Massage device providing arm stretching mode and control method of massage device

Abstract

According to one embodiment of the present invention, the massage apparatus comprises: a body massage unit for massaging at least a part of the body of a user; an arm massage unit which is disposed on a side portion of the body massage unit, accommodates an arm of the user, and performs a massage operation with the accommodated arm as a target; the driving module enables the arm massage part to rotate or move in at least one direction; and a control unit that controls the output of guide information that guides the application of a force in a first direction to the arm accommodated in the arm massage unit, and that controls the drive module so as to perform an arm stretching mode in which the force in the first direction is applied to the arm accommodated in the arm massage unit. The arm stretching mode is a mode in which the arm massage unit rotates or moves in a second direction, which is a direction opposite to the first direction.

Description

Technical Field

[0001] The present invention relates to a massage device including a rotatable arm massage part, and more particularly, to a massage device that can provide an arm stretching mode by using a sensor that detects an external force. Background Art

[0002] Massage refers to a medical auxiliary therapy that adjusts the user's biorhythm, helps blood circulation and relieves fatigue by applying or inducing various forms of mechanical stimulation to the user's body, such as kneading, pressing, stretching, patting or inducing activities.

[0003] With changes in eating habits, living patterns, activity areas, lifestyles, etc., and increasing interest in work-life balance, the demand for massage devices or massage equipment (hereinafter referred to as "massage devices") that can relax muscles, relieve tension, restore fatigue, relieve stress, etc. is increasing.

[0004] Recently, massage devices have gone beyond simply providing massage to the user's body and have also embodied the characteristics of electronic devices that provide various additional functions, convenience functions, medical assistance, etc.

[0005] In addition, based on ergonomic optimization or user eXperience (UX), research is also being conducted on combining the massage device with advanced mechanisms that perform rolling, rotation, expansion / contraction, movement, posture change, etc. of the massage device itself and individual modules in the massage device.

[0006] A part of the massage device includes a function to rotate the arm massage part, but this function is mainly driven in the form of opening and closing in the up and down directions when the user rides (sits, etc.) on the massage device, and is only used for limited purposes to ensure riding convenience or riding space. Summary of the invention

[0007] Problem that the invention aims to solve

[0008] The present invention is proposed in the above-mentioned background, and its purpose is to provide a massage device that detects the force applied by the user and rotates or moves the arm massage part so that it has moving characteristics opposite to the detected force, thereby achieving the same effect as arm stretching.

[0009] Other objects and advantages of the present invention can be understood through the following description and more clearly understood through the embodiments of the present invention. In addition, the objects and advantages of the present invention can be achieved through the structures described in the claims and the combination of the structures thereof.

[0010] The technical problems to be solved by the present invention are not limited to the problems mentioned above, and those skilled in the art can clearly understand other problems not mentioned according to the invention contents described below.

[0011] Means used to solve problems

[0012] A massage device according to an embodiment of the present invention for achieving the above-mentioned purpose may include: a body massage part for massaging at least a part of a user's body; an arm massage part for accommodating the user's arm and performing massage actions on the accommodated arm; a drive module for rotating or moving the arm massage part in at least one direction; and a control part for controlling output of guide information, wherein the guide information guides application of a force in a first direction to the arm accommodated in the arm massage part, and the control part controls the drive module so as to perform an arm stretching mode, wherein the arm stretching mode is a mode in which the arm massage part rotates or moves in a second direction which is an opposite direction to the first direction.

[0013] The massage device according to an embodiment of the present invention may further include a detection sensor for detecting the force applied by the arm. In this case, the control unit of the present invention may control the arm stretching mode only when the force in the first direction is detected by the detection signal input from the detection sensor.

[0014] In addition, when the magnitude of the detection signal is less than a first reference value while the arm massage part is rotating or moving, the control unit of the present invention may control the rotation of the arm massage part to be stopped. According to an embodiment, when the magnitude of the detection signal is less than a first reference value while the arm massage part is rotating or moving, the control unit of the present invention may control the output of the guidance information.

[0015] In this case, preferably, the first reference value of the present invention is set to be changeable according to user identification information or the user's selection.

[0016] In addition, the control unit of the present invention may control the arm massage unit so that the speed at which the arm massage unit rotates or moves in the second direction is proportional to the magnitude of the detection signal.

[0017] Preferably, the control unit of the present invention may control the arm massage unit to stop rotating or moving for a reference time more than once during the process of the arm massage unit rotating or moving in the second direction.

[0018] According to an implementation form, the control unit of the present invention may control the arm stretching mode to be performed only when the current angle of the arm massage unit is above the reference angle or the current position is above the reference position. Preferably, in this case, the reference angle or the reference position of the present invention is set to be changeable according to the user.

[0019] Specifically, the driving module of the present invention may include: a first driving module that rotates or moves the arm massage part in the up-down direction, and a second driving module that rotates or moves the arm massage part in the left-right direction.

[0020] In this case, the control unit may control one or more of the first driving module and the second driving module so that the arm massaging unit rotates or moves in a three-dimensional direction opposite to the first direction.

[0021] The detection sensor of the present invention may be a pressure sensor that is provided at the arm massage part and detects a force that pressurizes the inner side of the arm massage part when the arm is accommodated in the arm massage part.

[0022] The massage device according to an embodiment of the present invention may further include an air bag provided on the arm massage part.

[0023] In this case, when the detection signal is input from the detection sensor or the magnitude of the detection signal is equal to or greater than a second reference value, the control unit of the present invention controls the airbag to inflate.

[0024] In addition, when the arm massage part rotates or moves beyond a reference range, the control part of the present invention may control the airbag to contract.

[0025] The massage device according to an embodiment of the present invention may further include a second airbag disposed on the shoulder of the user. In this case, when the arm massage part rotates or moves, the control part of the present invention may control the second airbag to expand.

[0026] According to an embodiment of the present invention, the massage device can be configured to further include a history storage unit for storing history information, wherein the history information includes one or more of time series size information of the detection signal input from the detection sensor and energy consumption of driving the arm stretching mode.

[0027] According to another aspect of the present invention, a control method for a massage device, in which an arm stretching mode is provided, the massage device includes a body massage portion for massaging at least a part of a user's body and an arm massage portion for accommodating the user's arm and rotating or moving in at least one direction, may include: an information output step, controlling output guide information, wherein the guide information guides application of a force in a first direction to the arm accommodated in the arm massage portion; a signal input step, inputting a detection signal from a detection sensor, wherein the detection sensor detects the force applied by the arm accommodated in the arm massage portion; and a control step, based on the detection signal, controlling the arm massage portion to rotate or move in a second direction which is an opposite direction to the first direction.

[0028] Effects of the Invention

[0029] According to an embodiment of the present invention, since the rotation or movement of the arm massage part is controlled to have movement characteristics (magnitude or direction of rotation (movement)) opposite to the force applied by the user, the same effect as actual arm stretching can be provided to the user.

[0030] According to the present invention, since not only massage, which is an inherent function of the massage device, but also an arm stretching mode can be provided, not only the convenience of the user can be improved, but also the effectiveness of the massage device can be further improved.

[0031] According to one embodiment of the present invention, since not only arm movement modes can be provided along the horizontal direction and the vertical direction, but also arm stretching modes can be provided along various directions in the three-dimensional space combined with the horizontal direction and the vertical direction, not only the stretching effect can be further improved, but also it can have higher user orientation.

[0032] According to one embodiment of the present invention, the expansion and contraction of the airbag that pressurizes the user's arm is adaptively controlled in combination with the size of the external force, the rotation range or position of the arm massage part, etc., so as to provide a more three-dimensional stretching effect, such as providing feedback on the current state, etc., and can provide an arm stretching mode more safely and stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The following drawings attached to this specification are used to illustrate preferred embodiments of the present invention, and together with the detailed description of the invention described later, they play a role in more effectively understanding the technical concept of the present invention. Therefore, the present invention should not be interpreted as being limited to the matters shown in such drawings.

[0034] Figure 1 It is a figure which shows the massage device which concerns on Example of this invention.

[0035] Figure 2 It is a diagram showing the main framework of an embodiment of the present invention.

[0036] Figure 3 It is a diagram for explaining the components of the massage device according to the embodiment of the present invention.

[0037] Figure 4 It is a diagram for explaining a driving method of a massage device according to an embodiment of the present invention.

[0038] Figure 5a This is a diagram showing a state where the arm massage part according to an embodiment of the present invention is rotated in the up-down direction in the massage device.

[0039] Figure 5b This is a diagram showing a state where the arm massage part according to an embodiment of the present invention is rotated in the left-right direction in the massage device.

[0040] Figure 6 FIG. 1 is a diagram showing a state in which a rotating module part is connected to a main frame according to an embodiment of the present invention.

[0041] Figure 7 Is magnification Figure 6 Figure 1.

[0042] Figure 8a and Figure 8b It is a figure which shows the rotation module part and the arm massage part which concern on one embodiment of this invention.

[0043] Fig. 9 This is a diagram showing a state before the rotation module part and the arm massage part are connected according to an embodiment of the present invention.

[0044] Fig.10 It is a perspective view showing a second rotating part according to an embodiment of the present invention.

[0045] Fig.11 It is a bottom view showing the second rotating part according to one embodiment of the present invention.

[0046] Fig.12 This is a block diagram showing a specific structure of a massage device according to an embodiment of the present invention.

[0047] Fig.13 It is shown Fig.12 A block diagram of a specific structure of an embodiment of a control unit shown.

[0048] Fig.14 It is a flowchart illustrating the processing procedure of one embodiment of the present invention based on the behavioral structure of the present invention.

[0049] Fig.15 It is a flowchart for explaining the processing procedure of one embodiment of the present invention.

[0050] Fig.16It is a flowchart for explaining the processing procedure of another embodiment of the present invention.

[0051] Fig.17 This is a flowchart for explaining an embodiment of the present invention for performing an arm stretching mode.

[0052] Description of Reference Numerals

[0053] 100: Massage device AX1: First rotation center axis

[0054] AX2: Second rotation center axis 1000: Body massage part

[0055] 1005: protruding groove portion 1100: main frame

[0056] 1150: Module frame 1151: Base frame body

[0057] 1153a, 1153b: Side frame body

[0058] 2000, 2000A, 2000B: Leg massage department

[0059] 3000, 3000A, 3000B: Arm massage

[0060] 3100: Arm housing 3101: Joint protrusion

[0061] 3105, 5113, 5513: Rotating guide

[0062] 3110: Arm receiving part 3300: Arm massage main body

[0063] 3310: Arm massage body 3330: Arm movement guide

[0064] 3331: Guide plate 3335: Guide rail

[0065] 3500: Shoulder airbag 5000: Rotating module

[0066] 5100: first rotating part 5110, 5510: main housing

[0067] 5111, 5511: Stopper 5115, 5515: Rotational engagement groove

[0068] 5130, 5530: Rotating body 5150, 5550: Rotating drive unit

[0069] 5151, 5551: driving unit 5153, 5553: power transmission unit

[0070] 5153a, 5153b, 5153c, 5553a, 5553b, 5553c: gear

[0071] 5500: Second rotating unit

[0072] 110: Arm massage area 111: Airbag

[0073] 120: driving module 120A: first driving module

[0074] 120B: second driving module 130: detection sensor 130A (B, C, D): first (second, third, fourth) sensor 140: control unit 141: receiving unit 143: main control unit

[0075] 145: History storage unit 150: Second airbag

[0076] 160: Interface unit 161: Tactile (vibration) unit

[0077] 162: Screen display unit 163: Audio unit DETAILED DESCRIPTION

[0078] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Prior to this, the terms and words used in this specification and claims are not limited to the usual or dictionary meanings, but should be interpreted as meanings and concepts that conform to the technical ideas of the present invention based on the principle that the inventor can appropriately define the concepts of the terms to best explain his own invention.

[0079] Therefore, the embodiments described in this specification and the structures shown in the drawings are only the most preferred embodiments of the present invention and do not represent the technical ideas of the present invention. It should be understood that when submitting this application, there may be various equivalents and modifications that can replace them.

[0080] When it is mentioned that a certain component is “connected” or “coupled” to another component, it should be understood that it can be directly connected or coupled to the other component, or other components may be present between the two.

[0081] On the contrary, when it is mentioned that a certain component is “directly connected” or “directly coupled” to another component, it should be understood that there are no other components between the two. Other expressions used to describe the relationship between the components should also be interpreted in the same way.

[0082] The terms used in this specification are only used to illustrate specific embodiments and are not intended to limit the present invention. Unless otherwise clearly defined in the context, a singular expression includes a plural expression.

[0083] The terms "including" or "having" in this specification are used to specify the existence of the described features, numbers, steps, actions, constituent elements, components or combinations thereof. The terms "including" or "having" in this specification are used to specify the existence of the described features, numbers, steps, actions, constituent elements, components or combinations thereof. However, it should be understood that such terms do not preclude the existence or additional possibility of one or more other features, numbers, steps, actions, constituent elements, components or combinations thereof.

