A 5D massage mechanism with force feedback control

Abstract

This invention discloses a 5D massage mechanism with force feedback control, comprising a main body, a left arm, and a right arm, as well as a left massage head and a right massage head. The left massage head includes a left rotating shaft and a left massage roller, and the right massage head includes a right rotating shaft and a right massage roller. A first single-axis force sensor is disposed between the left massage roller and the left rotating shaft, and a second single-axis force sensor is disposed between the right massage roller and the right rotating shaft. The left and right rotating shafts are arranged parallel to each other. The first and second single-axis force sensors are respectively disposed on the left and right rotating shafts in the direction facing the user, and are staggered in the circumferential direction of the left rotating shaft. A control system is also included, connected to the main body. The control system calculates the resultant force applied by the user to the left and right massage heads based on the pressure detected by the first and second single-axis force sensors.

Description

Technical Field

[0001] This invention relates to a 5D massage mechanism with force feedback control. Background Technology

[0002] In today's fast-paced life, sub-health conditions are receiving increasing attention. Simultaneously, with rapid economic development and improved living standards, the demand for health maintenance and leisure is growing stronger. Due to the benefits of massage, such as relieving muscle fatigue and promoting blood circulation, the lifestyle of daily massage is rapidly becoming popular. Massage chairs, as the culmination of continuous simulation and improvement of real massage, are also gaining acceptance. However, most massage chairs on the market currently use 3D or lower-level mechanisms, and their massage functions cannot meet people's growing material and spiritual needs.

[0003] This proposal aims to address the aforementioned issues by providing a force feedback mechanism for detecting the massage intensity applied to the human body. This mechanism can meet the requirements of 5D massage cores for adaptive massage intensity, thereby enabling massage chairs to provide a more personalized and comfortable massage experience and satisfy people's increasingly higher demands for health and wellness. Summary of the Invention

[0004] To address the aforementioned technical problems, the present invention aims to provide a 5D massage mechanism with force feedback control, so as to achieve adaptive response of the mechanism to the massage intensity.

[0005] This invention is achieved through the following technical solution:

[0006] A 5D massage mechanism with force feedback control includes a main body and a left arm and a right arm that cooperate with the main body. The left arm and the right arm are respectively provided with a left massage head and a right massage head for massaging the user. The left massage head includes a left rotating shaft and a left massage wheel, and the right massage head includes a right rotating shaft and a right massage wheel. A first single-axis force sensing device is provided between the left massage wheel and the left rotating shaft, and a second single-axis force sensing device is provided between the right massage wheel and the right rotating shaft. The left rotating shaft and the right rotating shaft are arranged parallel to each other.

[0007] The first single-axis force sensor and the second single-axis force sensor are respectively arranged in the direction of the left and right rotating axes toward the user, and the first single-axis force sensor and the second single-axis force sensor are staggered in the circumferential direction of the left rotating axis in order to detect the pressure of the user on the left and right massage rollers in different directions.

[0008] It also includes a control system connected to the main body. The first single-axis force sensor and the second single-axis force sensor are connected to the control system. The control system calculates the combined force applied by the user to the left and right massage heads based on the pressure detected by the first and second single-axis force sensors, thereby adjusting the push-out amount of the left and right swing arms to change the massage intensity to suit different users.

[0009] The 5D massage mechanism with force feedback control of the present invention has the following beneficial effects:

[0010] By using a non-coplanar arrangement of the first and second single-axis force sensors, i.e., staggered arrangement of the two relative to the left-hand rotation axis, the pressure applied by the user in different directions on the left and right massage heads is detected. The approximate direction and magnitude of the combined force are calculated, and the optimal massage experience for different users is analyzed based on the pressure applied by the combined force. This allows for adjustments to the massage intensity to suit different users and achieve flexible and personalized results. Attached Figure Description

[0011] To more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of the present invention.

[0013] Figure 2 This is a massage illustration of the present invention. Figure 1 .

[0014] Figure 3 This is a massage illustration of the present invention. Figure 2 .

[0015] Figure 4 yes Figure 1 Schematic diagram of the first and second uniaxial force sensing devices.

[0016] Figure 5 yes Figure 4 A sectional view.

[0017] Figure 6 This is a diagram showing the left and right massage heads.

[0018] Figure 7 This is a diagram of the left and right massage arms.

