Massage device providing combined mode and control method of massage device

Abstract

According to one embodiment of the present invention, a massage device providing a combination mode and a method for controlling the massage device, the massage device comprising: a body massage unit for massaging at least a part of the body of a user; a first leg massage part and a second leg massage part which are provided at the lower part of the body massage part and can rotate in two or more directions; a first arm massage part provided at a position corresponding to the first leg massage part and capable of rotating in two or more directions; a second arm massage part provided at a position corresponding to the second leg massage part and capable of rotating in two or more directions; and a control unit that controls execution of one or more of a first relative operation of the first leg massage unit and the second leg massage unit and a second relative operation of the first arm massage unit and the second arm massage unit.

Description

Technical Field

[0001] The present invention relates to a massage device including a rotatable leg massage part, and more particularly, to a massage device providing a combination mode including various sports or movements corresponding to walking or running, etc. Background Art

[0002] Massage refers to a medical auxiliary therapy that regulates the user's biorhythm, improves blood circulation and relieves fatigue of the massage object by applying or guiding various forms of mechanical stimulation to the user's body, such as kneading, pressing, stretching, patting or body movements.

[0003] As eating habits, lifestyles, areas of activity, and ways of life change, concerns about health and work-life balance are increasing, and thus the demand for massage devices or massage equipment (hereinafter collectively referred to as "massage devices") that provide muscle relaxation, tension relief, fatigue recovery, and stress relief is also increasing.

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

[0005] However, these functions added to the massage device may only be functions that improve the convenience of users of the massage device such as using interfaces or assist in more conveniently performing activities other than massage, and are somewhat unrelated to functions that provide direct stimulation or effects to the user's body such as exercise and stretching.

[0006] Although some massage devices have functions for driving the arm massage part or the leg massage part, these functions are only used to improve the convenience or safety of the user when riding (sitting) on ​​the massage device or to adjust the length to fit the limitations of the user's body size. Summary of the invention

[0007] Problem to be solved

[0008] The present invention was created under the background described above, and its purpose is to provide a massage device that utilizes the organic action relationship of multiple massage parts arranged in the massage device to naturally guide the user to walk, run and other exercises or movements, thereby providing a direct effect to the user's body.

[0009] Another object and advantage of the present invention can be understood through the following description and will become more apparent through the embodiments of the present invention. In addition, the objects and advantages of the present invention can be achieved through the structures shown in the scope of the claims and the combination of the structures.

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

[0011] Means used to solve problems

[0012] According to an embodiment of the massage device of the present invention for solving the above-mentioned purpose, it may include: a body massage part for massaging at least a part of a user's body; a first leg massage part and a second leg massage part, which are arranged at the lower part of the body massage part and can rotate in more than two directions; a first arm massage part, which is arranged at a position corresponding to the first leg massage part and can rotate in more than two directions; a second arm massage part, which is arranged at a position corresponding to the second leg massage part and can rotate in more than two directions; and a control part, which controls the execution of one or more of a first relative action of the first leg massage part and the second leg massage part and a second relative action of the first arm massage part and the second arm massage part.

[0013] In addition, the control unit of the present invention can control the rotation of the first leg massage unit and the second arm massage unit and one or more of the rotation directions in linkage, and control the rotation of the second leg massage unit and the first arm massage unit and one or more of the rotation directions in linkage.

[0014] According to an implementation form, the control unit of the present invention can control the rotation of the first leg massage unit and the first arm massage unit and one or more of the rotation directions, and control the rotation of the second leg massage unit and the second arm massage unit and one or more of the rotation directions.

[0015] Specifically, the control unit of the present invention can control the execution of a first action and a second action, wherein the first action is that the first leg massage unit rotates in a first direction and the second arm massage unit rotates in a direction corresponding to the first direction, and the second action is that the second leg massage unit rotates in a second direction different from the first direction and the first arm massage unit rotates in a direction corresponding to the second direction.

[0016] In addition, the control unit of the present invention can control the execution of a first action and a second action, wherein the first action is that the first leg massage unit rotates in a first direction and the first arm massage unit rotates in a direction corresponding to the first direction, and the second action is that the second leg massage unit rotates in a second direction different from the first direction and the second arm massage unit rotates in a direction corresponding to the second direction.

[0017] Preferably, the first arm massage part and the second arm massage part of the present invention can be configured to rotate in vertical and horizontal directions. In this case, the control part of the present invention can control the first arm massage part or the second arm massage part to rotate in a three-dimensional direction corresponding to the first direction or the second direction.

[0018] Furthermore, the control unit of the present invention may control the first direction and the second direction to alternate repeatedly.

[0019] According to an implementation form, the rotation angle range of one or more of the first leg massage part, the second leg massage part, the first arm massage part and the second arm massage part of the present invention can be set to be changeable based on one or more of user information, user body information and the user's selection information.

[0020] Preferably, the control unit of the present invention generates count information by using the number of times the first direction and the second direction are alternated, and when the count information corresponds to the number of times information input by the user, the control unit can control the output of the corresponding guidance information.

[0021] The massage device according to one embodiment of the present invention may further include a body driving unit for changing the position or posture of the body massage part; in this case, the control unit of the present invention can control the body driving unit so that the tilting action of the body massage part tilting backward is performed before the first relative action or the second relative action.

[0022] In addition, the control unit of the present invention may control the time when the first action is performed and the time when the second action is performed to correspond to each other.

[0023] In addition, the control unit of the present invention may control the time when the first leg massage unit rotates in the first direction by the first motion and the time when the second arm massage unit rotates in the direction corresponding to the first direction by the first motion to correspond to each other.

[0024] According to an embodiment, the control unit of the present invention may control the time when the first leg massage unit rotates in the first direction by the first motion and the time when the first arm massage unit rotates in the direction corresponding to the first direction by the first motion to correspond to each other.

[0025] The massage device according to an embodiment of the present invention may further include one or more of a first leg airbag arranged in the first leg massage part, a second leg airbag arranged in the second leg massage part, a first arm airbag arranged in the first arm massage part, and a second arm airbag arranged in the second arm massage part.

[0026] In this case, the control of the present invention may control one or more of the first leg airbag, the second leg airbag, the first arm airbag, and the second arm airbag to expand when the first relative motion or the second relative motion is performed.

[0027] In addition, the first leg massage part and the second leg massage part of the present invention may be configured to be retractable in length. In this case, the control part of the present invention may control the length of the leg massage part rotating upwards of the first leg massage part and the second leg massage part to decrease, and may control the length of the leg massage part rotating downwards to increase when the first relative action or the second relative action is performed.

[0028] The massage device according to an embodiment of the present invention may further include: a first leg airbag, arranged in the first leg massage part, and a second leg airbag, arranged in the second leg massage part; in this case, when the first leg massage part or the second leg massage part rotates upward, the control part of the present invention can control the first leg airbag or the second leg airbag to contract, and when the first leg massage part or the second leg massage part rotates downward, the control part of the present invention can control the first leg airbag or the second leg airbag to expand.

[0029] According to an embodiment, the first arm massage part and the second arm massage part of the present invention may be configured to be retractable in length. In this case, when the first relative motion or the second relative motion is performed, the control part of the present invention may control the length of the arm massage part rotating in the direction corresponding to the upper direction of the first arm massage part and the second arm massage part to decrease, and the length of the arm massage part rotating in the direction corresponding to the lower direction to increase.

[0030] The massage device according to an embodiment of the present invention may further include an additional airbag disposed at the shoulder or pelvis of the user. In this case, when the second relative motion is performed, the control unit of the present invention may control the additional airbag to contract.

[0031] In addition, the control unit of the present invention may control the first leg massage unit, the second leg massage unit, the first arm massage unit, and the second arm massage unit to rotate or not and to rotate in one or more directions in a linked manner.

[0032] According to an embodiment, the control unit of the present invention can control the first and second leg massage units to rotate in a first direction, and can control the first and second arm massage units to rotate in a second direction different from the first direction.

[0033] In addition, the control unit of the present invention controls the first direction rotation of the first leg massage unit and the second leg massage unit and the length contraction linkage of the first leg massage unit and the second leg massage unit, and controls the second direction rotation of the first arm massage unit and the second arm massage unit in a direction different from the first direction and the length extension linkage of the first arm massage unit and the second arm massage unit.

[0034] The massage device according to an embodiment of the present invention may further include: a first leg driving unit, driving one or more of the rotation and the length extension of the first leg massage unit; and a second leg driving unit, driving one or more of the rotation and the length extension of the second leg massage unit.

[0035] The massage device according to an embodiment of the present invention may further include: a first arm driving unit, driving one or more of the rotation and the length extension of the first arm massage unit; and a second arm driving unit, driving one or more of the rotation and the length extension of the second arm massage unit.

[0036] A control method for a massage device according to another aspect of the present invention is a method for controlling a massage device, the massage device comprising: a body massage part for massaging at least a part of a user's body, a first leg massage part and a second leg massage part, which are arranged at the lower part of the body massage part and can rotate in more than two directions, a first arm massage part, which is arranged at a position corresponding to the first leg massage part and can rotate in more than two directions, and a second arm massage part, which is arranged at a position corresponding to the second leg massage part and can rotate in more than two directions; the method may include a control step of controlling the relative movement of the first leg massage part and the second leg massage part, and controlling the relative movement of the first arm massage part and the second arm massage part.

[0037] Effects of the Invention

[0038] According to an embodiment of the present invention, through the combined actions of the leg massage part and / or the arm massage part, movements or motions corresponding to the actual action characteristics of the human body structure such as walking or running can be more effectively guided.

[0039] According to one embodiment of the present invention, not only massage as an inherent function of the massage device can be provided, but also practical effects such as rehabilitation, exercise, and stretching for arms and legs, etc. can be provided, thereby further improving the usability and effectiveness of the massage device.

[0040] According to one embodiment of the present invention, the arms, etc. can be driven not only in the horizontal and vertical directions, but also in multiple directions in the three-dimensional space of their combination. Therefore, not only can the effects of rehabilitation, exercise, stretching, etc. be further improved, but also higher user orientation can be achieved.

[0041] According to one embodiment of the present invention, by controlling the expansion and contraction of air bags provided in the arm massage part or the leg massage part in a time series, the user's body can be firmly supported or the support can be released, thereby not only further concentrating the effects of exercise, etc., but also effectively preventing injuries, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The following drawings attached to this specification illustrate preferred embodiments of the present invention and have the function of more effectively understanding the detailed description of the invention described later and the technical concept of the present invention. Therefore, the present invention should not be limited to the matters recorded in these drawings.

[0043] Figure 1 It is a figure which shows the massage device which concerns on Example of this invention.

[0044] Figure 2 It is a diagram showing the main framework of an embodiment of the present invention.

[0045] Figure 3 It is a diagram for explaining the components of the massage device according to the embodiment of the present invention.