[0084] Unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs. Predefined terms commonly used should be interpreted as having meanings consistent with the meanings in the context of the relevant technology and should not be interpreted as ideal or overly formal meanings unless clearly defined in this specification.

[0085] The actuator in this specification refers to a structure that can provide driving force. For example, the actuator may include a motor, a linear motor, an electronic motor, a direct current (DC) motor, an alternating current (AC) motor, a linear actuator, an electric actuator, etc., but is not limited thereto.

[0086] In this specification, binaural beats may refer to audio information that can adjust a specific form of brain waves. In this specification, according to one embodiment, a massage device may refer to a massage device including a body massage portion and a leg massage portion. In addition, according to another embodiment, the body massage portion and the leg massage portion may exist as separate independent devices (e.g., a body massage device and a leg massage device) separated from each other, and the massage device may refer to a body massage device or a leg massage device.

[0087] Below, refer to the attached Figures 1 to 11 , first, the details of the invention such as the basic embodiment of the invention and the driving mechanism of the invention will be described, and later the details of the embodiment of the invention providing the arm motion mode will be described.

[0088] Figure 1 This is a diagram showing an embodiment of the massage device of the present invention.

[0089] The massage device 100 according to an embodiment of the present invention includes: a body massage part 1000, which forms an area for accommodating at least a part of the body of the user 10 and massaging the user's body; a leg massage part 2000, which is used to massage the user's legs; an arm massage part 3000; and a driving module part.

[0090] As described later, the driving module unit may include one or more of the following: a rotating module unit 5000, which rotates the arm massage unit 3000 in the upward and downward directions and / or left and right directions; an extension unit, which extends (expansion) or contracts (contraction) the length of the arm massage unit 3000; and a position adjustment unit, which adjusts the position of the arm massage unit 3000 in the upward and downward directions, etc.

[0091] The body massage part 1000 can provide massage to at least a part of the user's body. The body massage part 1000 may include: a massage module 1700, which provides a massage function to at least a part of the user's body; an audio output module 1500, which provides any form of audio output to the user; a main frame 1100, which constitutes the frame of the body massage part 1000; and a user input part 1400, which is used to receive any form of input from the user.

[0092] The above-mentioned structures of the body massage part 1000 are merely exemplary embodiments. In addition to the above-mentioned structures, the body massage part 1000 may further include various structures.

[0093] In addition, if Figure 1 The shape and structure of the massage device 100 shown are merely examples. Without departing from the scope of rights defined in the claims of the present invention, various forms of massage devices 100 should also fall within the scope of the present invention.

[0094] The body massage part 1000 may form a space of any form for accommodating the user. The body massage part 1000 may have a space of a form corresponding to the shape of the user's body. Figure 1 As shown, the body massage part 1000 can be implemented in a seated type capable of accommodating the entire body or a part of the body of the user 10 .

[0095] The portion of the body massage part 1000 that contacts the ground may include any material or any member (eg, an anti-slip pad, etc.) for increasing friction, and may include wheels for enhancing the mobility of the massage device 100 .

[0096] At least a portion of the body massage part 1000 can slide and move. For example, when the body massage part 1000 starts massaging, at least a portion of the body massage part 1000 can slide and move forward. In addition, the body massage part 1000 can be tilted backward. As a result, the body massage part 1000 can provide massage in a state of being tilted backward.

[0097] According to an embodiment of the present invention, the massage device 100 may include at least one airbag, which may be located at the user's shoulder, pelvic area, arm massage part 3000, leg massage part 2000, etc., but is not limited thereto and may be configured at multiple parts of the massage device 100.

[0098] The massage device 100 may include an air supply unit (not shown in the drawings), which can supply air to the airbag to expand the airbag. The air supply unit can be located inside the body massage part 1000 or the leg massage part 2000. In addition, the air supply unit can also be located outside the massage device 100.

[0099] The leg massage part 2000 may provide leg massage to the user. For example, the leg massage part 2000 may include a calf massage part for massaging the user's calf and / or a foot massage part for massaging the user's foot.

[0100] The length of the leg massage part 2000 can be adjusted according to the user's physical characteristics. For example, when a tall user uses the massage device 100, the length of the leg massage part 2000 needs to be lengthened due to the user's long calf length. In addition, when a short user uses the massage device 100, the length of the leg massage part 2000 needs to be shortened due to the user's short calf length. Therefore, the leg massage part 2000 can provide a leg massage that matches the user's height.

[0101] Reference Figure 1 , a plurality of leg massage parts 2000 may be provided, and the right foot and the left foot of the user 10 may be inserted into the plurality of leg massage parts 2000A and 2000B, respectively. A plurality of, specifically, a pair of leg massage parts 2000A and 2000B may be driven independently. The leg massage part 2000 will be described in detail later.

[0102] The massage module 1700 may be disposed inside the body massage part 1000 so as to provide any form of mechanical stimulation to the user accommodated in the body massage part 1000. Figure 1 The main frame 1100 inside the body massage part 1000 shown moves.

[0103] For example, the main frame 1100 of the body massage part 1000 may include a rack gear 1112, and the massage module 1700 provides mechanical stimulation to various parts of the user's body while moving along the rack gear 1112. The massage module 1700 may include a ball massage unit or a roller massage unit, but is not limited thereto.

[0104] The main frame 1100 is used to form the frame of the internal structure of the body massage part 1000, and can be made of metal materials and / or plastic materials, etc. For example, the main frame 1100 can be made of iron, alloy, steel, etc., but is not limited thereto, and can also be made of various solid materials.

[0105] Reference Figure 3 According to one embodiment of the present invention, the massage device 100 may include an audio output module 1500 .

[0106] The audio output module 1500 may be disposed in various positions. For example, the audio output module 1500 may include a plurality of output units, such as an upper audio output unit disposed at the upper end of the seat portion 1000a in contact with a user sitting on the massage device 100, a front audio output unit attached to the front ends of the arm massage portions 3000 on the left and right sides of the seat portion 1000a, and / or a rear audio output unit attached to the rear end of the arm massage portion 3000, but is not limited thereto.

[0107] According to an embodiment of the present invention, the seat portion 1000a provided in the massage device 100 may include: an upper body support portion for supporting the upper body of the user; and a lower body support portion for supporting the lower body of the user.

[0108] The upper body support part contacts and supports the user's upper body, specifically, from the head to the back, and the lower body support part contacts and supports the user's body, such as the buttocks and thighs, which are the lower areas of the upper body support part.

[0109] In this case, the audio output module 1500 can provide stereo sound such as 5.1 channels, but is not limited thereto.

[0110] According to an embodiment of the present invention, the user can use the massage device control device CD to control the massage device 100. The massage device control device CD can be connected to the massage device 100 through wired communication and / or wireless communication.

[0111] The massage device control device CD may include a remote controller, a cellular phone, a personal digital assistant (PDA), etc., but is not limited thereto, and may include various electronic devices that can be connected to the massage device 100 via wired communication or wireless communication.

[0112] Figure 2 It is used to illustrate Figure 1 Figure 1100 of the main frame, Figure 3 It is a diagram for explaining the components of a massage device according to an embodiment of the present invention.

[0113] According to an embodiment of the present invention, the massage device 100 may include at least one of a main frame 1100 , a control part 1200 , a storage part 1300 , a user input part 1400 , an audio output module 1500 , a network connection part 1600 , and a massage module 1700 .

[0114] The main frame 1100 may be a structure forming a skeleton of the body massaging part 1000 .

[0115] According to an embodiment of the present invention, the main frame 1100 may include a main frame provided with the massage module 1700 and a base frame 1130 for supporting the main frame.

[0116] The main frame may include a back frame 1110 for forming a frame of an upper body receiving portion of a user, and a seat frame 1120 for forming a frame of a seat portion.

[0117] A rack 1112 may be provided at least in part of the main frame. The rack 1112 is used to guide the body massage module to move in an up and down direction (in Figure 2 A moving component based on a reference (as a reference) may include multiple valleys and multiple ridges.

[0118] According to an embodiment of the present invention, the rack 1112 may be disposed on the main frame, specifically, on both sides of the back frame 1110 and the seat frame 1120 facing each other, and the body massage module may be able to move along the rack 1112 .

[0119] For example, the body massage module may include a gear meshed with the rack 1112, and the gear is rotated by an actuator provided in the body massage module, so that the body massage module can move upward or downward.

[0120] The rack 1112 may be made of metal material or plastic material. For example, the rack 1112 may be made of iron, steel, alloy, reinforced plastic, melamine resin, phenolic resin, etc., but is not limited thereto.

[0121] The main frame can be implemented in various shapes. For example, the main frame can be divided into an S frame, an L frame, an S&L frame, and a double S&L frame according to the form, but is not limited thereto.

[0122] The S frame refers to a frame in which at least a portion of the main frame has a shape that is curved like an "S". The L frame refers to a frame in which at least a portion of the main frame includes a shape that is curved like an "L". The S&L frame refers to a frame that includes both a shape that is curved like an "S" and a shape that is curved like an "L". The double S&L frame refers to a frame that includes a shape that is curved like an "L" and a shape that is curved like two portions like an "S".

[0123] The base frame 1130 refers to a portion of the main frame 1100 that supports the main frame and contacts the ground. The base frame 1130 may include a base upper frame 1131 and a base lower frame 1132.

[0124] The base upper frame 1131 can support the main frame, and the base lower frame 1132 can be in contact with the ground. In addition, the base upper frame 1131 can be provided in a manner of contacting the base lower frame 1132.

[0125] According to one embodiment of the present invention, the base upper frame 1131 can move along the base lower frame 1132. For example, the base upper frame 1131 can slide forward or backward along the base lower frame 1132. In this case, since the main frame is connected to the base upper frame 1131, it can move along with the movement of the base upper frame 1131.

[0126] For example, when the base upper frame 1131 moves forward, the main frame can also move forward together, and when the base upper frame 1131 moves backward, the main frame can also move backward together. This allows the body massage part 1000 to slide.

[0127] The control unit 1200 can control the actions of the massage device 100. The control unit 1200 may include one processor or multiple processors. When the control unit 1200 includes multiple processors, at least a portion of the multiple processors may be located at locations physically separated from each other. In addition, the control unit 1200 is not limited thereto and may be implemented in various ways.

[0128] For example, the control unit 1200 may correspond to one or more processors. The processor may be implemented by an array of multiple logic gates, or may be implemented by a combination of a general-purpose microprocessor and a memory storing a program executable in the microprocessor. In addition, those skilled in the art of the present embodiment may understand that other types of hardware may be used to implement the present embodiment.

[0129] According to an embodiment of the present invention, the control unit 1200 can control the operation of the massage device 100 .

[0130] For example, the massage device 100 may include a plurality of actuators, and the massage device 100 may control the motion of the massage device 100 by controlling the motion of the plurality of actuators.

[0131] For example, the massage device 100 may include a massage module movement actuator, at least one actuator included in the massage module 1700, a back angle actuator, a leg angle actuator, a foot massage actuator, a leg length adjustment actuator and at least one of the sliding actuators, and the control unit 1200 can control the movement of the massage device 100 by controlling these actuators.

[0132] In this specification, the "leg length adjustment actuator" may refer to a connection driving part provided in the leg massage part 2000. The massage module 1700 moving actuator is an actuator capable of moving the massage module 1700 up and down, and the massage module 1700 can move along the rack 1112 through the action of the massage module moving actuator.

[0133] The back angle actuator is an actuator that adjusts the angle of the portion of the user's back that contacts the massage device 100 . The back angle of the massage device 100 can be adjusted by the operation of the back angle actuator.

[0134] The leg angle actuator is an actuator for adjusting the angle of the leg massage part 2000 of the massage device 100 , and the angle between the leg massage part 2000 and the body massage part 1000 can be adjusted by the operation of the leg angle actuator.

[0135] The foot massage actuator is an actuator for operating the leg massage part 2000, specifically, the foot massage module in the foot massage part 2200. By using the foot massage actuator, the massage device 100 can provide foot massage to the user.

[0136] The massage module 1700 may include at least one actuator, and the control unit 1200 may provide a variety of massage actions by operating the at least one actuator. For example, the control unit 1200 may provide slapping massage, kneading massage, etc. by operating at least one actuator in the massage module 1700, but is not limited thereto, and may provide various massage actions.

[0137] The leg length adjustment actuator, ie, the connection driving part, is an actuator for adjusting the length of the leg massage part 2000. For example, the control part 1200 can use the leg length adjustment actuator to adjust the length of the leg massage part 2000 to suit the user, and as a result, the user can receive a massage suitable for the body shape.

[0138] The slide actuator enables the massage device 100 to slide. For example, by the action of the slide actuator, the horizontal base upper frame 1131 can move forward or backward, and as a result, the main frame connected to the horizontal base upper frame 1131 can also move forward or backward.

[0139] The storage unit 1300 may store various information related to the massage device 100. For example, the storage unit 1300 may include massage control information and may also include personal authentication information, but is not limited thereto.