[0019] In the diagram: 100 - Body; 101 - Ejection transmission gear; 102 - Angle encoder; 103 - Induction switch; 111 - Left swing arm; 112 - Right swing arm; 121 - Left massage roller; 122 - Right massage roller; 123 - Sink; 131 - First single-axis force sensor; 132 - Second single-axis force sensor; 141 - First sensing line; 142 - Second sensing line; 151 - Fixing component; 152 - Threaded hole; 153 - Protrusion; 154 - Sensing surface; 155 - Arc-shaped surface; 156 - Plane; 161 - First fastener; 162 - Second fastener; 171 - First through hole; 172 - Second through hole; 173 - Third through hole; 181 - Left rotating shaft; 182 - Right rotating shaft. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Referring to the accompanying drawings, a 5D massage mechanism with force feedback control includes a body 100 and a left arm 111 and a right arm 112 fitted onto the body 100. The left arm 111 and the right arm 112 are respectively provided with a left massage head and a right massage head for massaging the user. The left massage head includes a left rotating shaft 181 and a left massage roller 121, and the right massage head includes a right rotating shaft 182 and a right massage roller 122. A first single-axis force sensing device 131 is provided between the left massage roller 121 and the left rotating shaft 181, and a second single-axis force sensing device 132 is provided between the right massage roller 122 and the right rotating shaft 182. The left rotating shaft 181 and the right rotating shaft 182 are arranged parallel to each other.

[0022] Furthermore, the first single-axis force sensor 131 and the second single-axis force sensor 132 are respectively arranged on the left rotating shaft 181 and the right rotating shaft 182 in the direction facing the user, and the first single-axis force sensor 131 and the second single-axis force sensor 132 are staggered in the circumferential direction of the left rotating shaft 181 in order to detect the pressure of the user on the left massage roller 121 and the right massage roller 122 in different directions.

[0023] It also includes a control system connected to the main body 100. The first single-axis force sensor 131 and the second single-axis force sensor 132 are connected to the control system. The control system calculates the combined force applied by the user to the left and right massage heads based on the pressure detected by the first single-axis force sensor 131 and the second single-axis force sensor 132, thereby adjusting the push-out amount of the left swing arm 111 and the right swing arm 112 to change the massage intensity to suit different users.

[0024] In this invention, the first uniaxial force sensing device 131 and the second uniaxial force sensing device 132 have the same model.

[0025] In addition, the present invention also includes a first sensing line 141 and a second sensing line 142, which are used to connect to a control system. The control system can calculate the resultant force and direction applied by the user based on the pressure feedback of the first single-axis force sensing device 131 and the second single-axis force sensing device 132, thereby adjusting the push-out amount of the left swing arm 111 and the right swing arm 113 to change the massage intensity to suit different users.

[0026] Furthermore, the angle between the first uniaxial force sensing device 131 and the second uniaxial force sensing device 132 in the circumferential direction of the left rotation axis 181 ranges from 5° to 90°. Specifically, each of the first uniaxial force sensing device 131 and the second uniaxial force sensing device 132 is provided with a sensing surface 154, and the sensing surfaces of the two are not on the same plane, so the preferred angle range can be set between 5° and 90°.

[0027] Furthermore, angle detectors are respectively installed on the left swing arm 111 and the right swing arm 112, and these angle detectors are connected to the control system. When not in operation, the left rotation shaft 181 and the right rotation shaft 182 are aligned with each other. Only when the left rotation shaft 181 and the right rotation shaft 182 are parallel to each other can they better receive and calculate the pressure applied by the user, ensuring accuracy.

[0028] After operation, the angle detector detects the angles of the left and right swing arms 111 and 112. When the left and right swing arms 111 and 112 rotate at different angles, causing the left and right rotating shafts 181 and 182 to misalign, the control system does not calculate the resultant force applied by the user to the left and right massage heads. The purpose is to ensure that the pressure applied by the user to the left and right massage heads is uniform only when the left and right rotating shafts 181 and 182 are aligned. If the left and right rotating shafts 181 and 182 are misaligned, and the massage mechanism is performing a tapping motion, only one massage head momentarily bears the user's pressure. If the resultant force applied by both is calculated and fed back at this time, a certain error will occur.

[0029] Furthermore, the first single-axis force sensing device 131 and the second single-axis force sensing device 132 each include a sensing surface 154. Both sensing surfaces 154 are strip-shaped structures and are respectively arranged parallel to each other on the outer peripheral surfaces of the left rotating shaft 181 and the right rotating shaft 182, and are in contact with the left massage roller 121 and the right massage roller 122. When the user applies pressure to the left massage roller 121 and the right massage roller 122, the left massage roller 121 and the right massage roller 122 will transmit the pressure to the sensing surface 154, thereby receiving the pressure.