[0046] Figure 4 It is a diagram for explaining a driving method of a massage device according to an embodiment of the present invention.

[0047] Figure 5a This is a diagram showing a state in which the arm massage part of the massage device according to one embodiment of the present invention is rotated in the up-down direction.

[0048] Figure 5b This is a diagram showing a state in which the arm massage part of the massage device according to one embodiment of the present invention is rotated in the left-right direction.

[0049] Figure 6 This is a diagram showing a state in which a main frame and a rotating module part are connected according to an embodiment of the present invention.

[0050] Figure 7 Yes Figure 6 FIG. 1 is an enlarged view of part A.

[0051] 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.

[0052] 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.

[0053] Fig.10 It is a perspective view showing a second rotating part according to an embodiment of the present invention.

[0054] Fig.11 It is a bottom view showing the second rotating part according to one embodiment of the present invention.

[0055] Figure 12 to Figure 14 This is a block diagram showing the detailed structure of a massage device according to an embodiment of the present invention.

[0056] Fig.15 It is a flowchart for explaining the overall processing procedure of the present invention.

[0057] Fig.16 It is a flowchart for explaining the processing procedure of one embodiment of the present invention.

[0058] Fig.17 This is a flowchart for explaining the processing performed in the first mode for the cross movement.

[0059] Fig.18 This is a flowchart for explaining the processing of the second mode for synchronous movement.

[0060] Fig.19 It is a diagram for explaining the relationship of the movement of the massage device when it is tilted.

[0061] Fig. 20 It is a diagram for explaining the operational relationship of the massage device returning to the basic posture.

[0062] Fig.21 This is a diagram showing an example of a process in which the leg massage part and the arm massage part are operated by driving in the first mode.

[0063] Fig. 22 This is a diagram showing an example of a process in which the leg massage part and the arm massage part are operated by the driving in the second mode.

[0064] Fig.23 This is a diagram showing an example of a process in which the leg massage part and the arm massage part are operated by driving in the third mode.

[0065] Fig.24 This is a diagram showing an example of a process in which the leg massage part and the arm massage part are operated by driving in the fourth mode.

[0066] Description of Reference Numerals

[0067] 200: Massage device

[0068] 210: Body massage part 220: Body drive part

[0069] 230A: First leg massage part 230B: Second leg massage part

[0070] 240A: First leg driving unit

[0071] 240AL: First leg length adjustment unit 240AR: First leg rotation unit

[0072] 240B: Second leg driving unit

[0073] 240BL: Second leg length adjustment unit 240BR: Second leg rotation unit

[0074] 250A: First arm massage part 250B: Second arm massage part

[0075] 260A: First arm driving unit

[0076] 260AL: First arm length adjustment unit 260AR: First arm rotation unit

[0077] 260B: Second arm driving unit

[0078] 260BL: Second arm length adjustment unit 260BR: Second arm rotation unit

[0079] 231A(B): 1st (2nd) leg airbag 251A(B): 1st (2nd) arm airbag

[0080] 211: Additional airbag DETAILED DESCRIPTION

[0081] 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 define terms and concepts to explain his invention in the best way.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] The terms used in this specification are only used to describe specific embodiments and are not intended to limit the content of the present invention. Unless the context clearly stipulates otherwise, a singular expression includes a plural expression.

[0086] 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 their combinations. Therefore, these terms do not preclude the existence or additional possibility of one or more other features, numbers, steps, actions, constituent elements, components or their combinations.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] Below, refer to Figures 1 to 11 First, the details of the present invention such as the basic embodiment and driving mechanism of the present invention are described, and the details of the embodiments of the present invention such as providing a combination mode will be described later.

[0091] Figure 1 1 is a diagram showing an embodiment of a massage device of the present invention. The massage device 100 according to an embodiment of the present invention includes: a body massage part 1000 forming an area for accommodating at least a part of a body of a user 10 and massaging the body of the user; a leg massage part 2000 for massaging the legs of the user; an arm massage part 3000; and a driving module part.

[0092] As described later, the driving module part may include one or more of the following: a rotating module part 5000, which rotates the arm massage part 3000 in the up-down direction and / or left-right direction; an extension part, which is used to extend (expansion) or contract (contraction) the length of the arm massage part 3000; and a position adjustment part, which adjusts the position of the arm massage part 3000 in the up-down direction.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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 .

[0097] 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 .

[0098] 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 by driving a tilt actuator or the like. As a result, the body massage part 1000 can provide massage in a state of being tilted backward.

[0099] According to an embodiment of the present invention, the massage device 100 may include at least one airbag, which may be located at the shoulder portion, the pelvis portion, the arm massage portion 3000 , the leg massage portion 2000 , etc., but is not limited thereto and may be configured at multiple portions of the massage device 100 .

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] The massage module 1700 can be configured to have a different protrusion in the direction toward the seated user, and can also be configured as a dual module with an adjustable interval between them. Through this structure, not only can the intensity of the massage provided to the user be changed differently, but also the part where the massage is provided can be changed differently.

[0107] 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.

[0108] Reference Figure 3 According to one embodiment of the present invention, the massage device 100 may include an audio output module 1500 .

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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 .

[0116] The main frame 1100 may be a structure forming a skeleton of the body massaging part 1000 .

[0117] 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.

[0118] The main frame may include a back frame 1110 for forming a framework of a user's upper body receiving portion, and a seat frame 1120 for forming a framework of a seat portion.

[0119] 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.

[0120] 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 .

[0121] 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.

[0122] 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.

[0123] 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 shape, but is not limited thereto.

[0124] 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 an "S" in two portions.

[0125] The base frame 1130 refers to a portion that supports the main frame of the main frame 1100 and contacts the ground. The base frame 1130 may include a base upper frame 1131 and a base lower frame 1132.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] The control unit 1200 can control the action 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. The control unit 1200 is not limited thereto and may be implemented in various ways.

[0130] 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. Of course, the control unit 1200 may also be implemented by hardware in a different form.

[0131] According to an embodiment of the present invention, the control unit 1200 can control the operation of the massage device 100 .

[0132] 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.

[0133] For example, the massage device 100 may include a moving actuator of the massage module, 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.

[0134] 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 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.

[0135] 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.

[0136] 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.

[0137] The foot massage actuator is an actuator for actuating the leg massage part 2000, specifically, the foot massage module in the leg massage part. By using the foot massage actuator, the massage device 100 can provide foot massage to the user.

[0138] 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.

[0139] The leg length adjustment actuator, i.e., 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.

[0140] The slide actuator enables the massage device 100 to perform a sliding motion. 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.

[0141] 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.

[0142] The storage unit 1300 may be implemented by a non-volatile storage medium that can continuously store arbitrary data.

[0143] 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 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 may be operated by the control unit 1200.

[0144] The user input unit 1400 may be configured to receive instructions from the user regarding the motion control of the massage device 100. The user input unit 1400 may be implemented in various forms according to the specifications of the product, and of course, the location of the user input unit 1400 may also be varied.

[0145] The massage device 100 can obtain various instructions 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 part 1000, selection of on / off of 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.

[0146] 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.

[0147] The user input unit 1400 may be implemented by a touch screen, a keyboard, a dome switch, a touch pad (static pressure / static electricity), a 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.

[0148] According to an implementation form, the user input unit 1400 may include a display unit for indicating an operation state of the massage device 100 or a current state of the user.

[0149] The audio output module 1500 can be configured to output audio in various ways or forms to the user. 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 module 1500 can output an audio signal received from a network (not shown) or stored in an internal / external storage medium (not shown).

[0150] For example, the audio output module 1500 can output a sound source based on the control of the user terminal via a user terminal and a network connection (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.

[0151] The massage device 100 according to an embodiment of the present invention may include a network connection unit 1600 .

[0152] The network connection part 1600 can communicate with the modules inside the massage device 100, the external massage device 100 and / or the user terminal through any form of network, and can include a wired / wireless connection module for network connection.

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

[0154] The control unit 1200 may provide massage by controlling the motion of the massage module 1700 to apply mechanical stimulation to the user.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] As another example, the sensor unit 4000 may be used to obtain biometric information, that is, fingerprint information, facial information, voice information, weight information, electrocardiogram information, iris information, body composition information, etc., but is not limited thereto and may include a variety of biometric information.

[0159] According to an embodiment, the massage device 100 may detect a contact area and / or a contact position with the user through the sensor part 4000 , and may acquire shoulder position information of the user through the sensor part 4000 .

[0160] In addition, the massage device 100 can provide personalized massage according to the acquired information. For example, when the massage device 100 provides shoulder massage, the massage device 100 recognizes the user's shoulder position according to the information acquired through the sensor part 4000, and can provide the user with shoulder massage according to the recognition result.

[0161] 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.

[0162] 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.

[0163] Specifically, the plurality of leg massage parts 2000A and 2000B may include a foot massage part and a calf massage part, which may be inserted into, installed in, and accommodate the right foot and the left foot of the user, respectively.

[0164] Figure 4 It is a diagram for explaining a driving method of a massage device according to an embodiment of the present invention.

[0165] Reference Figure 4, the multiple leg massage parts 2000A, 2000B can receive electrical signals from the control part 1200 to be driven independently.

[0166] The plurality of leg massaging parts 2000A, 2000B are hingedly (or rotatably) connected to the body massaging part 1000 , specifically, the main frame 1100 .

[0167] 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.

[0168] Reference Figure 4 The hinge driving part 2700 may be respectively provided at the plurality of leg massage parts 2000A and 2000B.

[0169] Various implementations are possible, for example, 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 adjusts the leg angle so that the plurality of leg massage parts 2000A and 2000B form the same angle relative to the main frame 1100.

[0170] 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.

[0171] 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 or relatively. The arm massage part 3000 will be described in detail later.

[0172] Figure 5a 1 is a diagram showing a state in which the arm massage part of the massage device according to an embodiment of the present invention is rotated in the upward and downward directions. Figure 5b This is a diagram showing a state in which the arm massage part of the massage device according to one embodiment of the present invention is rotated in the left-right direction.

[0173] Figure 6 1 is a diagram showing a state in which a main frame and a rotating module portion are connected in accordance with an embodiment of the present invention. Figure 7 Yes Figure 6 The enlarged view of part A of 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.

[0174] Fig. 9 1 is a diagram showing a state before the rotation module part and the arm massage part are combined according to an embodiment of the present invention. Fig.10 is a perspective view showing a second rotating portion of 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 the upper body receiving part frame 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 a surface 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] One side of the pair of side frame bodies 1153a, 1153b contacts and supports the first rotating part 5100 (with Figure 7 The side frame body 1153a of the first rotating part 5100 is connected to the base frame body 1151 and can contact and support a surface ( 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 set in the first rotating part 5100, which is the first rotation center axis of the arm massage part 3000, can be stably maintained.

[0187] The side frame bodies 1153a and 1153b according to an embodiment of the present invention may be respectively connected to the back frame 1110. As an alternative embodiment, the side frame bodies 1153a and 1153b and the first rotating part 5100 may be combined by fastening members such as bolts.

