the first hour, and the user's back may be intensively massaged during the second hour.
  • the basic massage mode may be an initial value stored in a memory.
  • the massage device may store a basic massage mode suitable for a user's standard body type in a memory.
  • the controller 300 may manually or automatically acquire information on the user's body type, z-axis position information of the massage ball frame for each massage part, information on the kneading strength for each massage part, or information on the tapping strength for each massage part.
  • the controller 300 may modify the basic massage mode based on information acquired manually or automatically.
  • the controller 300 may store the modified massage mode in the memory.
  • the controller 300 may store a massage mode modified based on a user's input in a memory. For example, the user may press the area 1025 of the user terminal 2200.
  • the controller 300 may store the current modified massage mode in the memory based on the user's input.
  • FIG. 12 is a diagram illustrating a user terminal according to an embodiment of the present disclosure.
  • the controller 300 may provide a massage to the user based on the stored massage mode. Since it is stored and the massage mode is specialized for the user, the massage device 100 may provide a more comfortable massage to the user.
  • the controller 300 may receive an input for selecting a modified massage mode from the user terminal. Specifically, the user terminal 2200 may receive a signal indicating that the user taps the item 1210 indicating “automatic massage”. The user terminal 2200 may output a plurality of stored massage modes. The user terminal 2200 may receive a signal indicating that the user has selected an item 1220 representing one mode from among a plurality of stored massage modes. The user terminal 2200 may transmit the selected massage mode to the controller 300. The selected massage mode may be a modified massage mode previously described. The controller 300 may provide a massage to the user based on the modified massage mode.
  • the controller 300 may identify a user and automatically select a massage mode based on the user's identification information. For example, the controller 300 may acquire user identification information based on fingerprint information, ID-password, iris information, DNA information, and face information.
  • the modified massage mode stored in the memory may correspond to user identification information.
  • the controller 300 may automatically select a modified massage mode corresponding to the user's identification information from the memory.
  • the massage device 100 can increase the user's convenience.
  • FIG. 13 is a diagram for describing an operation of a user terminal according to an embodiment of the present disclosure.
  • the user may display a portion currently receiving a massage as a picture, but the present invention is not limited thereto. This will be described with reference to FIG. 13.
  • the user terminal 2200 may include a display unit.
  • the controller 300 may control the display unit of the user terminal to display information on the user's body part corresponding to the current position of the massage module.
  • the controller 300 may control information on a user's body part corresponding to the current position of the massage module to be displayed as text. In addition, the controller may display information on the user's body part corresponding to the current position of the massage module differently from information on other body parts.
  • information on the user's body part corresponding to the current position of the massage module may be displayed in bold letters than information on other parts.
  • information on the user's body part corresponding to the current position of the massage module may be displayed in larger letters than information on other parts.
  • information on the user's body part corresponding to the current position of the massage module may be displayed in darker text than information on other parts. The user can easily identify the area currently receiving massage on the display.
  • information on the body part of the user corresponding to the current position of the massage module may be displayed together with an indicator (indicator) or a highlight.
  • the indicator or highlight may have a square shape surrounding information on a body part.
  • the present invention is not limited thereto, and information on the user's body part corresponding to the current position of the massage module may be drawn in a color different from that of other parts.
  • information on the user's body part corresponding to the current position of the massage module may blink.
  • an indicator or highlight displayed together with information on the user's body part corresponding to the current position of the massage module may blink.
  • the user terminal 2200 may variously display information on a user's body part corresponding to the current position of the massage module.
  • the controller 300 may change the display of the user terminal when information on the user's body part corresponding to the current position of the massage module is changed. For example, when information on the user's body part is changed from the first part to the second part, the display of the user terminal may be changed from the area 1340 of FIG. 13 to the area 1350 of FIG. 13. That is, the indicator or highlight may be positioned at the first portion and then positioned at the second portion.
  • the present invention is not limited thereto, and a portion currently receiving a massage by the user may be displayed in various ways described above.
  • the controller 1310 may activate a massage intensity adjustment item 1331 related to information on a user's body part corresponding to the current position of the massage module. Conversely, the massage intensity adjustment item 1332 related to information on the remaining body parts may be deactivated. Accordingly, the user can easily adjust the intensity of the massage in the area currently receiving the massage.
  • the user may adjust the massage intensity adjustment item 1331 based on the touch pad of the user terminal.
  • the user can adjust the massage intensity adjustment item 1331 on the physical button.
  • FIG. 14 is a diagram for describing an operation of a user terminal according to an embodiment of the present disclosure.
  • the controller 300 may receive massage information corresponding to information on the user's body part corresponding to the current position of the massage module from the user terminal in real time.
  • the user may drag the item 1411 of the user terminal 2200 to the right while sitting on the massage device and receiving a massage.
  • the user terminal 2200 may receive an input for dragging the item 1411 to the right.
  • the user terminal 2200 may display the item 1411 displayed on the display unit to be dragged based on at least one of a mouse, a touch panel, and a button.
  • the user terminal 2200 may generate massage intensity information indicating that the user desires to increase the intensity of the massage for the first portion.
  • the first part may be a part where the user is currently receiving a massage.
  • the user terminal 2200 may transmit massage intensity information to the controller 300.
  • the controller 300 may receive massage intensity information as massage information.
  • the massage information may include at least one of z-axis position information, kneading strength information, and tapping strength information of the massage ball frame.
  • the controller 300 may control at least one of a z-axis movement module, a massage actuator, and a tapping actuator based on the massage information.
  • the controller 300 may control the massage ball frame to move toward the user by the z-axis movement module.
  • the controller 300 may control the kneading intensity information included in the massage information to move faster.
  • the controller 300 may control the tapping actuator to move faster.
  • the controller 300 may control the massage ball frame to move to the opposite side of the user by the z-axis movement module.
  • the controller 300 may control the kneading actuator to move slowly.
  • the controller 300 may control the tapping actuator to move slowly.
  • controller 300 may modify information included in the massage mode based on the massage information.
  • the controller 300 may store the modified massage mode in the memory.
  • the controller 300 may provide a massage to the user by reflecting the user's input in real time.
  • the massage information received in real time can be stored and used when providing a massage to a user in the future. Therefore, the user can receive a desired massage even if a small amount of input is input to the massage device.
  • FIG. 15 is a view showing the operation of the massage device according to an embodiment of the present disclosure.
  • the massage device may include a massage module providing a massage function to at least a portion of a user's body, a user terminal including a user input unit and a display unit, and a control unit controlling the massage device.
  • the massage module may include a massage ball frame including a plurality of arms extending in different directions, at least two massage balls provided in the massage ball frame, and a vertical movement actuator for moving the massage module in the vertical direction.
  • the massage apparatus 100 may perform an operation 1510 of controlling the display unit of the user terminal to display information on the user's body part corresponding to the current position of the massage module by the controller.
  • the massage apparatus 100 may perform an operation 1520 of receiving massage information corresponding to information on the user's body part in real time from the user terminal.
  • the massage apparatus 100 may perform an operation 1530 of controlling at least one of a z-axis movement module, a kneading actuator, and a tapping actuator based on the massage information. Since the detailed description has already been described, a duplicate description will be omitted.
  • the operating method of the massage device 100 may be performed by a processor and a memory. Specifically, the processor may perform each step based on an instruction stored in the memory.
  • the above-described embodiments of the present invention can be written as a program that can be executed on a computer, and can be implemented in a general-purpose digital computer that operates the program using a computer-readable recording medium.
  • the computer-readable recording medium includes storage media such as magnetic storage media (eg, ROM, floppy disk, hard disk, etc.) and optical reading media (eg, CD-ROM, DVD, etc.).