[0030] In addition, guide grooves are provided in the left rotating shaft 181 and the right rotating shaft 182 respectively. The first single-axis force sensing device 131 also includes a first sensing line 141, and the second single-axis force sensing device 132 also includes a second sensing line 142. The first sensing line 141 and the second sensing line 142 are respectively fitted in the two guide grooves.

[0031] A fixing member 151 is provided at one end of the left pivot 181 and the right pivot 182 near the left swing arm 111 and the right swing arm 112. The fixing member 151 is connected to the left swing arm 111 and the right swing arm 112, and the fixing member 151 partially wraps and fixes the first sensing line 141 and the second sensing line 142.

[0032] The aforementioned connection arrangement between the first sensor line 141 and the second sensor line 142 achieves a concealment effect.

[0033] In a preferred embodiment, the first single-axis force sensing device 131 and the second single-axis force sensing device 132 are set at a 90° angle in the circumferential direction of the left rotation axis 181. That is, the sensing surface of the first single-axis force sensing device 131 and the sensing surface of the second single-axis force sensing device 132 are set at a 90-degree angle. The reason for this is that setting a 90-degree angle in the orthogonal decomposition of forces makes it easier to calculate the magnitude and direction of the resultant force, thereby simplifying the calculation logic of the control system.

[0034] Furthermore, the first uniaxial force sensor 131 and the second uniaxial force sensor 132 in this application are of the same model. The sensing surface 154 hidden within the left rotating shaft 181 and the right rotating shaft 182 is used to receive the force applied by the user, and outputs it to the control system via the first sensing line 141 and the second sensing line 142 hidden within the left rotating shaft 181 and the right rotating shaft 182 through the fixing member 151, thereby calculating the magnitude and direction of the force applied by the user. (See the appendix to the specification.) Figure 2 Instruction manual attached Figure 3 As shown, the first single-axis force sensor 131 detects the component force in the Y-axis direction, and the second single-axis force sensor 132 detects the component force in the Z-axis direction. The control system uses this to determine the magnitude and direction of the resultant force, thereby obtaining the pressure applied by the user. Based on this pressure, the system makes a judgment and adjusts the massage force value to be most suitable for the user, achieving self-adaptation and personalization.

[0035] Furthermore, the left rotating shaft 181 and the right rotating shaft 182 are provided with threaded holes 152 at the ends away from the left swing arm 111 and the right swing arm 112, and the left massage roller 121 and the right massage roller 122 are provided with grooves 123 for cooperating with the left rotating shaft 181 and the right rotating shaft 182, and the end of the groove 123 away from the left swing arm 111 and the right swing arm 112 is provided with an opening.

[0036] It also includes a first fastener 161, which locks the left massage roller 121 and the right massage roller 122 onto the left rotating shaft 181 and the right rotating shaft 182 through the opening and threaded hole 152.

[0037] Furthermore, the fixing member 151 is also provided with a protrusion 153, which is a D-shaped block. The D-shaped block includes an arc surface 155 and a plane 156. The plane 156 faces the same direction as the sensing surface 154 on the first uniaxial force sensing device 131 and the second uniaxial force sensing device 132, so that the user knows the position of the sensing surface 154.

[0038] In addition, the left swing arm 111 and the right swing arm 112 are provided with a first through hole 171 that mates with the D-shaped block. The periphery of the first through hole 171 is provided with a second through hole 172 for locking with the fixing member 151. The fixing member 151 is provided with a third through hole 173 that mates with the second through hole 172.

[0039] In this application, the first through hole 171 is an opening adapted to the shape of the protrusion 153, and the plane 156 of the D-shaped block adapted to the left swing arm 111 and the right swing arm 112 is set at a 90-degree angle to correspond to the sensing surface 154 which is set at a 90-degree angle.

[0040] It also includes a second fastener 162, which fixes the fixing member 151 to the left swing arm 111 and the right swing arm 112 through the second through hole 172 and the third through hole 173.

[0041] Furthermore, the main body 100 also includes an ejector transmission gear 101 that is connected to the left swing arm 111 and the right swing arm 112. The ejector transmission gear 101 is connected to an angle encoder 102, which is connected to an inductive switch 103. The inductive switch 103 and the angle encoder 102 are also connected to the control system to provide feedback on the changes in the ejector angle of the left swing arm 111 and the right swing arm 112, and thereby correct the angle deflection of the force relative to the coordinate system of the left massage head 121 and the right massage head 122 during the change of ejection amount, thereby improving the accuracy of calculating the direction and magnitude of the force on the user.