[0188] 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.

[0189] 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.

[0190] 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 .

[0191] 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 or relatively.

[0192] 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 .

[0193] 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.

[0194] 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 .

[0195] 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 .

[0196] 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.

[0197] 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.

[0198] 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 from the second rotating portion 5500 .

[0199] From another perspective, with the second rotation center axis AX2 as the rotation center axis, the arm housing portion 3100 can be rotated relative to the body massage portion 1000 in the up and down direction (with Figure 5a as the reference) rotation.

[0200] Reference Fig. 9 A rotation guide portion 3105 may be formed in a groove shape on a surface 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.

[0201] 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.

[0202] 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.

[0203] 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.

[0204] 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 .

[0205] 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.

[0206] 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 .

[0207] 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 .

[0208] 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.

[0209] The body massage part 1000 may have a protrusion groove part 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 part 1005 may be formed in a shape corresponding to the shape of the coupling protrusion 3101 formed on the arm housing part 3100.

[0210] 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.

[0211] 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.

[0212] Reference Figure 8a , Figure 8b and Fig. 9The arm receiving portion 3110 is a receiving space for inserting the user's arm, 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.

[0213] Reference Figure 8a and Figure 8b , a shoulder airbag 3500 may be provided on the arm shell portion 3100 .

[0214] 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.

[0215] 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.

[0216] 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.

[0217] 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.

[0218] 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.

[0219] 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.

[0220] The arm massage body 3310 may be provided to be movable inside the arm receiving portion 3110. 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.

[0221] 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 .

[0222] 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.

[0223] 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 .

[0224] 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.

[0225] 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.

[0226] 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.

[0227] The guide drive unit may generate power by a motor, or may generate power by a cylinder such as a pneumatic or hydraulic system.

[0228] As an optional embodiment, the guide plate 3331 may include rollers that can roll in contact with the guide rail 3335.

[0229] 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.

[0230] 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.

[0231] 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.

[0232] 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.

[0233] 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.

[0234] The rotating module part 5000 may include a first rotating part 5100 and a second rotating part 5500 .

[0235] The first rotating part 5100 according to an embodiment of the present invention may generate a rotational force so that the arm massage part 3000 rotates in the left-right direction relative to the body massage part 1000 with reference to the first rotation center axis AX1.

[0236] 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.

[0237] The second rotating part 5500 according to an embodiment of the present invention can rotate the arm massage part in the up-down direction relative to the body massage part 1000 based on the second rotation center axis AX2 different from the first rotation center axis AX1.

[0238] 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.

[0239] 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.

[0240] 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.

[0241] 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.

[0242] 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.

[0243] 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.

[0244] Reference Figures 6 to 9 , the first rotating part 5100 according to an embodiment of the present invention may include a main housing 5110 , a rotating body 5130 , and a rotating driving part 5150 .

[0245] Specifically, the first rotating part 5100 may include: a main housing 5110 which may be disposed in the body massage part 1000 ; a rotating body rotatably disposed in the main housing 5110 ; and a rotating driving part 5150 disposed in the main housing 5110 , receiving power and transmitting power to the rotating body 5130 .

[0246] Reference Figure 7 , Figure 8a and Figure 8bThe main housing 5110 forms an outer appearance of the first rotating part 5100 and may be disposed in the body massaging part 1000 , specifically, in the module frame 1150 of the main frame 1100 .

[0247] 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.

[0248] 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.

[0249] 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.

[0250] 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.

[0251] 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 .

[0252] Reference Fig.11 The stopper 5111 may be protrudingly formed on a surface of the first rotating part 5100 that may contact the second rotating part 5500 (in Fig. 9 as the upper surface of the reference).

[0253] Fig.11 FIG. 5 is a diagram showing a surface of the second rotating portion 5500 that is connected to the first rotating portion 5100 for relative rotation (in 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.

[0254] 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.

[0255] 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.

[0256] 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.

[0257] Specifically, the other surface of the first rotating part 5100 may be a surface perpendicular to the first 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 .

[0258] 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.

[0259] 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.

[0260] 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.

[0261] 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 .

[0262] 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 .

[0263] 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 .

[0264] 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.

[0265] 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).

[0266] 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.

[0267] 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.

[0268] 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.

[0269] As an alternative embodiment, the pair of arm massaging parts 3000A, 3000B may be driven independently.

[0270] 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 .

[0271] 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.

[0272] 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.

[0273] 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.

[0274] 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.

[0275] According to an embodiment of the present invention, the gears 5153a, 5153b, and 5153c provided in the power transmission part 5153 may be formed as worm gears, helical gears, and the like.

[0276] 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.

[0277] 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.

[0278] 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.

[0279] 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.

[0280] 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.

[0281] 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.

[0282] That is, the arm massage part 3000A for accommodating the right arm can rotate relative to the body massage part 1000 in the left-right direction with respect to the 1-1 rotation center axis AX1a.

[0283] 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.

[0284] 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 .

[0285] 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 .

[0286] Reference Figures 9 to 11, the main housing 5510 may be disposed on the main housing 5110 of the first rotating part 5100 .

[0287] 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 Fig. 9 as the lower surface of the reference).

[0288] 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.

[0289] 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 .

[0290] 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.

[0291] 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.

[0292] Reference Fig.11 The rotation guide portion 5513 may be formed extending along the circumferential center axis L1.

[0293] 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.

[0294] 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 .

[0295] 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.

[0296] 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.

[0297] 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.

[0298] 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.

[0299] 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 .

[0300] 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.

[0301] 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.

[0302] 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 .

[0303] 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.

[0304] 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 .

[0305] 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 .

[0306] 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.

[0307] 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).

[0308] 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.

[0309] 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.

[0310] 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 .

[0311] 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.

[0312] 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.

[0313] 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.

[0314] 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.

[0315] 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.

[0316] 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.

[0317] 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.

[0318] 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.

[0319] 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.

[0320] 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.

[0321] Specifically, if 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.

[0322] 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.

[0323] Similarly, the arm massage part 3000B for accommodating the left arm of the user 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.

[0324] 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 upward and downward directions and / or left and right directions, thereby having the effect of providing various arm massage functions to the user.

[0325] 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.

[0326] Below, refer to Figures 12 to 24 , the specific structure, processing, function, etc. of the massage device 200 according to an embodiment (hereinafter referred to as the "second embodiment") are described in detail, and the massage device 200 provides a combination mode based on the relative action or compound action of the leg massage part and the arm massage part.

[0327] Of course, more than one structure included in the above-mentioned massage device 100 can be combined or selectively applied to the massage device 200 described below.

[0328] In addition, some of the terms and / or reference numerals related to the massage device 200 and its subordinate structures of the second embodiment described below may be different from the terms and / or reference numerals of the massage device, etc. described above.

[0329] This is to effectively illustrate the tool necessity of the embodiment, so if the technical ideas corresponding to the level of ordinary technical personnel can be implemented, one or more of the structures of the following embodiments can be understood as the same or equivalent structure as one or more of the above-mentioned structures.

[0330] For example, the first and second arm massage parts 250A, 250B and the first and second leg massage parts 203A, 230B described below in the second embodiment are structures corresponding to the arm massage parts 3000A, 3000B and the leg massage parts 2000A, 2000B described in the above-mentioned embodiment, and the control part 270 of the second embodiment is a structure corresponding to the control part 1200 of the above-mentioned embodiment.

[0331] In addition, in the second embodiment, the arm driving parts 260A, 260B that drive the rotation, movement, length extension, etc. of the arm massage parts 250A, 250B may correspond to the rotating module part 5000, the extension part or the position adjustment part of the above-mentioned embodiment, the leg driving parts 240A, 240B of the second embodiment may correspond to the leg angle actuator and / or the leg length adjustment actuator of the above-mentioned embodiment, and the body driving part 240 that changes the angle, posture, position, etc. of the body massage part 210 may correspond to the above-mentioned tilt actuator.

[0332] As can be seen from the above, since the leg massage part can be composed of a pair of leg massage parts 230A, 230B, the leg length adjustment part can also be composed of a pair of leg length adjustment parts 240AL, 240BL, and the leg rotation part for adjusting the angle etc. can also be composed of a pair of leg rotation parts 240AR, 240BR.

[0333] The first leg length adjustment part 240AL is connected to the first leg massage part 230A and can adjust the length of the first leg massage part 230A. For example, the first leg length adjustment part 240AL is provided between one end and the other end of the first leg massage part 230A and can connect one end and the other end of the first leg massage part 230A. The first leg length adjustment part 240AL provides a length adjustment driving force for adjusting the length between one end and the other end of the first leg massage part 230A to the first leg massage part 230A, thereby adjusting the length of the first leg massage part 230A.

[0334] The second leg length adjustment part 240BL is connected to the second leg massage part 230B and can adjust the length of the second leg massage part 230B. For example, the second leg length adjustment part 240BL is provided between one end and the other end of the second leg massage part 230B and can connect the one end and the other end of the second leg massage part 230B. The second leg length adjustment part 240BL provides a length adjustment driving force for adjusting the length between one end and the other end of the second leg massage part 230B to the second leg massage part 230B, thereby adjusting the length of the second leg massage part 230B.

[0335] The first leg rotating part 240AR is connected to the first leg massaging part 230A, and can adjust the angle of the first leg massaging part 230A. For example, the first leg rotating part 240AR is provided between the rear of the first leg massaging part 230A and the body massaging part 210, and can connect the first leg massaging part 230A and the body massaging part 210. The first leg rotating part 240AR rotates (or tilts) the first leg massaging part 230A in a clockwise direction and / or a counterclockwise direction by pushing or pulling the first leg massaging part 230A from the rear, thereby adjusting the angle of the first leg massaging part 230A.

[0336] As described above, the first leg rotating part 240AR is provided between the rear of the first leg massaging part 230A and the body massaging part 210 to connect the first leg massaging part 230A and the body massaging part 210, but is not limited thereto.

[0337] For example, the first leg rotating part 240AR can be set at various positions (e.g., the side of the first leg massage part 230A, the rotating hinge axis of the first leg massage part 230A, between the first leg massage part 230A and the main frame 1100, behind the first leg massage part 230A, etc.) so that the first leg massage part 230A can rotate in the clockwise direction and / or counterclockwise direction.

[0338] The second leg rotating part 240BR is connected to the second leg massaging part 230B, and the angle of the second leg massaging part 230B can be adjusted. For example, the second leg rotating part 240BR is provided between the rear of the second leg massaging part 230B and the body massaging part 210, and the second leg massaging part 230B and the body massaging part 210 can be connected. The second leg rotating part 240BR rotates (or tilts) the second leg massaging part 230B in a clockwise direction and / or a counterclockwise direction by pushing or pulling the second leg massaging part 230B from the rear, thereby adjusting the angle of the second leg massaging part 230B.