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Rehabilitation Therapy (AREA)
  • Dermatology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Massaging Devices (AREA)

Abstract

La présente invention concerne un dispositif de massage reconnaissant la forme du corps, le dispositif de massage comprenant : un module de massage pour fournir une fonction de massage à au moins une partie du corps d'un utilisateur ; un terminal utilisateur comprenant une unité d'entrée d'utilisateur et une unité d'affichage ; et une unité de commande pour commander le dispositif de massage, l'unité de commande commandant l'unité d'affichage du terminal utilisateur pour afficher des informations sur la partie du corps de l'utilisateur correspondant à une position actuelle du module de massage, recevant des informations de massage correspondant aux informations sur la partie du corps de l'utilisateur à partir du terminal utilisateur, et commandant au moins l'un d'un module de mouvement d'axe z, un actionneur de malaxage, et un actionneur de tapotement sur la base des informations de massage, et les informations de massage comprenant au moins l'une des informations de position d'axe z, des informations d'intensité de malaxage et des informations d'intensité de tapotement d'un cadre de boule de massage.
PCT/KR2020/016003 2019-11-15 2020-11-13 Dispositif de massage capable de reconnaître la forme du corps et procédé de commande associé WO2021096294A1 (fr)

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KR1020190146379A KR102358863B1 (ko) 2019-11-15 2019-11-15 체형 인식이 가능한 마사지 장치 및 이의 제어 방법
KR10-2019-0146379 2019-11-15

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CN114747901A (zh) * 2022-05-05 2022-07-15 东莞戎马家具有限公司 一种多功能软体沙发
CN116077071A (zh) * 2023-02-10 2023-05-09 湖北工业大学 一种智能康复按摩方法、机器人及存储介质

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KR102494124B1 (ko) * 2021-09-10 2023-01-31 주식회사 바디프랜드 혈압을 위한 마사지를 제공하는 마사지 장치 및 마사지 장치의 동작 방법

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CN116077071B (zh) * 2023-02-10 2023-11-17 湖北工业大学 一种智能康复按摩方法、机器人及存储介质

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