[0140] The storage unit 1300 may be implemented by a non-volatile storage medium capable of continuously storing any data. For example, the storage unit 1300 may include a magnetic disk, an optical disk, a magneto-optical storage device, and a storage device based on a flash memory and / or a battery backup memory, but is not limited thereto.

[0141] In addition, the storage unit 1300 may include a memory. The memory may be a random access memory (RAM) such as a dynamic random access memory (DRAM) or a static random access memory (SRAM), which is a main storage device directly accessed by the processor and is a volatile storage device in which the stored information is instantly deleted when the power is disconnected, but is not limited thereto. Such a memory can be operated by the control unit 1200.

[0142] The user input unit 1400 can receive commands related to the operation control of the massage device 100 from the user, and the user input unit 1400 can be implemented in various forms. For example, the user input unit 1400 can be set in the body massage unit 1000, the leg massage unit 2000 and the arm massage unit 3000, but is not limited thereto.

[0143] The massage device 100 can obtain various commands from the user through the user input unit 1400. For example, the massage device 100 can receive arbitrary commands such as selection of a massage module, selection of a massage mode, selection of massage intensity, selection of massage time, selection of a massage part, selection of the position and movement of the body massage unit 1000, selection of turning on / off the power of the massage device 100, selection of whether to start the heating function, selection related to sound source playback, etc., but is not limited thereto.

[0144] As an optional embodiment, the user input unit 1400 may have various buttons in the form of hot keys and / or option buttons for selecting, canceling, and inputting execution directions according to preset user settings or preset functions.

[0145] The user input unit 1400 may be implemented by a keypad, a dome switch, a touch pad (static pressure / static electricity), a jog wheel, a jog switch, etc., but is not limited thereto. In addition, the user input unit 1400 may obtain commands according to the user's voice based on voice recognition technology.

[0146] According to an embodiment of the present invention, the user input unit 1400 may include a display for displaying the operation status of the massage device 100 or the current status of the user.

[0147] In this case, the display may include at least one of a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, and a three-dimensional display (3D display), but is not limited thereto.

[0148] The audio output module 1500 can provide the user with any form of audio output. For example, the audio output module 1500 can provide brain stimulation to the user by outputting to the user the sound source and / or binaural beats that are optimal for the massage mode provided by the massage device 100. The audio output unit 1500 can output an audio signal received through a network (not shown) or stored in an internal / external storage medium (not shown).

[0149] For example, the audio output module 1500 can output a sound source based on the control of the user terminal through a network connection with the user terminal (eg, Bluetooth connection, etc.) In addition, the audio output module 1500 can output any form of sound signal generated in association with the operation of the massage device 100.

[0150] The massage device 100 according to an embodiment of the present invention may include a network connection unit 1600. The network connection unit 1600 may communicate with a module inside the massage device 100, an external massage device 100 and / or a user terminal through any form of network.

[0151] The network connection unit 1600 may include a wired / wireless connection module for connecting to a network. As wireless connection technologies, for example, wireless local area network (Wireless LAN, WLAN) (Wi-Fi), wireless broadband access (Wirelessbroadband, Wibro), World Interoperability for Microwave Access (World Interoperability for Microwave Access, Wimax), high speed downlink packet access (High Speed ​​Downlink Packet Access, HSDPA) and the like may be used.

[0152] As a wired connection technology, for example, a digital subscriber line (Digital Subscriber Line, XDSL), fiber to the home (Fibers to the home, FTTH), power line communication (Power Line Communication, PLC), etc. can be used. In addition, the network connection unit 1600 may include a short-range communication module, which can send and receive data with some devices or terminals at a short distance. For example, as a short-range communication technology, Bluetooth (Bluetooth), radio frequency identification technology (Radio Frequency Identification, RFID), infrared communication (infrared Data Association, IrDa, Ultra Wideband (Ultra Wideband, UWB), ZigBee (ZigBee), etc. can be used, but it is not limited to this.

[0153] As described above, the massage device 100 according to an embodiment of the present invention may include the massage module 1700 . That is, the massage module 1700 is a structure that provides mechanical stimulation to the user, and the massage module 1700 may move along the frame part 1100 .

[0154] The massage device 100 according to an embodiment of the present invention may include a main frame 1100. Figures 1 to 3 As described above, the main frame 1100 may provide a path for the massage module 1700 to move.

[0155] The control unit 1200 may provide massage by controlling the motion of the massage module 1700 to apply mechanical stimulation to the user.

[0156] The control unit 1200 can move the massage module 1700 along the X-axis, Y-axis, and Z-axis. The control unit 1200 can make the massage ball move forward or backward on the X-axis, Y-axis, and Z-axis. Alternatively, the control unit 1200 can rotate the massage ball around the X-axis, Y-axis, and Z-axis.

[0157] The massage device 100 according to an embodiment of the invention may include a sensor unit 4000. In this case, the sensor unit 4000 may include at least one sensor. For example, the sensor unit 4000 may include a touch sensor, a pressure sensor, an infrared sensor, an LED sensor, a light sensor, a Hall sensor, an electrostatic sensor, etc., but is not limited thereto.

[0158] The sensor unit 4000 can be used to obtain various information. For example, the sensor unit 4000 can be used to identify the user. That is, information about whether the user is sitting, the user's body shape, whether the user has any abnormality, etc. can be obtained.

[0159] As another example, the sensor unit 4000 may be used to obtain biometric information, that is, fingerprint information, face information, voice information, iris information, weight information, electrocardiogram information, body composition information, etc., but is not limited thereto and may include a variety of biometric information.

[0160] As an optional embodiment, the massage device 100 may detect a contact area and / or a contact position with the user through the sensor part 4000 .

[0161] In addition, the massage device 100 can obtain the user's shoulder position information through the sensor unit 4000 .

[0162] In addition, the massage device 100 can provide personalized massage according to the information obtained by the sensor unit. For example, when the massage device 100 provides shoulder massage, the massage device 100 recognizes the user's shoulder position according to the information obtained by the sensor unit 4000, and can provide the user with shoulder massage according to the recognition result.

[0163] The leg massage part 2000 may be a structure for massaging the user's legs. A leg receiving space for receiving the user's legs may be formed in the leg massage part 2000.

[0164] Reference Figure 1 , Figure 4 , Figure 5a and Figure 5b , a plurality of leg massage parts 2000 may be provided, and the right foot and the left foot of the user may be accommodated in the plurality of leg massage parts 2000A and 2000B, respectively.

[0165] Specifically, the plurality of leg massage parts 2000A, 2000B may include a foot massage part and a calf massage part, which may be inserted, mounted, and accommodate the right foot and the left foot of the user, respectively.

[0166] Figure 4 It is a diagram for explaining a driving method of a massage device according to an embodiment of the present invention.

[0167] Reference Figure 4 , the multiple leg massage parts 2000A, 2000B can receive electrical signals from the control part 1200 to be driven independently.

[0168] The plurality of leg massaging parts 2000A, 2000B are hingedly (or rotatably) connected to the body massaging part 1000 , specifically, the main frame 1100 .

[0169] Reference Figure 4 Due to the power generated by the hinge driving part 2700 connected to the main frame 1100, the leg massage part 2000 is hinged (or rotated) in a clockwise or counterclockwise direction based on the hinge (or rotation) center axis preset in the main frame 1100, and the leg angle can be adjusted.

[0170] Reference Figure 4 The hinge driving part 2700 may be respectively provided at the plurality of leg massage parts 2000A and 2000B.

[0171] Thus, various modifications can be made, such as Figure 4 As shown, only any one of the plurality of leg massage parts 2000A and 2000B rotates relative to the main frame 1100 to adjust the leg angle, or the leg angle is adjusted so that the plurality of leg massage parts 2000A and 2000B form the same angle relative to the main frame 1100.

[0172] Reference Figure 1 The arm massage part 3000 according to an embodiment of the present invention may allow the user's arm to be inserted and may provide an arm massage function to the user.

[0173] A plurality of arm massage parts 3000 may be provided, and the right arm and the left arm of the user 10 may be inserted into the plurality of arm massage parts 3000A and 3000b, respectively. The plurality of arm massage parts 3000A and 3000b may be driven independently. The arm massage parts 3000 will be described in detail later.

[0174] Figure 5a This is a diagram showing a state where the arm massage part according to an embodiment of the present invention is rotated in the up-down direction in the massage device. Figure 5b This is a diagram showing a state where the arm massage part according to an embodiment of the present invention is rotated in the left-right direction in the massage device. Figure 6 FIG. 1 is a diagram showing a state in which a rotating module part is connected to a main frame according to an embodiment of the present invention. Figure 7 Is magnification Figure 6 Figure 1. Figure 8a , Figure 8b It is a figure which shows the rotation module part and the arm massage part which concern on one embodiment of this invention. Fig. 9This is a diagram showing a state before the rotation module part and the arm massage part are connected according to an embodiment of the present invention. Fig.10 It is a perspective view showing a second rotating part according to an embodiment of the present invention. Fig.11 It is a bottom view showing the second rotating part according to one embodiment of the present invention.

[0175] Reference Figure 2 , Figure 6 and Figure 7 , according to the body massage part 1000 of an embodiment of the present invention, specifically, the main frame 1100 may further include a module frame 1150 .

[0176] The module frame 1150 is coupled to the back frame 1110 forming a frame of an upper body receiving portion of the user 10 , and may include a base frame body 1151 , and side frame bodies 1153 a and 1153 b . The module frame 1150 may be connected to the rotating module part 5000 .

[0177] Reference Figure 2 , Figure 6 and Figure 7 According to an embodiment of the present invention, a plurality of module frames 1150 may be provided to correspond to a pair of rotating module parts 5000 connected to a pair of arm massage parts 3000A and 3000B.

[0178] Specifically, a pair of module frames 1150 may be respectively connected to the main frame 1100 , specifically, both sides of the back frame 1110 .

[0179] Reference Figure 6 and Figure 7 , the base frame body 1151 according to an embodiment of the present invention may contact and support a rotating module part 5000 to be described later, specifically, contact and support one side of the first rotating part 5100 .

[0180] Specifically, the base frame body 1151 is connected to side frame bodies 1153 a and 1153 b described later, and may contact and support one surface of the first rotating part 5100 .

[0181] The base frame body 1151 may be formed to extend perpendicularly to the longitudinal center axis of the side frame bodies 1153a and 1153b at a preset angle. Therefore, the module frame 1150 may stably contact and support one side (with the side axis of the module body 5000) of the rotating module part 5000. Figure 7 as the lower side of the reference).

[0182] Reference Figure 2 , Figure 6 and Figure 7According to an embodiment of the present invention, the side frame bodies 1153 a and 1153 b may be connected to the base frame body 1151 , provided in pair, and may contact and support both sides of the first rotating part 5100 .

[0183] Reference Figure 2 and Figure 7 , a pair of side frame bodies 1153a, 1153b can be configured to be separated by a preset distance.

[0184] The first rotating part 5100 may be inserted into a space formed between the pair of side frame bodies 1153a and 1153b, and the pair of side frame bodies 1153a and 1153b may contact and support both sides of the first rotating part 5100 (with Figure 7 as the upper and lower sides of the reference).

[0185] The first rotating part 5100 contacts and supports one side (with Figure 7 The side frame body 1153a of the base frame body 1151 is connected to the base frame body 1151 and can contact and support one side ( Figure 7 lower surface).

[0186] Therefore, the first rotating part 5100 can be positioned and fixed to the main frame 1100, specifically, to the module frame 1150, and has the effect that the rotation center axis AX1 of the rotating body 5130 of the first rotating part 5100 set as the first rotation center axis of the arm massage part 3000 can be stably maintained.

[0187] The side frame bodies 1153 a , 1153 b according to an embodiment of the present invention may be connected to the back frame 1110 , respectively.

[0188] As an optional embodiment, the side frame bodies 1153a and 1153b and the first rotating part 5100 may be combined by a fastening member such as a bolt.

[0189] Reference Figure 1 , Figure 5a , Figure 5b , Figure 6 , Figure 8a , Figure 8b and Fig. 9 According to an embodiment of the present invention, the rotating module part 5000 causes the arm massage part 3000 to rotate in the up-down direction and / or left-right direction relative to the body massage part 1000. The rotating module part 5000 will be described in detail later. Hereinafter, the arm massage part 3000 will be described first.

[0190] Reference Figure 1 , Figure 5a , Figure 5b , Figure 6 , Figure 8 and Fig. 9 According to an embodiment of the present invention, the arm massage part 3000 accommodates the user's arm and can massage the user's arm.

[0191] According to an embodiment of the present invention, a pair of arm massage parts 3000 may be provided to be disposed on both sides of the body massage part 1000 .

[0192] The right arm and the left arm of the user 10 can be inserted into the pair of arm massage parts 3000A and 3000B, respectively. The pair of arm massage parts 3000A and 3000B can be driven independently.

[0193] Reference Figure 5a , Figure 5b , Figure 8a and Figure 8b The arm massage part 3000 receives power from the rotating module part 5000 and can rotate relative to the body massage part 1000 .