[0339] As described above, the second leg rotating part 240BR is provided between the rear of the second leg massaging part 230B and the body massaging part 210 to connect the second leg massaging part 230B and the body massaging part 210, but is not limited thereto.

[0340] For example, the second leg rotating part 240BR can be set at various positions (e.g., the side of the second leg massage part 230B, the rotating hinge axis of the second leg massage part 230B, between the second leg massage part 230B and the main frame 1100, behind the second leg massage part 230B, etc.) so that the second leg massage part 230B can rotate in the clockwise direction and / or counterclockwise direction.

[0341] The terms such as upper, lower, front, rear, vertical, and horizontal used in the following description are only used to indicate relative standards for describing the embodiments of the present invention, and are not intended to specify a direction or position from an absolute standard. Of course, they may differ relatively depending on the position of the object, the position or direction of view, etc.

[0342] In the following, the Z-axis direction (refer to Figure 2 ) is used as the up-down or vertical reference direction to describe the embodiments of the present invention, and from the corresponding angle, the X-axis direction is used as the reference direction of the front-back direction, and the Y-axis direction is used as the reference direction of the left or right side to describe the embodiments of the present invention. For example, the positive Z-axis direction corresponds to the upper direction, the upper side, the top, or a direction corresponding thereto, and the negative Z-axis direction corresponds to the lower direction, the lower side, the bottom, or a direction corresponding thereto.

[0343] Figure 12 to Figure 14 is a block diagram showing a detailed structure of a massage device 200 according to an embodiment of the present invention. Fig.15 It is a flowchart for explaining the overall processing procedure of the present invention.

[0344] like Fig.12 As shown, the massage device 200 of the present invention may include one or more of a body massage part 210, a body driving part 220, a leg massage part 230A, 230B, a leg driving part 240A, 240B, an arm massage part 250A, 250B, an arm driving part 260A, 260B and a control part 270.

[0345] Figure 12 to Figure 14 2 is a block diagram mainly illustrating a massage device 200 according to a second embodiment of the present invention. However, of course, according to the implementation form, the massage device 200 of the present invention includes not only Figure 12 to Figure 14 The structure shown may also additionally include other structures described in the above embodiments.

[0346] Fig.12 The components of the massage device 200 shown may be physically separated components or functionally or logically separated components.

[0347] That is, each constituent element shown in the drawings corresponds to a constituent element used to effectively illustrate the technical idea according to the present invention. Therefore, even if each constituent element is integrated or separated, as long as it can realize the function of executing the 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.

[0348] In addition, the control 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 certainly be implemented in the form of software installed on a device, computer (or corresponding device), module or its lower-level structure.

[0349] The first leg massage part 230A as a structure of the massage device 200 according to the present invention can be disposed at the lower part of the body massage part 210, and the body massage part 210 massages at least a part of the user's body. The second leg massage part 230B can also be disposed at the lower part of the body massage part 210, and can be disposed substantially parallel to the first leg massage part 230A to conform to the human body structure.

[0350] The first arm massage part 250A as a structure of the massage device 200 according to the present invention can be provided at the side of the body massage part 210, and at a position corresponding to the first leg massage part 230A. The first arm massage part 250A can be provided to receive the user's arm (left arm or right arm) and perform various types and methods of massage actions on the received arm.

[0351] The second arm massage part 250B is disposed on the side of the body massage part 210 , specifically, at a position opposite to the first arm massage part 250A to conform to the human body structure, and is disposed at a position corresponding to the second leg massage part 230B.

[0352] The first leg driving unit 240A of the present invention can be configured to perform the function of rotating or moving the first leg massage unit 230A to extend and retract (elongate and contract) in more than two directions based on user input signals, internal algorithms for determining whether preset conditions are met, or specifications and functions of the first leg massage unit 230A.

[0353] In the above-mentioned embodiment, the first leg driving unit 240A is described. Fig.13As shown, the first leg driving part 240A may include: a first leg length adjusting part 240AL for adjusting the length of the first leg massaging part 230A; or / and a first leg rotating part 240AR for adjusting the angle of the first leg massaging part 230A by rotating the first leg massaging part 230A.

[0354] In other words, the first leg massage part 230A can be rotated in more than two directions by the first leg driving part 240A, and can be moved in more than two directions. For example, the first leg massage part 230A is rotated (or tilted) in the upper direction (or the front direction, clockwise direction) and / or the lower direction (or the rear direction, counterclockwise direction) of the massage device 200 by the first leg rotating part 240AR, so that the angle of the first leg massage part 240A can be adjusted. The first leg massage part 230A is moved in the upper direction (or one end direction) and / or the lower direction (or the other end direction) of the first leg massage part 230A by the first leg length adjusting part 240AL, so as to adjust the upper and lower lengths of the first leg massage part 230A, and thus the length of the first leg massage part 230A can be adjusted.

[0355] like Fig.13 As shown, the second leg driving unit 240B may further include: a second leg length adjusting unit 240BL for adjusting the length of the second leg massaging unit 230B; or / and a second leg rotating unit 240BR for adjusting the angle of the second leg massaging unit 230B by rotating the second leg massaging unit 230B. Of course, the first and second leg driving units 240A, 240B may be designed to be controlled by the control unit 270 of the present invention.

[0356] In other words, the second leg massage part 230B can be rotated in more than two directions by the second leg driving part 240B, and can be moved in more than two directions. For example, the second leg massage part 230B is rotated (or tilted) in the upper direction (or the front direction, clockwise direction) and / or the lower direction (or the rear direction, counterclockwise direction) of the massage device 200 by the second leg rotating part 240BR, so that the angle of the second leg massage part 230B can be adjusted. The second leg massage part 230B is moved in the upper direction (or one end direction) and / or the lower direction (or the other end direction) of the second leg massage part 230B by the second leg length adjusting part 240BL, so as to adjust the upper and lower lengths of the second leg massage part 230B, and thus the length of the second leg massage part 230B can be adjusted.

[0357] The first arm driving part 260A of the present invention can be configured to perform the function of rotating or moving the first arm massage part 250A in the upward and downward directions and / or in the left and right directions to extend and retract (elongate and contract) according to the user input signal, the internal algorithm for judging whether the preset conditions are met, or the specifications and functions of the first arm massage part 250A.

[0358] In the above-mentioned embodiment, the first arm driving unit 260A is described. Fig.13 As shown, the first arm driving part 260A may include: a first arm length adjusting part 260AL for adjusting the length of the first arm massage part 250A; or / and a first arm rotating part 260AR for adjusting the angle of the first arm massage part 250A by rotating the first arm massage part 250A.

[0359] In this case, the first arm length adjusting portion 260AL is provided between one end (or front end) and the other end (or rear end) of the first arm massaging portion 250A to adjust the length between one end and the other end of the first arm massaging portion 250A, thereby adjusting the length of the first arm massaging portion 250A. For example, similar to the above-mentioned first leg length adjusting portion 240AL (or leg length adjustment actuator), the first arm length adjusting portion 260AL can adjust the length between one end and the other end of the first arm massaging portion 250A by adjusting the length of one end and the other end of the first arm length adjusting portion 260AL.

[0360] In other words, the first arm massage part 250A is rotated in two or more directions by the first arm driving part 260A, and can be moved in two or more directions. For example, the first arm massage part 250A is rotated (or tilted) in at least one of the upper direction (or rear direction, clockwise direction), the lower direction (or front direction, counterclockwise direction), the one side direction (or the left side direction, the inner direction) and the other side direction (or the right side direction, the outer direction) of the massage device 200 by the first arm rotating part 260AR, so that the angle of the first arm massage part 250A can be adjusted. The first arm massage part 250A is moved in one end direction (or the front end direction) and / or the other end direction (or the rear end direction) of the first arm massage part 250A by the first arm length adjusting part 260AL, so that the front-to-back length of the first arm massage part 250A can be adjusted, so that the length of the first arm massage part 250A can be adjusted.

[0361] like Fig.13As shown, the second arm driving part 260B may further include: a second arm length adjusting part 260BL for adjusting the length of the second arm massaging part 250B; or / and a second arm rotating part 260BR for adjusting the angle of the second arm massaging part 250B by rotating the second arm massaging part 250B. Of course, the first and second arm driving parts 260A, 260B may be designed to be controlled by the control part 270 of the present invention.

[0362] In this case, the second arm length adjusting portion 260BL is provided between one end (or front end) and the other end (or rear end) of the second arm massaging portion 250B to adjust the length between one end and the other end of the second arm massaging portion 250B, so that the length of the second arm massaging portion 250B can be adjusted. For example, similar to the above-mentioned second leg length adjusting portion 240BL (or leg length adjustment actuator), the second arm length adjusting portion 260BL can adjust the length between one end and the other end of the second arm massaging portion 250B by adjusting the length of one end and the other end of the second arm length adjusting portion 260BL.

[0363] In other words, the second arm massage part 250B is rotated in two or more directions by the second arm driving part 260B, and can be moved in two or more directions. For example, the second arm massage part 250B is rotated (or tilted) in at least one of the upper direction (or rear direction, clockwise direction), the lower direction (or front direction, counterclockwise direction), the one side direction (or the left side direction, the inner direction) and the other side direction (or the right side direction, the outer direction) of the massage device 200 by the second arm rotating part 260BR, so that the angle of the second arm massage part 250B can be adjusted. The second arm massage part 250B is moved in one end direction (or the front end direction) and / or the other end direction (or the rear end direction) of the second arm massage part 250B by the second arm length adjusting part 260BL, so that the front-to-back length of the second arm massage part 250B can be adjusted, so that the length of the second arm massage part 250B can be adjusted.

[0364] Since the specific structures of the first and second leg massage parts 230A, 230B and the first and second arm massage parts 250A, 250B of this embodiment correspond to the arm massage parts 3000A, 3000B and the leg massage parts 2000A, 2000B described in the above embodiment, the above description is used instead of the detailed contents of their structures, actions, controls, etc. The first and second leg driving parts 240A, 240B and the first and second arm driving parts 260A, 260B of this embodiment are also the same.

[0365] The body driving unit 220 of the present invention can be configured to adjust or change the position, posture or angle of the body massage unit 210 according to user input signals, internal algorithms for determining whether preset conditions are met, or specifications and functions of the body massage unit 210.

[0366] According to an embodiment, the body driving unit 220 may change the position and posture of the body massaging unit 210 so that the body massaging unit 210 is tilted forward, thereby improving the convenience and safety of the user when detaching from the massage device 200 .

[0367] In addition, the body driving unit 220 can change the position, posture, etc. of the body massage unit 210 so that the body massage unit 210 is tilted backward (recline mode) to provide the user with a more comfortable posture or ensure sufficient space for the leg massage units 230A and 230B to move and rotate, etc. and prevent safety accidents.