[0042] More specifically, the control system can adjust the relative force coordinate system of the first single-axis force sensor 131 and the second single-axis force sensor 132 according to the change in the ejection angle of the left swing arm 111 and the right swing arm 112. (Refer to the appendix of the instruction manual.) Figure 2 , 3 As shown in the instruction manual appendix Figure 2 In this state, when the user applies force to the left massage head 121 and the right massage head 122, the force is decomposed into Figure 2 On the force coordinate system under the given state position. When the left swing arm 111 and the right swing arm 112 are pushed out to... Figure 3 In the current position, if the force coordinate systems of the left massage head 121 and the right massage head 122 are not corrected accordingly, assuming they remain in the current position... Figure 2 If the force distribution is not accurate, the direction of the force applied to the user will be less precise. Therefore, when the extension of the left arm 111 and the right arm 112 changes, the inductive switch 103 and the angle encoder 102 will work together to read the change in the rotation of the arms. This will allow the control system to correct the angular deflection of the relative force coordinate system of the left massage head 121 and the right massage head 122 after the change in their relative coordinates, thereby improving and ensuring the accuracy of the force calculation and judgment.

[0043] Furthermore, the control system includes a data acquisition unit, a data processing unit, and a massage mechanism drive unit.

[0044] The data acquisition unit collects pressure data in different directions detected by the first uniaxial force sensor 131 and the second uniaxial force sensor 132 through the first sensor line 141 and the second sensor line 142.

[0045] The data processing unit processes and calculates the collected pressure data, and calculates the magnitude of the resultant force on the first uniaxial force sensing device 131 and the second uniaxial force sensing device 132.

[0046] Adjusting the force output value, the massage core drive unit executes the adjusted force output value, controlling the ejection transmission gear 101 to adjust the ejection amount to change the position of the left and right massage heads.

[0047] The data processing unit also works with the connected angle encoder 102 and the inductive switch 103 to calculate the new relative coordinate system after the first single-axis force sensor 131 and the second single-axis force sensor 132 are transformed after the ejection amount of the ejection transmission gear 101 is changed, and makes adjustments in real time.

[0048] In this application, the data processing unit processes and calculates the collected pressure data using a PID algorithm, thereby adjusting the force output value.

[0049] During use, the user reclines against the back of the massage chair, applying force to the left massage roller 121 and right massage roller 122. The data acquisition unit measures the force applied by the user to the left and right massage rollers 121 and 122 via the first sensor line 141 and the second sensor line 142. In this application, the left massage roller 121 collects the component of the resultant force along the Y-axis, and the right massage roller 122 collects the component of the resultant force along the Z-axis. The data acquisition unit transmits the collected Y-axis and Z-axis components to the data processing unit for calculation, determining the magnitude of the resultant force and thus the force exerted by the user.

[0050] Since there is an optimal massage force value, the data processing unit adjusts the ejection amount by controlling the ejection transmission gear 101 to change the ejection amount of the left swing arm 111 and the right swing arm 112 in order to achieve the optimal massage force value.

[0051] During the process of the ejector transmission gear 101 rotating and ejecting, the data acquisition unit transmits the rotation angle collected by the induction switch 103 and the angle encoder 102 to the data processing unit in real time, thereby adjusting the force coordinate system of the left massage head 121 and the right massage head 122 in real time to ensure that the force can be calculated by orthogonal decomposition and to ensure uniformity.

[0052] According to the above process in this embodiment, the control system collects direct force feedback and adjusts the force output value through a PID algorithm, so that the force detection forms an automatic control closed loop of detection feedback and force adjustment, thereby ensuring the stability and consistency of the force output.

[0053] The foregoing description illustrates and describes preferred embodiments of the present invention. As previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A 5D massage mechanism with force feedback control, comprising a main body and a left and right swing arm fitted on the main body, wherein the left and right swing arms are respectively provided with a left massage head and a right massage head for massaging a user, the left massage head comprising a left rotating shaft and a left massage wheel, and the right massage head comprising a right rotating shaft and a right massage wheel, characterized in that: A first single-axis force sensing device is provided between the left massage roller and the left rotating shaft, and a second single-axis force sensing device is provided between the right massage roller and the right rotating shaft. The left rotating shaft and the right rotating shaft are arranged parallel to each other. The first single-axis force sensor and the second single-axis force sensor are respectively arranged in the direction of the left and right rotating axes toward the user, and the first single-axis force sensor and the second single-axis force sensor are staggered in the circumferential direction of the left rotating axis in order to detect the pressure of the user on the left and right massage rollers in different directions. It also includes a control system, which is connected to the main body. The first single-axis force sensing device and the second single-axis force sensing device are connected to the control system. The control system calculates the combined force applied by the user to the left and right massage heads based on the pressure detected by the first and second single-axis force sensing devices, thereby adjusting the push-out amount of the left and right swing arms. An angle detector is provided on the left and right swing arms respectively, and the angle detector is connected to the control system. When not in operation, the left and right rotation axes are aligned with each other; After operation, the angle detector is used to detect the angles of the left and right swing arms. When the left and right swing arms rotate at different angles, causing the left and right rotation axes to be misaligned, the control system does not calculate the resultant force applied by the user to the left and right massage heads at this time. The control system adjusts the relative force coordinate system of the first and second single-axis force sensors according to the change in the ejection angle of the left and right swing arms.