[0194] Reference Figure 5a and Figure 5b The arm massage part 3000 can rotate in the left-right direction relative to the body massage part 1000 based on the first rotation center axis AX1, and can rotate in the up-down direction relative to the body massage part 1000 based on the second rotation center axis AX2.

[0195] Reference Figure 1 , Figure 5a , Figure 5b , Figure 6 , Figure 8a , Figure 8b and Fig. 9 The arm massage part 3000 according to an embodiment of the present invention may include an arm housing part 3100 , an arm massage body part 3300 , an arm movement guide part 3330 , and a shoulder airbag 3500 .

[0196] Reference Figure 1 , Figure 5a , Figure 5b , Figure 8a , Figure 8b and Fig. 9 According to an embodiment of the present invention, the arm housing portion 3100 includes an arm receiving portion 3110 for receiving the arm of the user, which may be connected to the rotating module portion 5000 .

[0197] Reference Figure 8a , Figure 8b and Fig. 9, an arm massage part 3000B for accommodating the left arm of the user is shown. Since the structure, operation principle and effect are the same as those of the arm massage part 3000A for accommodating the right arm of the user, the following description will be based on the arm massage part 3000B for accommodating the left arm of the user.

[0198] Reference Fig. 9 The arm housing portion 3100 forms the appearance of the arm massage portion 3000 , and an arm accommodating portion 3110 may be formed inside, which is a space that can accommodate the user's arm.

[0199] Reference Fig. 9 The arm housing portion 3100 may be connected to the rotating module portion 5000 described later, specifically, may be connected to the second rotating portion 5500 , and the arm housing portion 3100 may be rotated with a preset rotation center axis AX2 as a reference by the rotational power generated in the second rotating portion 5500 .

[0200] From another aspect, the arm housing 3100 can be rotated relative to the body massage part 1000 in the up-down direction (with the second rotation center axis AX2 as the rotation center axis). Figure 5a as the reference) rotation.

[0201] Reference Fig. 9 A rotation guide portion 3105 may be formed in a groove shape on one side of the arm housing portion 3100 facing the rotation module portion 5000, specifically, the second rotation portion 5500. The rotation guide portion 3105 has a preset distance from the second rotation center axis AX2 and may be formed within a preset interval along the circumferential direction.

[0202] That is, the stopper 5511 formed on the second rotating portion 5500 is inserted into the rotation guide portion 3105 , and the arm housing portion 3100 can rotate only in the section where the rotation guide portion 3105 is formed.

[0203] For example, when the rotation guide part 3105 forms a section corresponding to 180 degrees in the circumferential direction around the second rotation center axis AX2, the arm housing part 3100 can rotate 180 degrees relative to the body massage part 1000 and the second rotation part 5500.

[0204] However, the present invention is not limited thereto, and various deformations may be performed, such as extending the rotation guide portion 3105 to have intervals of 90 degrees and 270 degrees centered on the second rotation center axis AX2.

[0205] According to an embodiment of the present invention, a rotation guide portion 3105 is formed in the arm housing portion 3100 , and the stopper 5511 of the second rotating portion 5500 may be disposed on the rotation guide portion 3105 .

[0206] Therefore, the arm shell part 3100 can rotate with the second rotation center axis AX2 as the reference until the two ends of the rotation guide part 3105 contact the stopper 5511 set on the second rotation part 5500, and the interval of the rotation guide part 3105 can be set to the rotatable angle of the arm massage part 3000 relative to the second rotation part 5500.

[0207] That is, due to the rotation guide portion 3105 formed on the arm housing portion 3100 and the stopper 5511 formed on the second rotating portion 5500 , there is an effect of limiting the rotation angle of the arm massaging portion 3000 .

[0208] Reference Figure 5a According to an embodiment of the present invention, a surface of the arm housing 3100 (with Figure 8a , Figure 8b The lower surface of the reference) may protrude to form a coupling protrusion 3101. Figure 1 As shown, in the initial position of the massage device 100 where the user 10 sits, the arm massage part 3000 may be installed on the body massage part 1000 .

[0209] At this time, on one side (with Figure 1 The coupling protrusion 3101 may be formed extending along the length direction (eg, the front-rear direction of the massage device 100 ) on a lower surface with the massage device 100 as a reference.

[0210] The body massage part 1000 may have a protrusion groove 1005 formed on one side of the arm housing part 3100 opposite to the side of the arm housing part 3100 on which the coupling protrusion 3101 is formed. The protrusion groove 1005 may be formed in a shape corresponding to the shape of the coupling protrusion 3101 formed on the arm housing part 3100.

[0211] When the arm massage part 3000 is installed on the body massage part 1000, the coupling protrusion 3101 formed on the arm massage part 3000 is inserted and installed in the protrusion groove part 1005 formed on the body massage part 1000, so that the arm massage part 3000 can be stably arranged at a preset position on the body massage part 1000.

[0212] In the present invention, the coupling protrusion 3101 is formed by extending in a bar shape, but is not limited to this, and various deformations can be implemented within the following technical ideas. The coupling protrusion 3101 is installed on the inner side of the protrusion groove portion 1005 formed in the body massage portion 1000, and guides the installation position of the arm massage portion 3000.

[0213] Reference Figure 8a , Figure 8b and Fig. 9The arm receiving portion 3110 is a receiving space into which the user's arm can be inserted, and can be formed into a groove shape according to a preset depth. The arm receiving portion 3110 can be provided with the arm massage main body 3300 described later.

[0214] Reference Figure 8a and Figure 8b , a shoulder airbag 3500 may be provided on the arm shell portion 3100 .

[0215] The shoulder airbag 3500 may be a structure for fixing at least a portion of the user's arm. The shoulder airbag 3500 provided in the arm housing portion 3100 may be a structure for fixing at least a portion of the user's arm, such as the shoulder area, by receiving air from a separately provided air supply portion and expanding.

[0216] Reference Figure 8a and Figure 8b , the shoulder airbag 3500 according to an embodiment of the present invention may be disposed in an area corresponding to the user's shoulder.

[0217] Reference Figure 5b , Figure 6 , Figure 8a , Figure 8b and Fig. 9 According to an embodiment of the present invention, the arm massage body part 3300 is disposed on the arm housing part 3100, on which the user's arm can be placed, and a massage function can be provided for the user's arm.

[0218] The arm massage body part 3300 according to an embodiment of the present invention may include an arm massage body 3310 and an arm movement guide part 3330. The arm massage body 3310 is where the user's arm is placed and may come into contact with the user's arm.

[0219] Although not shown in the drawings, an air bag may be provided in the arm massage body 3310. The air bag receives air from the air supply part to expand and / or contract, thereby applying pressure to the user's arm and providing a massage function.

[0220] As an optional embodiment, a massage module (not shown) may be provided on the arm massage body 3310. The massage module may include a roller, which may contact the user's arm and provide a massage function.

[0221] The arm massaging body 3310 may be movably disposed inside the arm receiving portion 3110 .

[0222] Reference Figure 8a and Figure 8b According to an embodiment of the present invention, the arm massage body 3310 can move along a preset direction and adjust its position on the arm movement guide 3330 described later.

[0223] Reference Figure 6 , Figure 8a and Figure 8b According to an embodiment of the present invention, the arm movement guide portion 3330 is disposed on the arm accommodation portion 3110 and provides a movement path for the arm massage body 3310 , and may include a guide plate 3331 and a guide rail 3335 .

[0224] The guide plate 3331 is combined with the arm massage body 3310 , and as the guide plate 3331 moves on the guide rail 3335 , the arm massage body 3310 combined with the guide plate 3331 may move together.

[0225] Reference Figure 8a and Figure 8b According to an embodiment of the present invention, the guide rail 3335 is disposed on the arm receiving portion 3110 formed on the arm housing portion 3100 , and can provide a moving path for the guide plate 3331 and the arm massage body 3310 combined with the guide plate 3331 .

[0226] The guide rail 3335 can be moved along a preset direction (in Figure 8a and Figure 8b The guide plate 3331 and the arm massage body 3310 combined with the guide plate 3331 can move on the guide rail 3335.

[0227] In this specification, the “front-rear direction” in which the arm massage body 3310 moves refers to a direction in which the direction from the user's shoulder toward the fingers is the front direction and the direction from the user's fingers toward the shoulder is the rear direction.

[0228] Although not shown in the drawings, the arm movement guide 3330 may include a guide driving unit driven by receiving power from the outside, and the guide plate 3331 combined with the arm massage body 3310 can move linearly forward and / or backward on the guide rail 3335 through the power generated from the guide driving unit.

[0229] The guide drive unit may generate power by a motor, or may generate power by a cylinder such as a pneumatic or hydraulic system.

[0230] As an optional embodiment, the guide plate 3331 may include rollers that can roll in contact with the guide rail 3335.

[0231] As an optional embodiment, the guide plate 3331 may include a block slidable on the guide rail 3335 , and the block may move on a groove portion formed on the guide rail 3335 in a surface contact manner.

[0232] The control unit 1200 can be electrically connected to the guide drive unit and the rotation module unit 5000. When the arm massage unit 3000 rotates relative to the body massage unit 1000 through the rotational power generated by the rotation module unit 5000, an electrical signal is transmitted to the guide drive unit, thereby controlling the movement amount of the arm massage body 3310.

[0233] That is, the control unit 1200 can control the movement amount of the arm massage body 3310 on the arm movement guide unit 3330 based on the rotation amount of the arm massage unit 3000, and can make the arm massage body 3310 move linearly corresponding to the user's arm position that changes with the rotation of the arm massage unit 3000.

[0234] Reference Figure 1 , Figure 5a , Figure 5b , Figures 6 to 11 According to an embodiment of the present invention, the rotating module part 5000 connects the arm massage part 3000 and the body massage part 1000, has a plurality of different rotation center axes AX1, AX2, and can generate rotational power respectively based on the plurality of rotation center axes AX1, AX2.

[0235] Reference Figure 5a and Figure 5b According to an embodiment of the present invention, the rotating module part 5000 can rotate the arm massage part 3000 based on a plurality of rotation center axes AX1 and AX2. The rotating module part 5000 is provided in a pair to correspond to the pair of arm massage parts 3000A and 3000B, and can be respectively provided on both sides of the body massage part 1000. The pair of rotating module parts 5000 can be driven independently of each other.

[0236] The rotating module part 5000 may include a first rotating part 5100 and a second rotating part 5500 .

[0237] According to an embodiment of the present invention, the first rotating part 5100 can rotate the arm massaging part 3000 in the left-right direction relative to the body massaging part 1000 based on the first rotation center axis AX1, and can generate a rotational force.

[0238] The first rotating part 5100 can make the arm massage part 3000 rotate relative to the body massage part 1000 in the left-right direction (with Figure 5b as the reference) rotation.

[0239] The second rotating part 5500 according to an embodiment of the present invention may rotate the arm massaging part in the up-down direction relative to the body massaging part 1000 based on the second rotation center axis AX2 different from the first rotation center axis AX1.

[0240] That is, the second rotating part 5500 generates a rotating force based on the second rotation center axis AX2, and can make the arm massage part 3000 move relative to the body massage part 1000 in the vertical direction (with the second rotation center axis AX2 as the reference). Figure 5a as the reference) rotation.

[0241] In the rotating module part 5000 according to an embodiment of the present invention, the first rotating part 5100 may generate a rotating power based on the first rotation center axis AX1, and the second rotating part 5500 may generate a rotating power based on the second rotation center axis AX2.

[0242] However, the present invention is not limited thereto, and various modifications may be performed. For example, the first rotating part 5100 generates a rotational force based on the second rotation center axis AX2, and the second rotating part 5500 generates a rotational force based on the first rotation center axis AX1.

[0243] The following description is based on the following: the first rotating part 5100 connected to the main frame 1100, specifically, connected to the module frame 1150, generates rotational power based on the first rotation center axis AX1, and the second rotating part 5500 generates rotational power based on the second rotation center axis AX2.

[0244] Reference Figure 7 According to an embodiment of the present invention, the first rotating part 5100 and the second rotating part 5500 may be relatively rotatably combined. According to an embodiment of the present invention, the first rotating part 5100 and the second rotating part 5500 may be formed identically.

[0245] That is, since the first rotating part 5100 and the second rotating part 5500 have the same structure and are rotatably coupled to each other, the structure of components for making the arm massage part 3000 relative to the body massage part 1000 can be simplified and modularized.

[0246] Reference Figures 6 to 9 According to an embodiment of the present invention, the first rotating unit 5100 may include a main housing 5110 , a rotating body 5130 , and a rotating driving unit 5150 .

[0247] Specifically, the first rotating part 5100 may include: a main shell 5110, which can be configured in the body massage part 1000; a rotating body, which can be rotatably configured in the main shell 5110; and a rotating driving part 5150, which is set in the main shell 5110 and receives power and transmits the power to the rotating body 5130.