[0368] As can be seen from the above, the body driving part 220 of the present invention can not only make the body massaging part 210 slide forward or backward, but also can be designed to be controlled by the control part 270 of the present invention.

[0369] The control unit 270 of the present invention controls one or more of the relative motion between the first leg massage unit 230A and the second leg massage unit 230B (hereinafter referred to as "first relative motion") and the relative motion between the first arm massage unit 250A and the second arm massage unit 250B (hereinafter referred to as "second relative motion").

[0370] The relative motion described in the present invention is about the motion relationship between the first leg massage part 230A and the second leg massage part 230B or the motion relationship between the first arm massage part 250A and the second arm massage part 250B, and refers to the motion relationship including various motions such as relative motion, independent motion, linkage motion and / or quasi-linkage motion between the first and second leg massage parts 230A, 230B or the first and second arm massage parts 250A, 250B. At this time, the motion may refer to various motions of each structure such as the above-mentioned length-related moving motion and / or angle-related rotating (or tilting, rotating) motion.

[0371] Since the present invention includes the first and second leg massage parts 230A, 230B that respectively realize one or more of the length adjustment and the angle (rotation) adjustment, the first and second arm massage parts 250A, 250B that respectively realize one or more of the length adjustment and the angle (rotation) adjustment, etc., various forms and methods of motion or stretching and other action modes (hereinafter referred to as "combination mode") can be provided to the user through various combined applications of their length adjustment and angle adjustment.

[0372] In particular, through the combined application of these structures, the massage device 200 according to the present invention can drive the leg massage parts 230A, 230B and the arm massage parts 250A, 250B in a manner corresponding to the changes in the human body structure of the arms and legs according to walking (or running), etc.

[0373] As described above, since the user's legs and arms are respectively accommodated in the leg massage parts 230A, 230B and the arm massage parts 250A, 250B, these drives of the leg massage parts 230A, 230B and the arm massage parts 250A, 250B can induce body movements in a manner corresponding to actual walking or running, etc.

[0374] When the length adjustment and the degree and direction of rotation of the leg massage parts 230A, 230B and the arm massage parts 250A, 250B are controlled in a time series by the control part 270 of the present invention, not only a moving mode corresponding to walking and running movements can be provided to the user, but also a moving mode corresponding to various sports movements, rowing movements, etc. can be provided.

[0375] When the user inputs a start signal for the combination mode or the setting conditions for starting the combination mode are met (S100), the control unit 270 of the present invention can control the massage device 200 to pre-execute a preparatory action mode (pre mode) (S110), wherein the preparatory action mode is to perform a light massage of the arms, legs, body, neck, and spine by the massage device 200, so as to relax muscles, expand the range of motion, enhance stability, improve joint flexibility, etc. before the combination mode starts.

[0376] When the preparatory action mode is in progress or when the preparatory action mode is completed, Fig.19 As shown, the massage device 200 can be changed from the basic posture (standby posture) to the inclined posture inclined backward.

[0377] In the preparatory action mode, you can perform massage focusing on the erector spinae muscles or acupressure stimulation massage from the cervical spine to the coccyx. In addition, in this mode, you can use air bags to massage the shoulders, arms, and calves in sequence or in any way, or you can also perform roller massage on the soles of the feet.

[0378] When the preparatory action mode is finished, the control unit 270 of the present invention can control the massage device 200 to realize the combination mode by driving at least one of the body massage unit 210, the leg massage units 230A, 230B, and the arm massage units 250A, 250B (S120). The combination mode will be described in detail later.

[0379] The control unit 270 of the present invention may control the output of guidance information on the time point when the preparatory movement mode ends in order to improve user convenience, predictability, and the like.

[0380] According to an implementation form, when the number of times the combination mode is executed exceeds the reference number or a stop signal is input from the user (S130), as shown in FIG. Fig.15 As shown, the control unit 270 of the present invention can control the execution of a reverse mode (S140).

[0381] The reverse mode is a mode in which the overall action (eg, rotation direction, etc.) of the leg massage parts 230A, 230B and / or the arm massage parts 250A, 250B performed in the combined mode is applied in reverse, and is an action mode that can correspond to backward walking, backward running, etc.

[0382] When the reverse mode is applied after the combination mode is completed, the activity of the muscles that are not stimulated in the combination mode can be guided, thereby providing exercise, stretching and other effects three-dimensionally, and can provide the advantage of relaxing the muscles stimulated by the combination mode.

[0383] like Fig.15 As shown, when the number of times the reverse mode is executed exceeds a reference number or a stop signal is input from the user ( S150 ), the control unit 270 of the present invention may control the reverse mode to end.

[0384] According to the implementation form, the control unit 270 of the present invention can control the massage device 200 to execute a post mode (S160), and the post mode provides a light massage or the arm massage part 250A, 250B and the leg massage part 230A, 230B gently (within a small angle range, etc.) move or rotate in an upward or downward direction, etc., through the massage device 200 after completing the reverse mode.

[0385] For example, in the finishing action mode, acupressure stimulation massage based on a massage module focusing on the erector spinae muscles from the cervical vertebrae to the coccyx or airbag massage performed by sequential or arbitrary expansion and / or contraction of shoulder, arm, and calf airbags and foot roller massage can be provided.

[0386] In addition, in the closing action mode, such as Fig. 20As shown, the control unit 270 of the present invention can control the posture of the massage device 200 to return from the tilted posture or to be converted to a standby posture or a default posture, etc.

[0387] like Fig.14 As shown, the massage device 200 of the present invention may include one or more of the following airbags: a first leg airbag 231A, arranged in the first leg massage part 230A; a second leg airbag 231B, arranged in the second leg massage part 230B; a first arm airbag 251A, arranged in the first arm massage part 250A; a second arm airbag 251B, arranged in the second arm massage part 250B; and an additional airbag 211, arranged in the shoulder or pelvic part of the massage device 200.

[0388] The control unit 270 can make one or more of the above-mentioned airbags operate when performing at least one of the preparatory action mode, the combination mode, the reverse mode and the finishing action mode, so as to further enhance or concentrate the rehabilitation, exercise, stretching effect, etc. or prevent safety accidents or injuries, etc. For example, the control unit 270 can control one or more of the main functions of the airbags to expand or contract selectively or in a time series based on the rotation of the arm massage parts 250A, 250B and / or the leg massage parts 230A, 230B, etc. Specific embodiments of this will be described later.

[0389] Fig.16 is a flowchart for illustrating a processing procedure of an embodiment of the present invention. Fig.17 is a flowchart for explaining the processing of the first mode for cross moving. Fig.18 This is a flowchart for explaining the processing performed in the second mode for synchronous movement (synch Moving (synchronization moving)).

[0390] The control unit 270 of the present invention can control the first leg massage unit 230A and the second arm massage unit 250B (for example, the left leg and the right arm or the right leg and the left arm) disposed at a position intersecting the first leg massage unit 230A to rotate or not and one or more of the rotation directions in linkage, and can control the second leg massage unit 230B and the first arm massage unit 250A (for example, the right leg and the left arm or the left leg and the right arm) disposed at a position intersecting the second leg massage unit 230B to rotate or not and one or more of the rotation directions in linkage (S220A, S230A)

[0391] In the accompanying drawings, step S220A and step S230A are shown as time series steps, but this is only to effectively illustrate the drive of each leg (arm) set at different positions relative to each other. Under the technical idea of ​​the present invention, these steps do not necessarily have to be performed in sequence, so these steps can of course be configured to be performed simultaneously.

[0392] For the sake of efficiency of explanation and understanding, in the following description, the driving according to the above-mentioned control method ( S220A, S230A) is referred to as a “first mode”.

[0393] The first mode is a mode in which the leg massage part and the arm massage part are set at a symmetrical position (or a crossed position, an staggered position) and driven in pairs with corresponding directions, for example, corresponding to a mode in which the linkage action of the user's left leg and right arm and the linkage action of the right leg and left arm are controlled simultaneously.

[0394] In the case of the first mode, the arm massage part and the leg massage part arranged at the positions crossing each other move in conjunction with each other. In order to reflect this motion characteristic, the movement through the first mode is called a crossing movement.

[0395] Specifically, regarding the first mode, the control unit 270 of the present invention may control the execution of the first action and the second action (S310) (refer to Fig.17 ), the first action is that the first leg massage part 230A rotates in a first direction (for example, upward direction (or clockwise direction) or downward direction (or counterclockwise direction), etc.) and the second arm massage part 250B rotates in a direction corresponding to the first direction, and the second action is that the second leg massage part 230B rotates in a second direction different from the first direction (for example, downward direction (or counterclockwise direction) or upward direction (or clockwise direction), etc.) and the first arm massage part 250A rotates in a direction corresponding to the second direction.

[0396] Therefore, in the case of this first mode, the rotation directions of the symmetrical legs and arms are linked, and the rotation directions of each pair are opposite to each other, so Fig.21 As shown, the leg massaging parts 230A, 230B and the arm massaging parts 250A, 250B can be driven to correspond to the time series changes of the human body structure according to walking, running, etc.

[0397] When one cycle of the first mode is completed (S240A), the control part 270 of the present invention controls to change the rotation direction of the pair of the first leg massage part 230A and the second arm massage part 250B and the rotation direction of the pair of the second leg massage part 230B and the first arm massage part 250A (S250A).

[0398] For example, the control unit 270 may rotate the first leg massage unit 230A and the second arm massage unit 250B in the first direction, and rotate the second leg massage unit 230B and the first arm massage unit 250A in the second direction according to a reference position or reference angle such as physical specifications or user settings.

[0399] When the first and second leg massage parts 230A, 230B and the first and second arm massage parts 250A, 250B reach the reference position or reference angle, the control part 270 can determine that one cycle of the actions of the first and second leg massage parts 230A, 230B and the first and second arm massage parts 250A, 250B is completed.

[0400] At this time, the reference position or the reference angle may be set individually for each leg massage part and each arm massage part, or may be set identically or similarly. When one cycle of the actions of the first and second leg massage parts 230A, 230B and the first and second arm massage parts 250A, 250B is completed, the control part 270 may control the change of the rotation directions of the first and second leg massage parts 230A, 230B and the first and second arm massage parts 250A, 250B.

[0401] Specifically, when the first leg massage part 230A and the second arm massage part 250B rotating in a first direction (e.g., upward direction) rotate to a reference position or reference angle such as physical specifications or user settings, the control part 270 of the present invention can control the first leg massage part 230A and the second arm massage part 250B to rotate in a second direction (e.g., downward direction).

[0402] Accordingly, when the second leg massage part 230B and the first arm massage part 250A rotating in the second direction rotate to the reference position or reference angle, the control part 270 of the present invention controls the second leg massage part 230B and the first arm massage part 250A to rotate in the first direction.

[0403] The control unit 270 of the present invention can control the cyclic application of the above-mentioned processing process, so that the rotation movement of the legs accommodated in the leg massage parts 230A, 230B and the arms accommodated in the arm massage parts 250A, 250B can be more in line with actual walking or running movements, and at the same time, the first direction and the second direction can be controlled to be repeated alternately (S250A).