2. The 5D massage mechanism with force feedback control according to claim 1, characterized in that: The angle between the first single-axis force sensing device and the second single-axis force sensing device in the circumferential direction of the left-turning shaft is between 5° and 90°.

3. A 5D massage mechanism with force feedback control according to claim 1, characterized in that: The first single-axis force sensing device and the second single-axis force sensing device each include a sensing surface. Both sensing surfaces are strip-shaped structures. The two sensing surfaces are respectively arranged parallel to each other on the outer peripheral surfaces of the left rotating shaft and the right rotating shaft and are in contact with the left massage roller and the right massage roller.

4. A 5D massage mechanism with force feedback control according to claim 3, characterized in that: The left and right rotating shafts are respectively provided with guide grooves. The first single-axis force sensing device also includes a first sensing line, and the second single-axis force sensing device also includes a second sensing line. The first sensing line and the second sensing line are respectively fitted into the two guide grooves.

5. A 5D massage mechanism with force feedback control according to claim 4, characterized in that: The left and right rotating shafts are provided with a fixing member at one end near the left and right swing arms, respectively. The fixing member is connected to the left and right swing arms and partially wraps and fixes the first and second sensing lines.

6. A 5D massage mechanism with force feedback control according to claim 4, characterized in that: The left and right rotating shafts are provided with threaded holes at the ends away from the left and right swing arms, respectively. The left and right massage rollers are provided with grooves for engaging with the left and right rotating shafts, and the ends of the grooves away from the left and right swing arms are provided with openings. It also includes a first fastener, which locks the left massage head and the right massage head onto the left rotating shaft and the right rotating shaft through the opening and the threaded hole.

7. A 5D massage mechanism with force feedback control according to claim 5, characterized in that: The fixing member is also provided with a protrusion, which is a D-shaped block. The D-shaped block includes an arc surface and a plane, and the plane faces the same direction as the sensing surface on the first uniaxial force sensing device and the second uniaxial force sensing device.

8. A 5D massage mechanism with force feedback control according to claim 7, characterized in that: The left and right swing arms are provided with a first through hole that mates with the D-shaped block. A second through hole for locking with a fastener is provided around the first through hole. The fastener is provided with a third through hole that mates with the second through hole. It also includes a second fastener, which securely connects the fixing member to the left and right swing arms through the second and third through holes.

9. A 5D massage mechanism with force feedback control according to any one of claims 1-8, characterized in that: The main body also includes an ejector transmission gear that is connected to the left swing arm and the right swing arm. The ejector transmission gear is connected to an angle encoder, and the angle encoder is connected to an inductive switch. The inductive switch and the angle encoder are also connected to the control system to provide feedback on the changes in the ejector angle of the left swing arm and the right swing arm. The control system adjusts and corrects the relative force coordinate system of the first single-axis force sensor and the second single-axis force sensor according to the change in the ejection angle of the left and right swing arms.

10. A 5D massage mechanism with force feedback control according to claim 9, characterized in that: The control system includes a data acquisition unit, a data processing unit, and a massage mechanism drive unit; The data acquisition unit obtains pressure data in different directions from the first and second uniaxial force sensing devices. The data processing unit processes and calculates the collected pressure data, and calculates the magnitude and direction of the resultant force on the first uniaxial force sensing device and the second uniaxial force sensing device. The massage mechanism drive unit adjusts the force output value and controls the ejection transmission gear to adjust the ejection amount to change the position of the left and right massage heads. The data processing unit is also connected to an angle encoder and a sensor switch to calculate the new relative coordinate system of the first single-axis force sensor and the second single-axis force sensor after the ejection amount of the ejection transmission gear is changed, and to make adjustments in real time.

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