[0248] Reference Figure 7 , Figure 8a and Figure 8bThe main housing 5110 forms an appearance of the first rotating part 5100 and may be disposed in the body massaging part 1000 , specifically, in the module frame 1150 in the main frame 1100 .

[0249] Reference Figure 7 The main housing 5110 can be inserted into the module frame 1150, specifically, can be inserted into a pair of side frame bodies 1153a, 1153b. That is, the two side surfaces (with Figure 7 The upper surface and the lower surface as a reference) can be contacted and supported by a pair of side frame bodies 1153a, 1153b.

[0250] Reference Figure 7 , one of the two side surfaces of the main housing 5110 (with Figure 7 The lower surface of the module frame 1150 (as a reference) may be in contact with and supported by the base frame body 1151 connected to the module frame 1150, specifically, to the side frame body 1153a.

[0251] Since the first rotating portion 5100 , specifically, the main housing 5110 is connected to the module frame 1150 and disposed on the main frame 1100 , there is an effect that the position of the first rotating portion 5100 can be stably fixed.

[0252] In addition, since the pair of side frame bodies 1153a and 1153b contact and support both side surfaces of the main housing 5110, it has the effect of preventing the main housing 5110 from rotating or deforming.

[0253] Reference Figure 8a , Figure 8b and Fig. 9 According to an embodiment of the present invention, the main housing 5110 may be provided with a rotating body 5130 and a rotating driving part 5150 .

[0254] Reference Fig.11 The stopper 5111 may be protrudingly formed on one side of the first rotating part 5100 that may contact the second rotating part 5500 (in Fig. 9 as the upper surface of the reference).

[0255] Fig.11 FIG. 1 is a diagram showing a side (with a portion of the second rotating portion 5500) connected to the first rotating portion 5100 to rotate relative to the second rotating portion 5500. Fig.10 As shown in the figure, the first rotating part 5100 is protruded, specifically, the stopper 5111 of the main housing 5110 can be set at the inner side of the rotation guide part 5513 formed in the shape of a groove part.

[0256] That is, when the second rotating part 5500 rotates on the first rotating part 5100, it rotates clockwise and / or counterclockwise with the first rotation center axis AX1 as a reference, and the rotating guide part 5513 moves as the second rotating part 5500 rotates while the position of the stopper 5111 formed on the first rotating part 5100 is fixed.

[0257] Reference Fig.11 When the stopper 5111 protruding from the main housing 5110 of the first rotating part 5100 contacts the two end portions of the rotating guide part 5513 formed on the second rotating part 5500, the second rotating part 5500 can no longer rotate, thereby limiting the rotation amount (or rotation angle) of the second rotating part 5500 rotating on the first rotating part 5100.

[0258] Reference Figure 8a , Figure 8b and Fig. 9 According to one embodiment of the present invention, on one side (with Fig. 9 The other side (based on the upper surface) is different Fig. 9 On the right side of the reference), the rotational coupling groove portion 5115 can be formed in the shape of a groove portion.

[0259] Specifically, the other surface of the first rotating part 5100 may be a surface perpendicular to the one surface. From another perspective, the depth direction central axis of the rotation coupling groove part 5115 formed on the other surface may be formed parallel to the second rotation central axis AX2 of the second rotating part 5500 .

[0260] That is, since the first rotating part 5100 and the second rotating part 5500 have the same structure so as to be rotatably coupled to each other, the rotating coupling groove portion 5115 can be formed in the shape of a groove portion on the first rotating part 5100 so as to be able to be inserted and coupled to a rotating body of any rotating part that generates rotational power based on the second rotation center axis AX2.

[0261] Reference Figure 8a , Figure 8b and Fig. 9 On one surface of the main housing 5110 where the rotation coupling groove portion 5115 is formed, a preset distance is provided from the center of the rotation coupling groove portion 5115, and the rotation guide portion 5113 is extended in the shape of the groove portion along the circumferential direction.

[0262] Since the rotation guide portion 5113 formed in the first rotating portion 5100 has the same structure as the rotation guide portion 5513 formed in the second rotating portion 5500 , a detailed description will be given later.

[0263] Reference Fig. 9 According to an embodiment of the present invention, the rotating body 5130 is rotatably disposed on the main housing 5110 and can be combined with the second rotating part 5500 .

[0264] The rotating body 5130 may penetrate one side of the main housing 5110 , and a predetermined area may be exposed to the outside, and the area may be combined with the main housing 5510 of the second rotating part 5500 .

[0265] The rotating body 5130 may receive power from a rotation driving unit 5150 described later, and transmit the power to a second rotating unit 5500 connected to the first rotating unit 5100 .

[0266] Reference Fig. 9 According to an embodiment of the present invention, the rotating body 5130 provided in the first rotating part 5100 may rotate about the first rotating center axis AX1 as the rotating center axis. The rotating body 5130 may be combined with the main housing 5510 provided in the second rotating part 5500.

[0267] Therefore, as the rotating body 5130 rotates, the main housing 5510 provided on the second rotating part 5500 may rotate together, and as the main housing 5510 rotates, the arm massage part 3000 combined with the second rotating part 5500 may rotate clockwise and / or counterclockwise (with the first rotation center axis AX1 as the reference). Figure 5b left and right direction as the reference).

[0268] Reference Figure 5b According to an embodiment of the present invention, the pair of arm massage parts 3000A and 3000B can be rotated respectively with the first rotation center axes AX1a and AX1b as reference by the rotational power generated by the first rotating part 5100.

[0269] For example, when the pair of arm massage parts 3000A and 3000B rotate in opposite directions with respect to the first rotation center axes AX1a and AX1b, respectively, the pair of arm massage parts 3000A and 3000B can move closer to each other to be located on the seat part 1000a formed on the body massage part 1000, as shown in FIG. Figure 5b As shown, they can move away from each other toward the outside of the body massaging part 1000.

[0270] As an alternative embodiment, the pair of arm massaging parts 3000A and 3000B may rotate in the same direction with respect to the first rotation center axes AX1a and AX1b.

[0271] As an alternative embodiment, the pair of arm massaging parts 3000A, 3000B may be driven independently.

[0272] Although not shown in the drawings, the rotating body 5130 provided at the first rotating portion 5100 may be inserted and coupled to the rotation coupling groove portion 5515 formed at the main housing 5510 provided at the second rotating portion 5500 .

[0273] Therefore, there is an effect that as the rotating body 5130 provided in the first rotating part 5100 rotates, the main housing 5510 provided in the second rotating part 5500 can also rotate together.

[0274] Reference Figure 8a and Figure 8b According to an embodiment of the present invention, the rotation driving part 5150 is disposed in the main housing 5110 and transmits power to the rotating body 5130 by receiving power from the outside.

[0275] Reference Figure 8a and Figure 8b The rotation driving part 5150 may include a driving unit 5151 and a power transmission part 5153. The driving unit 5151 generates power and may be formed as a motor. The driving unit 5151 may generate rotational power by receiving power from the outside and may transmit it to the power transmission part 5153.

[0276] Reference Figure 8a and Figure 8b According to an embodiment of the present invention, the power transmission part 5153 may include at least one gear. Specifically, the power transmission part 5153 includes a plurality of gears 5153a, 5153b, and 5153c, which can transmit the power generated by the driving unit 5151 to the rotating body 5130.

[0277] According to an embodiment of the present invention, the gears 5153a, 5153b, and 5153c provided in the power transmission part 5153 can be formed as worm gears, helical gears, and the like.

[0278] Reference Figure 8a and Figure 8b , the first gear 5153a combined with the driving unit 5151 can be formed as a worm gear, and the second gear 5153b connected to the first gear 5153a can be formed as a gear integrating a helical gear and a worm gear.

[0279] In addition, the third gear 5153 c connected to the second gear 5153 b can be formed as a helical gear having the first rotation center axis AX1 as the rotation center axis, and the first rotation center axis AX1 is the rotation center axis of the rotating body 5130.

[0280] However, it is not limited to this. Various deformation implementations can be made within the technical concept of being able to transmit the power generated by the driving unit 5151 to the rotating body 5130. For example, the power transmission part 5153 can adopt a power transmission method using multiple gears such as a rack and pinion.

[0281] Although not shown in the drawings, the rotating body 5130 may include a shaft connectable to the gear 5153 c provided at the power transmission part 5153. Therefore, the power generated from the driving unit 5151 may be transmitted to the rotating body 5130 through the power transmission part 5153.

[0282] Reference Figure 8a , Figure 8b and Fig. 9 When the power generated from the rotation driving unit 5150 is transmitted to the rotating body 5130, the rotating body 5130 can rotate clockwise and / or counterclockwise with the first rotation center axis AX1 as a reference, and the main shell 5510 of the second rotating unit 5500 combined with the rotating body 5130 can rotate together.

[0283] like Figure 5b As shown, as the main housing 5510 of the second rotating part 5500 rotates, the arm massage part 3000 combined with the second rotating part 5500, specifically, the arm housing part 3100 can move relative to the body massage part 1000 in the left and right directions (with the first rotation center axis AX1 as the reference). Figure 5b as the reference) rotation.

[0284] That is, the arm massage part 3000a for receiving the right arm of the user can rotate relative to the body massage part 1000 in the left-right direction with reference to the 1-1th rotation center axis AX1a.

[0285] Similarly, the arm massage part 3000b for receiving the user's left arm can rotate relative to the body massage part 1000 in the left-right direction with reference to the 1-2 rotation center axis AX1b provided in parallel with the 1-1 rotation center axis AX1a.

[0286] Reference Figures 6 to 11 , the second rotating part 5500 according to an embodiment of the present invention may include a main housing 5510 , a rotating body 5530 , and a rotating driving part 5550 .

[0287] Reference Figure 7 , Figure 8a and Figure 8b The main housing 5510 forms an appearance of the second rotating unit 5500 and may be disposed on the main housing 5110 in the first rotating unit 5100 .

[0288] Reference Figures 9 to 11, the main housing 5510 may be disposed on the main housing 5110 of the first rotating part 5100 .

[0289] Reference Fig. 9 and Fig.11 The rotational coupling groove portion 5515 may be formed in the shape of a groove portion on one side of the main housing 5510 of the second rotating portion 5500 facing the main housing 5110 of the first rotating portion 5100 (in the form of a groove portion). Fig. 9 as the lower surface of the reference).

[0290] Specifically, the one surface of the main housing 5510 may be a surface perpendicular to the other surface on which the rotating body 5530 is disposed.

[0291] From another perspective, the depth direction central axis of the rotation coupling groove portion 5515 formed on the one surface may be formed to be identical to the first rotation central axis AX1 which is the rotation central axis of the rotation body 5130 provided on the first rotation portion 5100 .

[0292] That is, since the second rotating part 5500 and the first rotating part 5100 have the same structure so as to be rotatably coupled to each other, the rotating coupling groove portion 5515 can be formed in the shape of a groove portion on the second rotating part 5500 so as to enable the rotating body 5130 of the first rotating part 5100 that generates rotational power based on the first rotation center axis AX1 to be inserted and coupled to the rotating coupling groove portion 5515.

[0293] Reference Fig.10 and Fig.11 On one surface of the main housing 5510 where the rotation coupling groove portion 5515 is formed, a preset distance is provided from the center of the rotation coupling groove portion 5515, and the rotation guide portion 5513 is extended in the shape of the groove portion along the circumferential direction.

[0294] Reference Fig.11 The rotation guide portion 5513 may be formed extending along the circumferential center axis L1.

[0295] Reference Fig. 9 Although the rotating body 5130 of the first rotating part 5100 inserted into the rotating coupling groove portion 5515 of the second rotating part 5500 is blocked and not shown in the figure, a stopper 5111 can be protruded from one side of the main shell 5110 on which the rotating body 5130 of the first rotating part 5100 is rotatably set.

[0296] Reference Fig.11 In a state where the first rotating part 5100 and the second rotating part 5500 are connected, the stopper 5111 provided on the first rotating part 5100 may be provided inside a rotation guide part 5513 formed on the main housing 5510 of the second rotating part 5500 .

[0297] Reference Fig.11 When the second rotating part 5500 rotates on the first rotating part 5100, it can rotate in a clockwise direction and / or counterclockwise direction based on the first rotation center axis AX1.

[0298] At this time, in a state where the position of the stopper 5111 formed on the first rotating part 5100 is fixed, the rotating guide part 5513 moves as the second rotating part 5500 rotates relatively.

[0299] It has the following effect: when the stopper 5111 protruding from the main shell 5110 of the first rotating part 5100 contacts the two end portions of the rotating guide part 5513 formed on the second rotating part 5500, the second rotating part 5500 can no longer rotate, thereby limiting the rotation amount (or rotation angle) of the second rotating part 5500 rotating on the first rotating part 5100.

[0300] Reference Figure 7 and Fig. 9 The stopper 5511 may be formed on one side of the main housing 5510 and may protrude outward. A rotating body 5530 of the second rotating part 5500 inserted into a groove formed in the arm massage part 3000, specifically, in the arm housing part 3100, is provided on one side of the main housing 5510.