[0404] According to the implementation form, the control unit 270 of the present invention can control the rotation of the first leg massage unit 230A and the first arm massage unit 250A (for example, the left leg and the left arm or the right leg and the right arm) at a position corresponding to the first leg massage unit 230A and at least one of the rotation directions, and can control the rotation of the second leg massage unit 230B and the second arm massage unit 250B (for example, the right leg and the right arm or the left leg and the left arm) at a position corresponding to the second leg massage unit 230B and at least one of the rotation directions (S220B, S230B).

[0405] As can be seen from the above, these steps ( S220B, S230B) do not necessarily have to be executed in time series.

[0406] For the sake of efficiency of explanation and understanding, in the following description, the driving according to the above control method ( S220B, S230B) is referred to as the “second mode” to distinguish it from the above first mode.

[0407] The second mode is a mode in which the leg massage part and the arm massage part are set in a symmetrical position (or a side-by-side position, a parallel position) and driven in pairs with corresponding directions, for example, a mode corresponding to controlling the linkage action of the user's left leg and left arm and the linkage action of the right leg and right arm to be performed simultaneously. In order to reflect this movement characteristic, the movement through the second mode is called synchronous movement.

[0408] Specifically, regarding the second mode, the control unit 270 of the present invention may control the execution of the third action and the fourth action (S410) (refer to Fig.18 ), the third action is that the first leg massage part 230A rotates in a first direction (for example, upward or downward, etc.) and the first arm massage part 250A rotates in a direction corresponding to the first direction, and the fourth action is that the second leg massage part 230B rotates in a second direction (for example, downward or upward, etc.) different from the first direction and the second arm massage part 250B rotates in a direction corresponding to the second direction.

[0409] In the case of the second mode, as Fig. 22 As shown, the rotation directions of the legs and arms set at corresponding positions are linked, and the rotation directions of each pair are opposite to each other, so the leg massage parts 230A, 230B and the arm massage parts 250A, 250B can be driven to correspond to the time series changes of the human body structure moving together with the legs and arms (left leg and left arm vs. right leg and right arm) located at corresponding positions or directions.

[0410] When one cycle of the second mode is completed (S240B), the control part 270 of the present invention controls to change the rotation direction of the pair of the first leg massage part 230A and the first arm massage part 250A and the rotation direction of the pair of the second leg massage part 230B and the second arm massage part 250B (S250B).

[0411] For example, the control unit 270 may rotate the first leg massage unit 230A and the first arm massage unit 250B in the first direction and the second leg massage unit 230B and the second arm massage unit 250B in the second direction according to a reference position or reference angle such as physical specifications or user settings.

[0412] When the first and second leg massage parts 230A, 230B and the first and second arm massage parts 250A, 250B reach the reference position or reference angle, the control part 270 can judge that one cycle of the action of the first and second leg massage parts 230A, 230B and the first and second arm massage parts 250A, 250B is completed. At this time, the reference position or reference angle can be set separately for each leg massage part and each arm massage part, or can be set the same or similarly. When one cycle of the action of the first and second leg massage parts 230A, 230B and the first and second arm massage parts 250A, 250B is completed, the control part 270 can control the change of the rotation direction of the first and second leg massage parts 230A, 230B and the first and second arm massage parts 250A, 250B.

[0413] Specifically, when the first leg massage part 230A and the first arm massage part 250A rotating in a first direction (e.g., upward direction) rotate to a reference position or reference angle of physical specifications or user settings, the control part 270 of the present invention can control the first leg massage part 230A and the first arm massage part 250A to rotate in a second direction (e.g., downward direction).

[0414] From a corresponding perspective, when the second leg massage part 230B and the second arm massage part 250B rotating in the second direction rotate to the reference position or reference angle, the control part 270 of the present invention controls the second leg massage part 230B and the second arm massage part 250B to rotate in the first direction.

[0415] The control unit 270 of the present invention can control the cyclic application of the rotational motion of the legs accommodated in the leg massage units 230A and 230B and the arms accommodated in the arm massage units 250A and 250B (S260B), and at the same time can control the first direction and the second direction to be repeated alternately (S250B).

[0416] The massage device 200 according to the present invention can stimulate the muscles of the whole body that are shortened due to the stimulation of the joints of the whole body through the above-mentioned first mode and / or second mode, and can provide various modes of upper and lower limb stretching and / or exercise through the separation and / or linkage drive of the upper and lower limbs (arms / legs).

[0417] In addition, the massage device 200 according to the present invention can expand the range of motion of muscles that can be stimulated during walking and running (for example, erector spinae, subscapularis, latissimus dorsi, serratus anterior, iliopsoas, rectus femoris, etc.), thereby also improving the flexibility of joints.

[0418] The control unit 270 of the present invention can control the time of executing the first action and the second action of the first mode to correspond to each other. From a corresponding perspective, the control unit 270 of the present invention can control the time of executing the third action and the fourth action of the second mode to correspond to each other.

[0419] As described above, the first action refers to the action that the first leg massage part 230A rotates in a first direction and the second arm massage part 250B rotates in a direction corresponding to the first direction, and the second action refers to the action that the second leg massage part 230B rotates in a second direction different from the first direction and the first arm massage part 250A rotates in a direction corresponding to the second direction.

[0420] In addition, the third action refers to the action that the first leg massage part 230A rotates in a first direction and the first arm massage part 250A rotates in a direction corresponding to the first direction, and the fourth action refers to the action that the second leg massage part 230B rotates in a second direction different from the first direction and the second arm massage part 250B rotates in a direction corresponding to the second direction.

[0421] As described above, when the timings of the first action and the second action are controlled to correspond to each other, the similarity of the symmetrical movement of both legs / arms during actual walking or running can be achieved more accurately.

[0422] The correspondence between the time of executing the first action and the time of executing the second action not only means that the time of executing each action is actually the same, but also means that the first (second) action can be executed earlier or later than the second (first) action at an appropriate time.

[0423] When the length of the first leg massaging part 230A is set shorter than that of the second leg massaging part 230B according to the user's physical characteristics or injured part, or vice versa, as described above, the times to perform the first and second motions may preferably be differentiated within an appropriate range.

[0424] The control unit 270 of the present invention can control the time when the first leg massage part 230A rotates in the first direction through the first motion of the first mode and the time when the second arm massage part 250B rotates in the direction corresponding to the first direction through the first motion of the first mode to correspond to each other.

[0425] From a corresponding perspective, the control unit 270 of the present invention can control the time when the second leg massage unit 230B rotates in the second direction through the second action of the first mode and the time when the first arm massage unit 250A rotates in the direction corresponding to the second direction through the second action of the first mode to correspond to each other.

[0426] According to this implementation structure of the present invention, since the timings of the rotation of the legs and arms can be guided to correspond to each other, it is possible to achieve a higher similarity between the activity characteristics of the legs and arms performed during actual walking or running.

[0427] The time when the first leg massage part 230A rotates in the first direction and the time when the second arm massage part 250B rotates in the direction corresponding to the first direction correspond to each other not only means that each time is actually the same, but also means that a time difference of an appropriate range can be formed between each time.

[0428] When walking or running on an actual uphill or downhill slope, a deviation may be formed between the time when the arm movement is performed and the time when the leg movement is performed. Therefore, when the user selects uphill or downhill through the user input unit 1400, etc., preferably, the control unit 270 of the present invention controls the time when the leg massage parts 230A, 230B rotate and the time when the arm massage parts 250A, 250B rotate to form a time difference within an appropriate range.

[0429] The above embodiment can be similarly applied to the second mode. That is, the control unit 270 of the present invention can control the time when the first leg massage part 230A rotates in the first direction through the third action constituting the second mode and the time when the first arm massage part 250A rotates in the direction corresponding to the first direction through the third action constituting the second mode to correspond to each other. The fourth action of the second mode is also the same.

[0430] The control unit 270 of the present invention may be configured to generate count information for the combination mode (the first mode or the second mode) by using information on the number of times the first direction and the second direction are alternated.

[0431] When the counting information is generated as described above, the control unit 270 of the present invention can control the display of the counting information to the user by using visual media or / and auditory media. In addition, when the counting information corresponds to the number of times information input by the user, etc., the control unit 270 of the present invention can control the output of the guidance information corresponding to this.

[0432] According to an embodiment, a detection sensor may be further included to detect a force applied by the legs accommodated in the leg massage parts 230A and 230B and / or the arms accommodated in the arm massage parts 250A and 250B.

[0433] In this case, the control unit 270 of the present invention can control the execution of the first mode or the second mode only when the magnitude of the force (activity force) detected by the detection sensor is greater than the reference value. With the above configuration, a more practical exercise effect can be provided.

[0434] The control unit 270 of the present invention can control the start and end time of the first (second) mode, the time series size of the activity force detected by the detection sensor during the first (second) mode, the energy consumption, and other interconnected motion information stored in the storage unit 1300 of the above embodiment, etc., so that it can be used as raw data about the motion history. According to the implementation form, the motion information can be configured to be output to a graphical user interface (GUI) environment or transmitted to a user terminal, etc. through the control of the control unit 270 of the present invention.

[0435] Of course, when the preset termination conditions such as deregistration, forced termination, system failure, emergency event, etc. are not met (S260A, S260B), the above-mentioned processing related to the first (second) mode, that is, the above-mentioned processing of the present invention can be cyclically applied.

[0436] like Fig.16 As shown, the process according to an embodiment of the present invention may add a step (S200) of determining a mode through a user's selection or input.

[0437] When the mode is determined by the user as described above, the control unit 270 of the present invention may control and drive the process ( S210A, S210B) corresponding to the mode determined in the first mode or the second mode described above.

[0438] According to the implementation form, such as Fig.23 As shown, the control unit 270 of the present invention can control the first leg massage unit 230A, the second leg massage unit 230A, 230B, the first arm massage unit 250A, 250B and the second arm massage unit 250A, 250B to rotate in the first direction or the second direction (third mode).

[0439] In addition, if Fig.24 As shown, the control unit 270 of the present invention can control the leg massage parts 230A and 230B to rotate in a first direction, and can control the arm massage parts 250A and 250B to rotate in a second direction different from the first direction (fourth mode).

[0440] Even in this case, when one cycle of each action is completed as described above, the control part 270 of the present invention may control to alternate the first direction or the second direction.

[0441] In addition, the control unit 270 of the present invention may control the composite application to be driven through the first mode, the second mode, the third mode, and the fourth mode randomly, sequentially, or according to a combination selected by a user.

[0442] When constructed as described above, since the muscle parts to be stimulated can be time-variantly different, the effects of exercise, rehabilitation, stretching, etc. can be achieved in a more three-dimensional manner.

[0443] As described above, the first arm massage part 250A and the second arm massage part 250B of the present invention are provided to be rotatable in the vertical direction (or the up-down direction) or the horizontal direction (or the left-right direction).

[0444] When the first arm massage part 250A or the second arm massage part 250B is driven by the combination mode to rotate or move in the first direction or the second direction, the control part 270 of the present invention can control the rotation in a three-dimensional direction corresponding to the first direction or the second direction.

[0445] In the case of such an implementation structure of the present invention, the arms can be extended or retracted and rotated or moved upward or downward, and can be rotated or moved in almost all directions required or desired by the user.

[0446] According to the embodiment, as described later, when the length of the leg massage parts 230A, 230B or the length of the arm massage parts 250A, 250B is extended (stretched or contracted) in a time series under the control of the control unit 270, more diverse and complex movements can be achieved.

[0447] As an example, the control unit 270 of the present invention can control the execution of the fifth action, wherein the lengths of the multiple leg massage parts 230A and 230B shrink as the multiple leg massage parts 230A and 230B rotate in the first direction (upward direction), and the lengths of the multiple arm massage parts 250A and 250B extend as the multiple arm massage parts 250A and 250B rotate in the second direction (downward direction).

[0448] When one cycle of the fifth action is completed, the control unit 270 of the present invention can control the execution of the sixth action, wherein the lengths of the multiple leg massage parts 230A, 230B are extended as the multiple leg massage parts 230A, 230B rotate in the second direction (downward direction), and the lengths of the multiple arm massage parts 250A, 250B are contracted as the multiple arm massage parts 250A, 250B rotate in the first direction (upward direction).

[0449] According to the implementation form, the control unit 270 of the present invention can control the length extension direction of the multiple leg massage parts 230A, 230B and the length extension direction of the multiple arm massage parts 250A, 250B to be opposite to each other without the rotation of the multiple leg massage parts 230A, 230B and / or the multiple arm massage parts 250A, 250B.

[0450] For example, the control unit 270 of the present invention can control the movement of extending the length of the plurality of leg massage parts 230A, 230B and the movement of contracting the length of the plurality of arm massage parts 250A, 250B to be linked, or can control the movement of contracting the length of the plurality of leg massage parts 230A, 230B and the movement of extending the length of the plurality of arm massage parts 250A, 250B to be linked.

[0451] When the control unit 270 of the present invention controls one or more of the first leg driving unit 240A, the second leg driving unit 240B, the first arm driving unit 260A, and the second arm driving unit 260B as described above to cyclically repeat the fifth action and the sixth action, a mode (rowing mode) corresponding to rowing motion can be achieved, thereby providing the user with a corresponding effect.

[0452] The rowing mode is a mode that can be combined with the fourth mode mentioned above. Fig.24 In the action relationship diagram shown, the control unit 270 of the present invention controls the length of the plurality of leg massage parts 230A, 230B rotating in the upward direction (clockwise, etc.) to shrink, and controls the length of the plurality of leg massage parts 230A, 230B rotating in the downward direction (counterclockwise, etc.) to shrink.

[0453] In addition, the control unit 270 of the present invention may control the lengths of the plurality of arm massaging parts 250A and 250B rotating downward in the rowing mode to extend, and the lengths of the plurality of arm massaging parts 250A and 250B rotating downward to contract.

[0454] Before starting the combined mode (the first mode to the fourth mode, etc.) according to the present invention or the first relative motion or the second relative motion drive described above, in order to ensure sufficient space for the movement, rotation, etc. of the leg massage parts 230A, 230B and the arm massage parts 250A, 250B and to prevent safety accidents, the control part 270 of the present invention may control one or more of the leg rotation parts 240A, 240B and the body drive part 220 (S300, S400) (refer to Fig.17 and Fig.18 ), so that the leg massage parts 230A, 230B rotate in the clockwise direction by a preset reference angle or / and the body massage part 210 tilts backward by a preset reference angle.

[0455] According to an implementation form, the tilting action may also be performed at the beginning of a combination mode (the first mode to the fourth mode, etc.), the first mode or the second relative action.

[0456] Preferably, according to the combination mode, the rotation angle range of one or more of the first leg massage part 230A, the second leg massage part 230B, the first arm massage part 250A and the second arm massage part 250B is set to be variably set by automatically setting by using DB-based user information (identification information, etc.), measured user's body information, etc., or by the user selecting by using an interface unit (the above-mentioned user input part 1400, etc.).

[0457] Since the available range of the body or the position / angle of accompanying pain may be different depending on the user's characteristics, symptoms, injured parts, etc., as described above, when the rotation angle range of the combination mode is adjusted according to the user's selection, etc., it can have a higher user orientation.

[0458] Here, the user information is various information that can be converted into a DB, and may be one or more information about the user's age, gender, age, disease, injured part, etc. In addition, the user's body information may be information converted into a DB in advance, and may also be information about the user's body size measured by a measurement unit set in the massage device 200.

[0459] According to the implementation form, the user input unit 1400, etc. provides input buttons, etc. for selecting multiple angle ranges through a GUI environment, and can be variably set by the user selecting the provided interface environment, etc., the multiple selectable angle ranges can be guided by the audio output module 1500, and a method for selecting an angle range through voice recognition can be applied.

[0460] As described above, the leg massage parts 230A and 230B of the present invention are respectively configured to be retractable in length, and the arm massage parts 250A and 250B of the present invention are also respectively configured to be retractable in length.

[0461] When the leg massage parts 230A, 230B are rotated by the drive of the first or second relative action and the combination mode (S310, S410), the control part 270 of the present invention can control the length of the leg massage part whose rotation direction is the upward direction (S320A, S420A) to decrease (S330A, S430A).

[0462] When the leg massage parts 230A and 230B are rotated by the first or second relative action and the combined mode (S310 and S410), the control part 270 of the present invention can control the length of the leg massage part whose rotation direction is downward (S320A and S420A) to increase (S330B and S430B).

[0463] In addition, when the arm massage parts 250A and 250B are rotated by the drive of the first or second relative action and the combination mode, etc. (S310 and S410), the control part 270 of the present invention can control the length of the arm massage part whose rotation direction is the upward direction (S320A and S420A) to decrease (S330A and S430A), and can control the length of the arm massage part whose rotation direction is the downward direction (S320A and S420A) to increase (S330B and S430B).

[0464] As described above, by organically reflecting the directionality of the leg massage parts 230A, 230B to adaptively adjust the lengths of the leg massage parts 230A, 230B, and by organically reflecting the directionality of the arm massage parts 250A, 250B to adaptively adjust the lengths of the arm massage parts 250A, 250B, it is possible to more effectively guide movements or movements corresponding to the actual activity characteristics of the human body structure such as walking or running, and to provide the user with corresponding exercise, stretching, rehabilitation, and other effects.

[0465] As described above, according to the embodiment of the present invention, based on the control of the control unit 270, when the rotation direction is the upward direction, the length of each leg massage part and / or each arm massage part can be reduced, and when the rotation direction is the downward direction, the length of each leg massage part and / or each arm massage part can be increased, but it is not limited thereto. For example, it can be adjusted differently that when the rotation direction is the upward direction, the length of each leg massage part and / or each arm massage part increases, or increases and then decreases, or decreases and then increases, and when the rotation direction is the downward direction, the length decreases, or decreases and then increases, or increases and then decreases.

[0466] In addition, when the first or second leg massage part 230A, 230B rotates upward, the control part 270 of the present invention can control the first leg airbag 231A provided in the first leg massage part 230A or the second leg airbag 231B provided in the second leg massage part 230B to contract (S340A, S440A).

[0467] On the contrary, when the first or second leg massaging part 230A, 230B rotates downward, the control part 270 of the present invention controls the first leg airbag 231A provided in the first leg massaging part 230A or the second leg airbag 231B provided in the second leg massaging part 230B to expand (S340B, S440B).

[0468] When the airbag is inflated, the gap and the like can be suppressed, so that the body part in contact with the airbag can be guided and firmly supported, and when the airbag is deflated, the degree of freedom of the body part can be relatively increased by releasing the support.

[0469] Therefore, as described above, by organically reflecting the rotational directionality of the leg massage parts 230A and 230B, the expansion and control of the airbags 231A and 231B are controlled in a time series cycle, thereby guiding the muscle tension caused by repeated length extension and muscle relaxation caused by length shortening, thereby not only improving the effect of exercise but also providing effects such as injury prevention.

[0470] The method of combining the rotation directionality and the expansion / contraction control of the airbag can also be applied to the arm massaging parts 250A, 250B.

[0471] For example, when the second arm massage part 250B rotates in the first direction (upward direction) or a direction corresponding to the first direction (S320), the control part 270 of the present invention can control the second arm airbag 251B set in the second arm massage part 250B to shrink (S340A), and when the second arm massage part 250B rotates in the second direction (downward direction) or a direction corresponding to the second direction (S320), the control part 270 of the present invention can control the second arm airbag 251B set in the second arm massage part 250A, 250B to expand (S340B).

[0472] As described above, when each leg massage part and / or each arm massage part rotates in the upward direction or a direction corresponding thereto based on the control of the control part 270, the airbag contracts, and when it rotates in the downward direction or a direction corresponding thereto, the airbag expands, but it is not limited thereto. For example, it can be adjusted differently that when the rotation direction of each leg massage part and / or each arm massage part is the upward direction, the airbag expands, or expands and then contracts, or contracts and then expands, and when the rotation direction is the downward direction, the airbag contracts, or contracts and then expands, or expands and then contracts.

[0473] Fig.17 This is an example of the processing process of the first mode, and is described based on the pair of the first leg massage part 230A and the second arm massage part 250B, but of course, as described above, the corresponding processing can also be applied to the second leg massage part 230B and the first arm massage part 250A, 250B corresponding to another pair.

[0474] Fig.18 This is an example of the processing process of the second mode, and is described based on the pair of the first leg massage part 230A and the first arm massage part 250A, but of course, as described above, the corresponding processing can also be applied to the second leg massage part 230B and the second arm massage part 250B corresponding to the other pair.

[0475] like Fig.17 and Fig.18 As shown, when one cycle of the first mode or the second mode is completed (S350, S450), the rotation direction of the first leg massaging part 230A and the like may be switched as described above (S360, S460) so that the actions may be alternately cycled.

[0476] According to an implementation form, the massage device 200 of the present invention may include an additional air bag 211 disposed at the shoulder or / and pelvic region of the user.

[0477] In this case, when the first arm massage part 250A or / and the second arm massage part 250B are rotated by driving in the second relative action or combination mode, the control part 270 of the present invention may control the additional airbag 211 to contract in order to prevent injury, expand the scope of use, etc.

[0478] 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 recorded.

[0479] 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.

[0480] 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.

[0481] The control method of the massage device 200 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.