[0301] Reference Figures 7 to 9 In a state where the second rotating portion 5500 and the arm housing portion 3100 are connected, the stopper 5511 provided on the second rotating portion 5500 may be provided on the inner side of the rotation guide portion 3105 formed on the arm housing portion 3100 .

[0302] Reference Figure 8a , Figure 8b and Fig. 9 When the arm housing portion 3100 rotates on the second rotating portion 5500, it rotates clockwise and / or counterclockwise with the second rotation center axis AX2 as a reference. While the position of the stopper 5511 formed on the second rotating portion 5500 is fixed, the rotating guide portion 3105 moves as the arm housing portion 3100 rotates.

[0303] The following effect is achieved: when the stopper 5511 protruding from the main housing 5510 of the second rotating part 5500 contacts the two end portions of the rotating guide portion 3105 formed on the arm housing portion 3100, the arm housing portion 3100 can no longer rotate, thereby limiting the rotation amount (or rotation angle) of the arm massage portion 3000 rotating on the second rotating part 5500.

[0304] Reference Figures 7 to 10According to an embodiment of the present invention, the main housing 5510 may be provided with a rotating body 5530 and a rotating driving part 5550 .

[0305] Reference Fig. 9 According to an embodiment of the present invention, the rotating body 5530 is rotatably disposed on the main housing 5510 and can be combined with the arm massage part 3000, specifically, the arm housing part 3100.

[0306] The rotating body 5530 may penetrate one side of the main housing 5510 , and a predetermined area may be exposed to the outside. The area may be combined with the arm massage part 3000 , specifically, with the arm housing part 3100 .

[0307] The rotating body 5530 may receive power from a rotation driving unit 5550 described later, and transmit the power to the arm housing portion 3100 connected to the second rotating unit 5500 .

[0308] Reference Fig. 9 According to an embodiment of the present invention, the rotating body 5530 provided in the first rotating part 5500 may rotate about the second rotating center axis AX2 as the rotating center axis. The rotating body 5530 may be combined with the arm housing part 3100.

[0309] Therefore, as the rotating body 5530 rotates, the arm housing portion 3100 may rotate together, and the arm massage portion 3000 may rotate clockwise and / or counterclockwise (in degrees) based on the second rotation center axis AX2. Figure 5a as the up and down direction of the reference).

[0310] Reference Figure 5a According to an embodiment of the present invention, the pair of arm massage parts 3000A and 3000B can be rotated respectively with the second rotation center axes AX2a and AX2b as reference by the rotational power generated by the second rotating part 5500.

[0311] The pair of arm massage parts 3000A and 3000B according to an embodiment of the present invention can rotate in the same direction with respect to the second rotation center axes AX2a and AX2b.

[0312] However, the present invention is not limited thereto. The pair of arm massage parts 3000A and 3000B may rotate in opposite directions with respect to the second rotation center axes AX2a and AX2b. In this case, the pair of arm massage parts 3000A and 3000B may rotate in different directions relative to the body massage part 1000 and provide a stretching function. Fig. 9 , the rotating body 5530 provided in the second rotating part 5500 may be inserted and coupled to the groove part formed in the arm housing part 3100 .

[0313] Therefore, there is an effect that as the rotating body 5530 provided on the second rotating part 5500 rotates, the arm housing part 3100 provided with the groove part can rotate together.

[0314] Reference Figure 8a , Figure 8b and Fig.10 According to an embodiment of the present invention, the rotation driving part 5550 is disposed in the main housing 5510 and transmits power to the rotating body 5530 by receiving power from the outside.

[0315] Reference Figure 8a , Figure 8b and Fig.10 The rotation driving part 5550 may include a driving unit 5551 and a power transmission part 5553. The driving unit 5551 generates power and may be formed as a motor. The driving unit 5551 may generate rotational power by receiving power from the outside and may transmit it to the power transmission part 5553.

[0316] Reference Figure 8a , Figure 8b and Fig.10 According to an embodiment of the present invention, the power transmission part 5553 may include at least one gear. Specifically, the power transmission part 5553 includes a plurality of gears 5553a, 5553b, and 5553c, which can transmit the power generated by the driving unit 5551 to the rotating body 5530.

[0317] According to an embodiment of the present invention, the gears 5553a, 5553b, and 5553c provided in the power transmission part 5553 can be formed as worm gears, helical gears, etc.

[0318] Reference Figure 8a and Figure 8b , the first gear 5553a combined with the driving unit 5551 can be formed as a worm gear, and the second gear 5553b connected to the first gear 5553a can be formed as a gear integrating a helical gear and a worm gear.

[0319] In addition, the third gear 5553c connected to the second gear 5553b can be formed as a helical gear with the second rotation center axis AX2 as the rotation center axis, and the second rotation center axis AX2 is the rotation center axis of the rotating body 5530.

[0320] However, it is not limited to this. Various deformation implementations can be made within the technical concept of being able to transmit the power generated by the driving unit 5551 to the rotating body 5530. For example, the power transmission part 5553 can adopt a power transmission method using multiple gears such as a rack and pinion.

[0321] Although not shown in the drawings, the rotating body 5530 may include a shaft connectable to the gear 5553 c provided at the power transmission part 5553. Therefore, the power generated from the driving unit 5551 may be transmitted to the rotating body 5530 through the power transmission part 5553.

[0322] Reference Figure 8a , Figure 8b and Fig. 9 When the power generated from the rotation driving unit 5550 is transmitted to the rotating body 5530, the rotating body 5530 can rotate clockwise and / or counterclockwise with the second rotation center axis AX2 as a reference, and the arm housing part 3100 combined with the rotating body 5530 can rotate together.

[0323] Specifically, Figure 5a As shown, the arm housing 3100 can be rotated in the vertical direction (in the direction of the second rotation center axis AX2) relative to the body massage part 1000. Figure 5a as the reference) rotation.

[0324] That is, the arm massage part 3000a for receiving the right arm of the user can rotate relative to the body massage part 1000 in the up-down direction with reference to the 2-1st rotation center axis AX2a.

[0325] Similarly, the arm massage part 3000b for receiving the user's left arm can rotate relative to the body massage part 1000 in the left-right direction based on the 2-2nd rotation center axis AX2b provided in parallel with the 2-1st rotation center axis AX2a.

[0326] In a massage device according to an embodiment of the present invention, the rotating module part 5000 has a plurality of different rotating center axes AX1, AX2 and generates a rotating power, and the arm massage part 3000 is rotated with each of the plurality of rotating center axes AX1, AX2 as a reference, so that the arm massage part 3000 can rotate in the up and down direction and / or left and right direction, thereby having the effect of providing various arm massage functions to the user.

[0327] In addition, since the first rotating part 5100 and the second rotating part 5500 have the same structure and are relatively rotatably coupled, there is an effect that the structure of components for making the arm massage part 3000 relative to the body massage part 1000 can be simplified and modularized.

[0328] Hereinafter, the specific structure, processing, function, etc. of a massage device (hereinafter referred to as a "massage device") 100 according to an embodiment of the present invention (hereinafter referred to as a "second embodiment") is described in detail, and the massage device detects an arm stretching mode.

[0329] Some of the terms and / or reference numerals relating to the massage device and its substructures of the second embodiment described below may be different from the terms and / or reference numerals of the massage device, etc. described above.

[0330] This is to distinguish the embodiments and to effectively illustrate the tool necessity of the embodiments. Therefore, if the technical ideas corresponding to the level of ordinary technical personnel can be implemented, the structure of the following embodiments can be interpreted as the same or equivalent structure as the above-mentioned structure.

[0331] For example, the arm massage part 110 and the driving module 120 described below in the second embodiment are different from those in the reference Figures 1 to 11 The arm massage part 3000 and the driving module part (rotation module part 5000) described above correspond to each other in structure, and the airbag 111 of the second embodiment corresponds to the airbag that can be configured in the arm massage body 3310 in the above-mentioned embodiment.

[0332] In addition, the control unit 140 of the second embodiment is similar to the control unit 1200 of the above-mentioned embodiment (see Figure 3 In the second embodiment, the audio unit 163 illustrated as a structure of the interface unit 160 may be a structure corresponding to the audio output module 1500 of the above embodiment. In addition, the second airbag 150 of the second embodiment described below may be a structure corresponding to the shoulder airbag 3500 of the above embodiment.

[0333] Fig.12 2 is a block diagram showing a specific structure of a massage device 100 according to a second embodiment of the present invention. Fig.14 It is a flowchart illustrating the processing procedure of one embodiment of the present invention based on the behavioral structure of the present invention.

[0334] like Fig.12 As shown, the massage device 100 of the present invention may include an arm massage part 110 , an airbag 111 , a driving module 120 , a detection sensor 130 , a control part 140 , a second airbag 150 and an interface part 160 .

[0335] Fig.12 1 is a block diagram mainly illustrating a massage device 100 according to a second embodiment of the present invention. Therefore, of course, the massage device 100 of the present invention may be additionally provided with Fig.12 Other structures other than the structure shown in the figure, for example, a body massage part 1000 (see Figure 1 etc.) or a leg massage part 2000 (see Figure 1 etc.

[0336] Before describing the present invention in detail, the massage device 100 according to the present invention can be implemented by various combinations of electronic elements, components, etc. (ASIC, chipset, logic circuit, register, communication modem, CPU, ROM, RAM, etc.) such as storage units, operation processing units, and input and output units.

[0337] therefore, Fig.12 Each constituent element of the massage device 100 shown should be understood as a functionally or logically distinguished constituent element rather than a physically distinguished constituent element. Fig.13 Each component of the control unit 140 shown is also the same.

[0338] That is, each constituent element shown in the drawings corresponds to a logical structure for effectively illustrating the technical idea according to the present invention. Therefore, even if each constituent element is integrated or separated, as long as it can implement the function of the logical structure of the present invention, it should be understood to be within the scope of the present invention, and if it is a constituent element that performs the same or similar function, it should be interpreted as being within the scope of the present invention regardless of whether its name is consistent.

[0339] In addition, the control method or management method of the massage device according to the present invention can be implemented as a processing set or algorithm related to the processing, handling, control, calculation and input and output of the overall data, so it can be achieved through Fig.12 It can be realized by a combination of logical structures shown in the figure, and of course it can be realized in the form of software installed in a device, a computer (or a corresponding device), a module or its substructure, etc.

[0340] The arm massage part 110 as a structure of the massage device 100 according to the present invention can be arranged on the side of the body massage part 1000 for massaging at least a part of the user's body, and is configured to accommodate the user's arm and perform massage actions in various types and ways with the accommodated arm as the object.

[0341] The driving module 120 of the present invention can be configured to rotate or move the arm massage part 110 in one or more directions or extend (extend or contract) the arm massage part 110 according to the user input signal, the internal algorithm for determining whether a preset condition is satisfied, or the function of the arm massage part 100. Of course, the driving module 120 can be designed to be controlled by the control part 140 of the present invention.

[0342] Since the specific structure of the arm massage part 110 described in this embodiment can be compared with the above reference Figures 1 to 11The arm massage part 300 described corresponds to each other, so the above description replaces the detailed contents of the structure, operation, control, etc. of the arm massage part 110. The driving module 120 described in this embodiment also corresponds to the driving module part or the rotating module part 5000 of the above embodiment, and is therefore the same.

[0343] When the arm stretching mode starts, for example, when the user selects the arm stretching mode, the control unit 140 of the present invention controls output of guidance information on the arm stretching mode.

[0344] According to an embodiment, the control unit 140 of the present invention may be configured to output a control signal for controlling output of the guide information to the interface unit 160 when the arm stretching mode starts ( S100 ).

[0345] When the control signal is input to the interface unit 160 , the interface unit 160 of the present invention outputs guidance information for guiding application of a force in a first direction to the arm accommodated in the arm massaging unit 110 based on the control signal ( S110 ).

[0346] like Fig.12 As shown, the interface unit 160 of the present invention may be composed of one or more of the tactile unit 161, the screen display unit 162, and the audio unit 163. Therefore, the guide information may be displayed in one or more of the auditory medium and the visual medium by driving the screen display unit 162 and / or the audio unit 163, and the tactile medium may also be driven together to attract attention and improve user cognition.

[0347] As described later, the first direction relative to the direction of applied force may be a direction based on up and down based on the vertical direction, a direction based on left and right based on the horizontal direction, or a direction based on a three-dimensional space combining the horizontal direction and the vertical direction.

[0348] In addition, the massage device 100 according to the present invention may include a plurality of arm massage parts 110, 3000. As described in the above embodiment, the left and right arm massage parts may be configured to move independently or relatively.

[0349] Therefore, the first direction may be a common direction of each arm massage part 110, a direction in which each arm massage part 110 is symmetrical to each other, or a direction different from each other, etc. For example, the guide information may be information for guiding both arms to apply force upward (downward), information for guiding both arms to apply force in an open direction, information for guiding both arms to apply force in a close direction, or information for guiding the left arm (right arm) to apply force upward and the right arm (left arm) to apply force downward, etc.

[0350] When the guidance information is output as described above, the control unit 140 of the present invention may control the driving module 120 to execute a mode (hereinafter referred to as “arm stretching mode”) in which the arm massage unit 110 rotates or moves in a second direction opposite to the first direction.

[0351] According to an embodiment, the control unit 140 of the present invention may be configured to generate a control signal for controlling the arm massage unit 110 to rotate or move in the second direction when outputting the guidance information (S150), and output the generated control signal to the driving module 120 (S160).

[0352] When a control signal is input from the control unit 140 , the driving module 120 of the present invention rotates or moves the arm massaging unit 110 in a second direction, ie, a direction opposite to the first direction guided to the user by the guide information ( S170 ).

[0353] As described above, when the arm massage part 110 rotates or moves in a direction opposite to the direction in which the user is induced to apply force through the guidance information, appropriate resistance or load is formed on the arm, and the arm massage part 110 rotates or moves in a direction opposite to the applied force, thereby naturally inducing resistance to rotation or movement in the arm, so that appropriate muscle tension can be strengthened or maintained, thereby further improving the effect of arm stretching.

[0354] When the arm massage part 110 rotates or moves in the second direction without actually applying a force in the first direction or applying a force smaller than a reference magnitude in the first direction, the user's arm may move passively or dependently on the rotation or movement of the arm massage part 110, and thus the above-mentioned arm stretching effect may not be apparent or may be reduced.

[0355] To this end, preferably, the control unit 140 of the present invention controls the execution of the arm stretching mode only when the force in the first direction is detected using a detection signal input from a detection sensor 130 that detects the force applied by the arm, or when the force in the first direction is above a reference value.

[0356] When the user applies force to move the user's arm (one or more of the left arm and the right arm) in a specific direction (for example, upward) in a state where the user's arm is accommodated in the arm massaging part 110, force is applied to the arm massaging part 110, etc. by the user's arm. As described above, the detection sensor 130 of the present invention may be provided to detect the force applied by the user's arm.

[0357] Therefore, the detection sensor 130 of the present invention can be set at multiple positions (upper, lower, left, right, etc.) of the arm massage part 110 to effectively detect the direction of the force applied by the user's arm (hereinafter referred to as "external force").

[0358] According to an embodiment, the detection sensor 130 of the present invention may also be provided in the driving module 120 that drives the rotation or movement of the arm massaging part 110 .

[0359] When force is applied to the arm massage part 110, a load is generated in the motor, actuator, gear, power transmission unit, etc. of the driving module 120 that drives the rotation or movement of the arm massage part 110. Therefore, the characteristics (magnitude, direction, etc.) of the force applied by the user's arm can also be detected by measuring or detecting the load. Other embodiments of the detection sensor 130 and the specific contents of the detection sensor 130 will be described later.

[0360] As described above, the detection sensor 130 of the present invention detects an external force ( S120 ), and may be configured to output a detection signal corresponding to a characteristic (one or more of magnitude and direction) of the detected external force ( S130 ).

[0361] The control unit 140 of the present invention grasps the characteristics (magnitude, direction, etc.) of the external force by analyzing (parsing) the input detection signal (S140), generates a control signal (S150), so that the arm massage unit 110 rotates or moves in a direction (second direction) opposite to the direction (first direction) of the external force, and outputs it to the driving module 120 (S160).

[0362] When the control signal is input to the driving module 120 ( S160 ), the driving module 120 of the present invention rotates or moves the arm massaging part 110 in a direction opposite to the direction in which the external force acts based on the input control signal ( S170 ).

[0363] As described above, in order to more effectively implement the arm stretching mode according to the present invention, the control unit 140 of the present invention may control the arm stretching mode only when the force in the first direction is detected.

[0364] If the direction of the detected external force is different from the guided direction, the control unit 140 of the present invention can control to output the guidance information thereto through the control interface unit 160. To this end, of course, information about the first direction, etc. in the guidance information can be stored in the control unit 140, etc. for use.

[0365] According to the implementation form, when an external force in a direction different from the guided information is detected, the control unit 140 of the present invention can preferentially reflect the user's intention to control so that the arm massage unit 110 rotates or moves in a direction opposite to the direction of the detected external force. In this case, preferably, in order to prevent safety accidents, etc., the control unit 140 of the present invention controls to output appropriate information on the direction of the arm stretching mode.

[0366] The massage device 100 according to an embodiment of the present invention is configured to not only have the original function of providing massage to the arm as described above, but also provide an arm stretching mode by using the arm massage part 110 as a rotatable or movable hardware object to rotate or move the arm massage part 110 in a direction opposite to the direction in which the user applies force.

[0367] Fig.15 1 is a flowchart for explaining a processing procedure of an embodiment of the present invention. As described above, the control unit 140 of the present invention controls the interface unit 160 to output guidance information for guiding application of force in the first direction (S200).

[0368] According to the implementation form, when the user or the like selects the arm stretching mode in a specific direction through the user input unit 1400 or the like of the above-mentioned embodiment, the control unit 140 of the present invention may control not to output the guide information. However, of course, even in this case, the control unit 140 of the present invention may control to output the guide information or information equivalent thereto in order to draw attention, confirm the information, etc.

[0369] As described above, only when the force in the first direction is detected from the detection sensor 130 after the guide information and the like are output ( S210 ), the arm stretching mode described above may be driven ( S220 ).

[0370] In order to further improve the effect of arm stretching, the control unit 140 of the present invention may control the arm stretching mode to start only when the magnitude of the detection signal input from the detection sensor 130 is greater than a reference value.

[0371] In addition, in order to organically combine the resistance strength of the arm muscles and the like with the arm stretching mode, when a strong force above a specific value is detected or the user selects a high-intensity arm stretching mode, the control unit 140 of the present invention can control the driving module 120 so that the speed at which the arm massage unit 110 rotates or moves in the second direction is proportional to the detection signal (S225).

[0372] In order to accurately reflect the temporal trend of the user's external force changing over time, after the arm stretching mode starts, that is, when the arm massage part 110 is rotating or moving, when the size of the detection signal input from the detection sensor 130 is below the first reference value (S230), the control part 140 of the present invention controls to stop the rotation or movement of the arm massage part 110 (S250).

[0373] In this case, in order to improve the actual effect of arm stretching and to be able to continuously maintain arm stretching, a step of outputting guidance information (S240) for inducing or encouraging a stronger external force may be added. Even after outputting guidance information for this purpose, if the detection signal, i.e., the magnitude of the external force is still less than the first reference value, the control unit 140 of the present invention may control the arm massage unit 110 to stop rotating or moving (S250).

[0374] If the arm stretching mode is continued despite the external force being smaller than the first reference value, there may be a risk of injury or a safety accident, etc. Therefore, as described above, when the external force is smaller than the first reference value, preferably, the rotation or movement of the arm massage part 110 is stopped.

[0375] In this regard, the first reference value is reference information for inducing an actual arm stretching effect, etc., and can be variably set using characteristic information of the user (gender, age, weight, height, etc.) that can be DB-ized in the storage unit 1300 of the above-mentioned embodiment, etc., and can also be set in a manner selected or input by the user.

[0376] According to an implementation form, when the size of the detection signal (the size of the external force) remains above a first reference value and the size of the detection signal gradually decreases or approaches the first reference value, the control unit 140 of the present invention can control the interface unit 160 so as to output guidance information such as encouraging arm stretching mode.

[0377] Preferably, Fig.15 The control process of the present invention shown is arranged so that if the preset termination conditions (S260) such as login and logout, forced termination, system shutdown, emergency time occurrence, etc. are not met, the cycle is applied.

[0378] On the other hand, depending on the user's characteristics (age, gender, age, body proportions, etc.), there may be positions or postures that require a concentrated arm stretching mode depending on conditions such as periarthritis of the shoulder (frozen shoulder) or elbow (elbow joint trauma) or depending on the muscle parts where pain or muscle soreness occurs.

[0379] For example, if the arm is uncomfortable or painful starting from the point where the rotation angle of the arm massage part 110 forms 60 degrees with the up-down (vertical) direction as a reference, the arm stretching mode is preferably performed only in the area where the rotation angle of the arm massage part 110 is more than 60 degrees.

[0380] To this end, the control unit 140 of the present invention may control the arm stretching mode to be performed only when the current angle of the arm massage unit 110 is greater than a reference angle or the current position is greater than a reference position.

[0381] The reference angle may be set based on the direction in which the rotation angle of the arm massage part 110 increases upward or increases outward. However, depending on the situation, the user feels discomfort or pain when lowering the arm or bringing the arm inward, so the reference angle may also be set based on the direction in which the rotation angle is lowered downward or brought inward. The same is true for the reference position, which refers to a specific position for performing the arm stretching mode.

[0382] Since the reference angle and reference position can be information personalized according to the user, the first reference value mentioned above can be set in a changeable manner using the user's characteristic information (gender, age, weight, height, etc.) that can be DB-ized in the storage unit 1300, etc., and can also be set in a manner that the user selects or inputs through the user input unit 1400, etc.

[0383] Fig.13 It is shown Fig.12 A block diagram of a specific structure of an embodiment of the control unit 140 shown in FIG. Fig.16 It is a flowchart for explaining the processing procedure of another embodiment of the present invention.

[0384] like Fig.13 As shown, the control unit 140 of the present invention may include a receiving unit 141, a main control unit 143 and a history storage unit 145. As described above, Fig.13 Each structure of the control unit 140 shown is a logical structure for improving the understanding of the technical idea of ​​the present invention and the efficiency of description.

[0385] like Fig.13 As shown, the driving module 120 may include: a first driving module 120A, rotating or moving the arm massage part 110 along the up-down direction (vertical direction); or / and a second driving module 120B, rotating or moving the arm massage part 110 along the left-right direction (horizontal direction).

[0386] The detection sensor 130 of the present invention may include: a first sensor 130A, detecting an upward external force (force applied by the arm); a second sensor 130B, detecting a downward external force; a third sensor 130C, detecting a left external force; and a fourth sensor 130D, detecting a right external force.

[0387] When detection signals of one or more of the first to fourth sensors 130A, 130B, 130C, and 130D are input through the receiving unit 141, the main control unit 143, which is a structure of the control unit 140, determines the characteristics (magnitude, direction, etc.) of the external force generated by the user by analyzing (parsing) one or more input signals.

[0388] The first to fourth sensors 130A, 130B, 130C, and 130D detect external forces acting in positive or negative directions based on vertical and horizontal directions, so the control unit 140 of the present invention, specifically the main control unit 143, can specify the correct direction component of the external force by using these detection signals.

[0389] When the directional component of the external force is specified as described above and the direction of the external force corresponds to the first direction of the guidance information output through the interface unit 160, the control unit 140 of the present invention controls one or more of the first and second driving modules 120A and 120B so that the arm massage unit 110 rotates or moves in a second direction opposite to the first direction.

[0390] As described above, when the direction specified by the detection signal does not correspond to the first direction in the guide information, subsequent processing such as output of guide information for user confirmation or modification of the direction of the arm stretching mode may be performed.

[0391] According to the implementation structure of the present invention, since the arm massaging part 110 can be rotated or moved in the three-dimensional direction of the three-dimensional space, it is possible to provide the user with arm stretching modes in almost all directions required or desired by the user.

[0392] Of course, depending on the implementation form, the control unit 140 of the present invention can use the first driving module 120A, the first sensor 130A and the second sensor 130B to provide an arm stretching mode in the up and down direction (vertical direction) or use the second driving module 120B, the third sensor 130C and the fourth sensor 130D to provide an arm stretching mode in the left and right direction (horizontal direction).

[0393] like Fig.16 As shown, when a detection signal is input from the detection sensor 130 or the detection signal input from the detection sensor 130 is greater than a second reference value (S300), the control unit 140 of the present invention may control the airbag 111 provided in the arm massage unit 110 to expand (S310).

[0394] The second reference value may also be set to be the same as the first reference value, ie, the reference value for controlling the arm massage part 110 to stop rotating, but may also be set to a different value according to the implementation.

[0395] The detection signal input from the detection sensor 130 being greater than the second reference value means that the user applies a force greater than an appropriate level to the arm. Therefore, in this case, the arm spacing range may be relatively large, which may cause safety accidents such as the arm slipping or the arm exceeding the accommodation range of the arm massage part 110.

[0396] In addition, when the user applies force above an appropriate level to the arm, the inner side of the arm massaging part 110 may be damaged or a wound may occur on the arm.

[0397] Therefore, if the airbag 111 arranged in the arm massage part 110 is controlled to expand when the size of the detection signal input from the detection sensor 130 is greater than the second reference value as described above, the user's arm can be induced to be more firmly supported or fixed by the airbag 111, thereby effectively preventing the above-mentioned injuries, damages, safety accidents, etc.

[0398] In addition, if the arms are controlled to tighten when the user's external force is above an appropriate level as described above, it means feedback that the user is applying a stronger force, thereby increasing interest in stretching, and since the user's arms are firmly supported, the user can apply a stronger force, thereby doubling the stretching effect.