[0482] In addition, the structure and function of the massage device of this specification can be extended and applied to various (wearable) health care devices that can provide health care functions (e.g., massage function, biosignal measurement function, etc.). Therefore, the "massage device" in this specification can be replaced with "(wearable) health care device" for description.

Claims

1. A massage device, characterized in that: include: a body massage unit for massaging at least a portion of a user's body; A first leg massage part and a second leg massage part are arranged at the lower part of the body massage part and can rotate in two or more directions; A first arm massage part, which is arranged at a position corresponding to the first leg massage part and can rotate in two or more directions; A second arm massage part, which is arranged at a position corresponding to the second leg massage part and can rotate in two or more directions; as well as The control unit controls whether the first leg massage unit and the second arm massage unit rotate or not and one or more of the rotation directions in linkage, and controls whether the second leg massage unit and the first arm massage unit rotate or not and one or more of the rotation directions in linkage.

2. A massage device, characterized in that: include: a body massage unit for massaging at least a portion of a user's body; A first leg massage part and a second leg massage part are arranged at the lower part of the body massage part and can rotate in two or more directions; A first arm massage part, which is arranged at a position corresponding to the first leg massage part and can rotate in two or more directions; A second arm massage part, which is arranged at a position corresponding to the second leg massage part and can rotate in two or more directions; as well as The control unit controls whether the first leg massage unit and the first arm massage unit rotate or not and one or more of the rotation directions in linkage, and controls whether the second leg massage unit and the second arm massage unit rotate or not and one or more of the rotation directions in linkage.

3. A massage device, characterized in that: include: a body massage unit for massaging at least a portion of a user's body; A first leg massage part and a second leg massage part are arranged at the lower part of the body massage part and can rotate in two or more directions; A first arm massage part, which is arranged at a position corresponding to the first leg massage part and can rotate in two or more directions; A second arm massage part, which is arranged at a position corresponding to the second leg massage part and can rotate in two or more directions; as well as The control unit controls whether or not the first leg massage unit, the second leg massage unit, the first arm massage unit, and the second arm massage unit rotate and controls at least one of the rotation directions to be linked.

4. A massage device, characterized in that: include: a body massage unit for massaging at least a portion of a user's body; A first leg massage part and a second leg massage part are arranged at the lower part of the body massage part and can rotate in two or more directions; A first arm massage part, which is arranged at a position corresponding to the first leg massage part and can rotate in two or more directions; A second arm massage part, which is arranged at a position corresponding to the second leg massage part and can rotate in two or more directions; as well as The control unit controls the first leg massage unit and the second leg massage unit to rotate in a first direction, and controls the first arm massage unit and the second arm massage unit to rotate in a second direction different from the first direction.

5. A massage device, characterized in that: include: a body massage unit for massaging at least a portion of a user's body; A first leg massage part and a second leg massage part are arranged at the lower part of the body massage part and can rotate in two or more directions; A first arm massage part, which is arranged at a position corresponding to the first leg massage part and can rotate in two or more directions; A second arm massage part, which is arranged at a position corresponding to the second leg massage part and can rotate in two or more directions; as well as The control unit controls the first leg massage unit and the second leg massage unit to rotate in a first direction and to contract the length of the first leg massage unit and the second leg massage unit, and controls the first arm massage unit and the second arm massage unit to rotate in a second direction different from the first direction and to extend the length of the first arm massage unit and the second arm massage unit.

6. The massage device according to claim 1, characterized in that: The control unit controls the execution of a first action and a second action, wherein the first action is that the first leg massage unit rotates in a first direction and the second arm massage unit rotates in a direction corresponding to the first direction, and the second action is that the second leg massage unit rotates in a second direction different from the first direction and the first arm massage unit rotates in a direction corresponding to the second direction.

7. The massage device according to claim 2, characterized in that: The control unit controls the execution of a first action and a second action, wherein the first action is that the first leg massage unit rotates in a first direction and the first arm massage unit rotates in a direction corresponding to the first direction, and the second action is that the second leg massage unit rotates in a second direction different from the first direction and the second arm massage unit rotates in a direction corresponding to the second direction.

8. The massage device according to any one of claims 4 to 7, characterized in that: The first arm massage part and the second arm massage part are configured to be rotatable in vertical and horizontal directions. The control unit controls the first arm massage unit or the second arm massage unit to rotate in a three-dimensional direction corresponding to the first direction or the second direction.

9. The massage device according to any one of claims 4 to 7, characterized in that: The control unit controls the first direction and the second direction to alternate repeatedly.

10. The massage device according to any one of claims 1 to 5, characterized in that: The angle range in which one or more of the first leg massage part, the second leg massage part, the first arm massage part, and the second arm massage part rotate is set to be changeable based on one or more of user information, user body information, and user selection information.

11. The massage device according to claim 9, characterized in that: The control unit generates count information by using the number of times the first direction and the second direction alternate, and when the count information corresponds to the number of times information input by the user, controls output of the corresponding guide information.

12. The massage device according to any one of claims 1 to 5, characterized in that Also included is a body driving part for changing the position or posture of the body massaging part; The control unit controls the body driving unit so that the body massaging unit first performs a tilting motion in which the body massaging unit tilts backward.

13. The massage device according to claim 6 or 7, characterized in that: The control section controls a time when the first action is performed and a time when the second action is performed to correspond to each other.

14. The massage device according to claim 6, characterized in that: The control unit controls a time when the first leg massage unit rotates in the first direction by the first motion and a time when the second arm massage unit rotates in a direction corresponding to the first direction by the first motion to correspond to each other.

15. The massage device according to claim 7, characterized in that: The control unit controls a time when the first leg massage unit rotates in the first direction by the first motion and a time when the first arm massage unit rotates in a direction corresponding to the first direction by the first motion to correspond to each other.

16. The massage device according to any one of claims 1 to 5, characterized in that The massage apparatus further comprises one or more of a first leg airbag disposed in the first leg massage part, a second leg airbag disposed in the second leg massage part, a first arm airbag disposed in the first arm massage part, and a second arm airbag disposed in the second arm massage part. When one or more of the first leg massage part, the second leg massage part, the first arm massage part, and the second arm massage part rotates, the control part controls one or more of the first leg airbag, the second leg airbag, the first arm airbag, and the second arm airbag to expand.

17. The massage device according to any one of claims 1 to 5, characterized in that The first leg massage part and the second leg massage part are configured to be retractable in length. The control part controls the length of the leg massage part rotating in the upward direction of the first leg massage part and the second leg massage part to decrease, and the length of the leg massage part rotating in the downward direction to increase.

18. The massage device according to claim 17, characterized in that: Also includes: a first leg airbag, provided at the first leg massage part, and a second leg airbag, arranged at the second leg massage part; When the first leg massage part or the second leg massage part rotates in an upward direction, the control part controls the first leg airbag or the second leg airbag to contract, and when the first leg massage part or the second leg massage part rotates in a downward direction, the control part controls the first leg airbag or the second leg airbag to expand.

19. The massage device according to any one of claims 1 to 5, characterized in that The first arm massage part and the second arm massage part are configured to be retractable in length. The control unit controls the arm massage unit of the first and second arm massage units to decrease in length and increase in length of the arm massage unit that rotates in a direction corresponding to an upper direction.

20. The massage device according to any one of claims 1 to 5, characterized in that Also includes an additional air bag disposed on the shoulder or pelvic portion of the user; The control part controls the additional airbag to contract when the first arm massage part or the second arm massage part rotates.

21. The massage device according to claim 17, characterized in that: Also includes: a first leg driving part, driving at least one of rotation and length extension of the first leg massage part; as well as The second leg driving part drives at least one of rotation and length extension of the second leg massaging part.

22. The massage device according to claim 19, characterized in that Also includes: a first arm driving part, driving at least one of rotation and length extension of the first arm massage part; as well as The second arm driving part drives at least one of rotation and extension and contraction of the second arm massaging part.

23. A method for controlling a massage device, the massage device comprising: a body massage part for massaging at least a portion of a user's body; a first leg massage part and a second leg massage part, which are arranged at a lower portion of the body massage part and can rotate in two or more directions; A first arm massage part, which is arranged at a position corresponding to the first leg massage part and can rotate in two or more directions; and a second arm massage part, which is arranged at a position corresponding to the second leg massage part and can rotate in two or more directions; characterized in that it comprises: The control step controls whether the first leg massage part and the second arm massage part rotate or not and one or more of the rotation directions are linked, and controls whether the second leg massage part and the first arm massage part rotate or not and one or more of the rotation directions are linked.

24. A method for controlling a massage device, the massage device comprising: a body massage part for massaging at least a portion of a user's body; a first leg massage part and a second leg massage part, which are arranged at a lower portion of the body massage part and can rotate in two or more directions; A first arm massage part, which is arranged at a position corresponding to the first leg massage part and can rotate in two or more directions; and a second arm massage part, which is arranged at a position corresponding to the second leg massage part and can rotate in two or more directions; characterized in that it comprises: The control step controls whether the first leg massage part and the first arm massage part rotate or not and one or more of the rotation directions are linked, and controls whether the second leg massage part and the second arm massage part rotate or not and one or more of the rotation directions are linked.

25. A method for controlling a massage device, the massage device comprising: a body massage part for massaging at least a portion of a user's body; a first leg massage part and a second leg massage part, which are arranged at a lower portion of the body massage part and can rotate in two or more directions; A first arm massage part, which is arranged at a position corresponding to the first leg massage part and can rotate in two or more directions; and a second arm massage part, which is arranged at a position corresponding to the second leg massage part and can rotate in two or more directions; characterized in that it comprises: The control step controls whether or not the first leg massage part, the second leg massage part, the first arm massage part, and the second arm massage part rotate and controls one or more of the rotation directions to be linked.

26. A method for controlling a massage device, the massage device comprising: a body massage part for massaging at least a portion of a user's body; a first leg massage part and a second leg massage part, which are arranged at a lower portion of the body massage part and can rotate in two or more directions; A first arm massage part, which is arranged at a position corresponding to the first leg massage part and can rotate in two or more directions; and a second arm massage part, which is arranged at a position corresponding to the second leg massage part and can rotate in two or more directions; characterized in that it comprises: A control step of controlling the first leg massage part and the second leg massage part to rotate in a first direction, and controlling the first arm massage part and the second arm massage part to rotate in a second direction different from the first direction.

27. A method for controlling a massage device, the massage device comprising: a body massage part for massaging at least a portion of a user's body; a first leg massage part and a second leg massage part, which are arranged at a lower portion of the body massage part and can rotate in two or more directions; A first arm massage part, which is arranged at a position corresponding to the first leg massage part and can rotate in two or more directions; and a second arm massage part, which is arranged at a position corresponding to the second leg massage part and can rotate in two or more directions; characterized in that it comprises: A control step of controlling the first leg massage part and the second leg massage part to rotate in a first direction and to contract in length in linkage, and controlling the first arm massage part and the second arm massage part to rotate in a second direction different from the first direction and to extend in linkage.

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