[0399] From a corresponding perspective, when the size of the detection signal input from the detection sensor 130 is smaller than the third reference value ( S320 ) while the airbag 111 is inflated, the control unit 140 of the present invention may control the airbag 111 to shrink ( S330 ).

[0400] The third reference value is a reference external force value that controls the physical support for the arm to become relatively loose when the external force becomes weaker. Of course, the third reference value can have the same size as the above-mentioned second reference value, and of course, it can also be set differently from the second reference value through user selection or default setting.

[0401] When the external force is reduced as described above, the airbag 111 is thereby contracted, so this can also serve as user feedback that the external force has been reduced.

[0402] Since the process of controlling the expansion and contraction of the airbag 111 (S300 to S330) can be applied cyclically, the expansion and contraction of the airbag 111 is achieved by a series of time series processes linked to the size of the detection signal of the detection sensor 130, that is, the size of the external force of the user.

[0403] On the other hand, when the arm is in a state of being moved to a specific direction (eg, upward direction) above the critical position, the arm may be in an uncomfortable posture in terms of the human body structure, and the possibility of inducing pain may also be relatively increased.

[0404] In addition, if the arm is strongly squeezed or fixed by the airbag 111 when it is raised above the critical position, the user's arm is restricted by the airbag 111, so it may be difficult to perform evasive action when a safety problem occurs.

[0405] Therefore, preferably, if the arm massaging part 110 is rotated or moved above a reference range (S340), the control part 140 of the present invention may control the airbag 111 to contract (S350).

[0406] On the other hand, when the arm massaging part 110 rotates or moves, the control part 140 of the present invention may control the second airbag 150 provided at the shoulder of the user to expand so as to physically support or fix the shoulder part of the user.

[0407] According to the implementation structure of the present invention, since the movement or rotation of the shoulder and the arm can be effectively suppressed and rotated or moved together, it is possible to prevent shoulder injuries and further improve the arm stretching effect.

[0408] Fig.17 This is a flowchart for explaining an embodiment of the present invention for performing an arm stretching mode.

[0409] Fig.17 The processing steps of step S400, ie, controlling the driving arm stretching mode (a mode in which the arm massage part 110 rotates or moves in the second direction) correspond to the above contents, and thus detailed description thereof will be omitted.

[0410] The control unit 140 of the present invention may control the arm massage unit 110 to stop rotating or moving for a reference time (hereinafter referred to as "support mode") more than once during the process of the arm massage unit 110 rotating or moving in the second direction.

[0411] The time period for starting the support mode (for example, every 15 seconds), the duration of the continuous support mode (for example, 3 seconds), and the number of times the support mode is repeated (for example, 3 times) can be variably set according to user characteristic information, or the user can adjust them through the user input unit 1400, etc.

[0412] According to this implementation structure of the present invention, the tension of the arm muscles and the like are differentiated in time series, and changes in the external force applied by the user can be induced, thereby further maximizing the effect of arm stretching.

[0413] Specifically, the control part 140 of the present invention monitors the time elapsed after the arm stretching mode starts, and when the current time point corresponds to the time period of the support mode (S410), controls the driving module 120 to stop the rotation or movement of the arm massage part 110 (S420).

[0414] The stop action continues for the reference time, and when the stop action continues for a time period exceeding the reference time (S430), the control unit 140 of the present invention controls the arm stretching mode to be performed again (S400).

[0415] The processing of the arm stretching mode (S400) and the support mode (stop action) (S420) can be repeated in a loop. When the number of times the support mode is performed corresponds to the set reference number of times (S440), it can be set to execute only the arm stretching mode without the support mode or the arm stretching mode itself ends.

[0416] According to an embodiment, when the number of times the support mode is performed corresponds to the set reference number (S440), the control unit 140 of the present invention may control subsequent processing such as returning the arm massage unit 110 to the original position.

[0417] When the arm massaging part 110 returns to the original position, the control part 140 of the present invention may control the guide information on returning to the original position to be output through the interface part 160 .

[0418] At the start or end time point of the arm stretching mode or during the arm stretching mode, historical information of interconnected information such as the time (time series) size of the external force detected by the detection sensor 130 (the size of the detection signal), the driving energy consumption of the arm stretching mode, etc. can be stored in the history storage unit 145 of the present invention so that it can be used as raw data of the stretching history.

[0419] The information about the energy consumption can be calculated as a function of the amount of external force used, the duration of the external force, the user's weight information, etc. Depending on the implementation form, information on calories consumed, muscle and bone gain, etc. may also be included in the historical information.

[0420] According to the implementation form, the history information may be configured to be output to the screen display unit 162 or the like in a graphical user interface (GUI) environment or transmitted to a user terminal or the like.

[0421] As described in the above embodiment, the arm massage part 110, 3000 of the present invention may include a pair of arm massage parts 3000A, 3000B, and the pair of arm massage parts 3000A, 3000B may accommodate the right arm and the left arm of the user respectively. As described above, these separate arm massage parts 3000A, 3000B may move independently or relatively.

[0422] The massage device 100 according to the present invention is configured with multiple arm massage parts 3000A, 3000B that move independently (including relative movement). Therefore, for the above-mentioned processing of the arm stretching mode, each arm massage part 3000A, 3000B can be performed independently or in linkage with each other (integral linkage or partial linkage).

[0423] Therefore, when the external force on the left arm and the external force on the right arm are different from each other, that is, when the detection signals output by the detection sensors 130 respectively provided at the multiple arm massage parts 3000A and 3000B are different from each other, the rotation speed or movement speed of each of the multiple arm massage parts 3000A and 3000B can be controlled differently from each other.

[0424] According to the implementation form, when the detection signals of the detection sensors 130 respectively arranged in the multiple arm massage parts 3000A and 3000B are different from each other, the control part 140 of the present invention controls the guidance information to be output through the interface part 160, so that the user can recognize the current state and can be induced to perform balanced arm stretching.

[0425] As described above, the detection sensor 130 of the present invention is configured to detect the force applied by the arm. Of course, various types of sensors can be applied as long as they can detect the force applied by the arm.

[0426] According to an implementation form, the detection sensor 130 may be a pressure sensor, which is disposed on the inner side of the arm massage part 110 (the arm housing part 3100 of the above-mentioned embodiment, etc.), and can detect the force applying pressure to the inner side of the arm massage part 110 when the arm is accommodated in the arm massage part 110.

[0427] In the attached figure ( Figure 8a In the figure, for the convenience of arm entry, the arm massage part 110 is shown with an open inner side, but according to the embodiment, it can be a shape with a part of the inner side such as the front side closed.

[0428] In this case, the first sensor 130A detecting the upward external force may be disposed on the inner upper surface of the arm massaging part 110 , and the second sensor 130B detecting the downward external force may be disposed on the inner lower surface of the arm massaging part 110 .

[0429] In addition, the third sensor 130C for detecting external force in the outward direction (the left direction when the left arm is used as a reference) can be set on the inner left surface of the arm massage part 110, and the fourth sensor 130D for detecting external force in the inner direction (the right direction when the left arm is used as a reference) can be set in the front (closed part) part of the inner right surface of the arm massage part 110.

[0430] According to an implementation form, the detection sensor 130 may include a strap provided at the arm massaging part 110 and capable of surrounding the arm, and a directional pressure sensor connected to an end of the strap.

[0431] When the belt is tightened in the form of wrapping around the outer circumference of the arm or when force is applied by the arm with the arm inserted into the belt, the same external force also acts on the belt, so the directional pressure sensor connected to the end of the belt can detect the magnitude and direction of the external force.

[0432] On the other hand, when force is applied in a specific direction by the arm with the airbag 111 provided in the arm massage part 110 covering the arm, the pressure of the portion of the airbag 111 corresponding to the direction of force application increases relatively, and the pressure in the opposite direction decreases relatively.

[0433] As described above, the detection sensor 130 of the present invention may be configured to detect the force applied by the arm using one or more of the location where the pressure change of the airbag 111 occurs and the displacement of the location.

[0434] Although the present invention has been described above through limited embodiments and drawings, the present invention is not limited thereto, and ordinary technicians in the technical field to which the present invention belongs can make various modifications and variations within the equivalent scope of the technical concept of the present invention and the scope of the claims described below.

[0435] In the above description of the present invention, modifiers such as first and second are merely tool-conceptual terms used to relatively distinguish constituent elements from each other, and therefore should be interpreted as not terms used to express a specific order, priority, etc.

[0436] The accompanying drawings used for explaining the present invention and illustrating its embodiments may be illustrated in a slightly exaggerated form in order to emphasize or highlight the technical content according to the present invention, but considering the above content and the matters shown in the drawings, etc., it should be understood that it is obvious that various types of modifications and application examples are possible at the level of ordinary technicians in this technical field.

[0437] The control method of the massage device 100 according to the present invention described above can be implemented as a computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices (CD-ROM, RAM, ROM, floppy disk, magnetic disk, hard disk, optical magnetic disk, etc.) that store computer-readable data, and may also include servers for wired and wireless Internet transmission.

Claims

1. A massage device, characterized in that: include: The body massage part massages at least a part of the user's body. The arm massage part is arranged at the side of the body massage part, receives the user's arm and performs a massage action on the received arm. a driving module for causing the arm massage part to rotate or move in at least one direction, and The control unit controls output of guide information, wherein the guide information guides application of a force in a first direction to the arm accommodated in the arm massage unit, and the control unit controls the driving module so as to perform an arm stretching mode, wherein the arm stretching mode is a mode in which the arm massage unit rotates or moves in a second direction which is an opposite direction to the first direction.

2. The massage device according to claim 1, characterized in that: Also included is a detection sensor for detecting a force applied by the arm, The control unit controls the arm extension mode to be performed only when the force in the first direction is detected by the detection signal input from the detection sensor.

3. The massage device according to claim 2, characterized in that: When the magnitude of the detection signal is equal to or smaller than a first reference value in a state where the arm massaging part is rotating or moving, the control part controls the arm massaging part to stop rotating.

4. The massage device according to claim 2, characterized in that: The control unit controls the output of the guide information when the magnitude of the detection signal is equal to or smaller than a first reference value in a state in which the arm massage unit is rotating or moving.

5. The massage device according to claim 3 or 4, characterized in that: The first reference value is set to be changeable according to user identification information or a selection of the user.

6. The massage device according to claim 2, characterized in that: The control unit controls the arm massage unit so that a speed of rotation or movement in the second direction is proportional to a magnitude of the detection signal.

7. The massage device according to claim 1, characterized in that: The control unit controls the arm massage unit to stop the rotation or movement of the arm massage unit for a reference time at least once during the rotation or movement of the arm massage unit in the second direction.

8. The massage device according to claim 1, characterized in that: The control unit controls the arm stretching mode to be performed only when a current angle of the arm massage unit is equal to or greater than a reference angle or a current position of the arm massage unit is equal to or greater than a reference position.

9. The massage device according to claim 8, characterized in that: The reference angle or the reference position is set to be changeable according to the user.

10. The massage device according to claim 1, characterized in that: The driving module comprises: a first driving module, which causes the arm massage part to rotate or move in an up-down direction, and A second driving module causes the arm massage part to rotate or move in a left-right direction; The control unit controls one or more of the first driving module and the second driving module so that the arm massaging unit rotates or moves in a three-dimensional direction opposite to the first direction.

11. The massage device according to claim 2, characterized in that: The detection sensor is a pressure sensor that is provided at the arm massage part and detects a force that pressurizes the inner side of the arm massage part in a state where the arm is accommodated in the arm massage part.

12. The massage device according to claim 2, characterized in that: It also includes an air bag arranged on the arm massage part, The control unit controls the airbag to inflate when the detection signal is input from the detection sensor or the magnitude of the detection signal is equal to or greater than a second reference value.

13. The massage device according to claim 1, characterized in that: It also includes an air bag arranged on the arm massage part, When the arm massaging part rotates or moves beyond a reference range, the control part controls the airbag to contract.

14. The massage device according to claim 1, characterized in that: Also includes a second air bag disposed on the shoulder of the user, The control part controls the second airbag to expand when the arm massaging part rotates or moves.

15. The massage device according to claim 2, characterized in that: The device further includes a history storage unit for storing history information, wherein the history information includes at least one of time series magnitude information of the detection signal input from the detection sensor and energy consumption of driving in the arm extension mode.

16. A control method of a massage device, wherein an arm stretching mode is provided in the massage device, the massage device comprising a body massage portion for massaging at least a portion of a user's body and an arm massage portion for accommodating the user's arm and rotating or moving in at least one direction, characterized in that: include: an information output step, controlling the output of guidance information, wherein the guidance information guides the application of a force in a first direction to the arm accommodated in the arm massage part, a signal input step of inputting a detection signal from a detection sensor that detects a force applied by the arm accommodated in the arm massage part, and The control step controls the arm massage part to rotate or move in a second direction which is an opposite direction to the first direction based on the detection signal.

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