Massage machine

Abstract

The invention provides a massage machine which does not arrange a sensor on a part where a foot abuts and detects whether the foot abuts against a carrying part. A massage machine (100) is provided with: a placement unit (1) on which the feet of a seated person to be treated are placed; a first movement mechanism (4) for moving the placement unit (1) along the crus of the person to be treated; first sensor units (5, 5a) for detecting the position and movement of the placement unit (1) in a first direction (H0) in which the placement unit (1) moves; and a control unit (107) for controlling the first movement mechanism (4) on the basis of the detection results of the detection units (5a, 5a), the control unit (107) determining whether or not the foot is in contact with the placement unit (1) on the basis of a change in the movement speed of the placement unit (1), and stopping the movement of the placement unit (1) when it is determined that the foot is in contact with the placement unit (1).

Description

[0001] Cross-reference to related applications

[0002] This application claims priority based on Japanese Patent Application No. 2023-201375 filed on November 29, 2023. The entire disclosure thereof is incorporated herein by reference as part of the disclosure of this specification. Technical field

[0003] The present invention relates to a massage machine. Background art

[0004] Conventionally, there has been known a massage machine that detects whether a foot is placed on a placement part (e.g., a placement portion) of a footrest by disposing a sensor on the part where the foot is placed. For example, in Japanese Patent Laid-Open Publication No. 2004-216028, a sole detection sensor for detecting whether the sole of the subject is in contact with the sole contact part of the leg placement part is provided at the sole contact part of the leg placement part. The sole detection sensor is configured as a surface switch. The surface switch is turned on when the sole comes into contact with the sole contact part and is turned off when the sole leaves. Summary of the invention

[0005] Problems to be solved by the invention

[0006] However, if a sole detection sensor such as a surface switch is disposed at the sole contact part where the sole abuts, it is difficult to dispose a treatment member for treating the sole at the sole contact part. Therefore, the degree of freedom in the layout of the treatment members in the footrest is reduced. In addition, if a heating element is disposed at the sole contact part, there is a possibility that the sole detection sensor deteriorates due to heat and has a short lifespan.

[0007] In view of the above situation, an object of the present invention is to detect whether a foot is in contact with a placement part without disposing a sensor at the part where the foot abuts.

[0008] Means for solving the problems

[0009] In order to achieve the above object, a massage machine according to one aspect of the present invention includes: a placement part for placing the foot of a subject seated on a seat part; a first moving mechanism for moving the placement part along the lower leg part of the subject; a first sensor part for detecting the position and movement of the placement part in a first direction in which the placement part moves; and a control part for controlling the first moving mechanism based on the detection result of the first sensor part. The control part has: a determination part for determining whether a foot is in contact with the placement part based on a change in the moving speed of the placement part; and a movement control part for stopping the movement of the placement part when the determination part determines that the foot is in contact with the placement part.

[0010] Further features and advantages of the present invention will be further clarified by the embodiments shown below.

[0011] Advantages of the Invention

[0012] According to the present invention, it is possible to detect whether the foot is in contact with the placement part without arranging a sensor at the part where the foot contacts. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic perspective view of a chair-type massage machine.

[0014] Figure 2 It is a block diagram showing a control system for controlling the operation of a chair-type massage machine.

[0015] Figure 3 It is a perspective view showing a structural example of a leg rest in a first embodiment.

[0016] Figure 4A It is a side view obtained by observing the leg rest in a state where the placement part is moved in a direction approaching the seat part from the right side in the first embodiment.

[0017] Figure 4B It is a side view obtained by observing the leg rest in a state where the placement part is moved in a direction away from the seat part from the right side in the first embodiment.

[0018] Figure 5A It is a front view obtained by observing the leg rest in a state where the placement part is moved in a direction approaching the seat part from the front side in the first embodiment.

[0019] Figure 5B It is a front view obtained by observing the leg rest in a state where the placement part is moved in a direction away from the seat part from the front side in the first embodiment.

[0020] Figure 6A It is a graph showing the time-dependent change of the first pulse signal in a first detection example.

[0021] Figure 6B It is a graph showing the time-dependent change of the first pulse signal in a second detection example.

[0022] Figure 6C It is a graph showing the time-dependent change of the first pulse signal in a third detection example.

[0023] Figure 7 It is a side view showing another structural example of the leg rest in the first embodiment.

[0024] Figure 8 It is a rear view showing a structural example of the leg rest in a modified example of the first embodiment.

[0025] Figure 9It is a graph showing the temporal change of the first pulse signal in a modified example of the first embodiment.

[0026] Figure 10A It is a perspective view of the leg rest in a state where the placement part has moved in the direction approaching the seat part in the second embodiment.

[0027] Figure 10B It is a perspective view of the leg rest in a state where the placement part has moved in the direction away from the seat part in the second embodiment.

[0028] Figure 11A It is a rear view of the leg rest in a state where the placement part has moved in the direction approaching the seat part as viewed from the rear in the second embodiment.

[0029] Figure 11B It is a rear view of the leg rest in a state where the placement part has moved in the direction away from the seat part as viewed from the rear in the second embodiment.

[0030] Figure 12 It is a rear view showing a structural example of the leg rest in a modified example of the second embodiment.

[0031] Explanation of reference numerals

[0032] 100: (Chair-type) massage machine, 101: Seat part, 102: Backrest part, 1021: Treatment unit, 103: Base part, 104: Armrest part, 105: Leg rest, 1051: Shaft support part, 1061: Operation part, 1062: Storage part, 107: Control part, 1071: Arithmetic part, 1072: Judgment part, 1073: Movement control part, 1081: Actuator group, 1082: Air pump, 1083: Solenoid valve group, 1: Placing part, 11: Table board part, 12: L-shaped part, 121: Support part, 122: First sliding rod, 13: Rebound part, 131: Contact part, 132: Elastic member, 2: Receiving part, 21: Receiving member, 22: Frame, 221: U-shaped arm, 222: Column part, 223: Second sliding rod, 224: Connecting plate, 3: Sliding mechanism, 31: Frame, 311: Column part, 312: Beam part, 3121: First beam part, 3122: Second beam part, 3123: Third beam part, 32: Sliding member, 4: Actuator, 41: Working cylinder, 42: Rod, 43: Brushless motor, 5, 5a: Sensor part, 51: Plate member, 52: First opening, 53: First detection part, 531: First light emitting part, 532: First light receiving part, 54: Second opening, 55: Second detection part, 551: Second light emitting part, 552: Second light receiving part, 7: Actuator, 71: Working cylinder, 72: Rod, 73: Brushless motor, 8: Support sensor part, 81: Plate member, 82: Opening, 83: First detection part, 831: First light emitting part, 832: First light receiving part, Ps1: First pulse signal, Ps2: Second pulse signal, p0: Pulse, E1: Rising edge, E2: Falling edge, W1: First time width, W2: Second time width, W3: Third time width, W4: Fourth time width, Sw1, Sw2, Sw3, Sw4: Time threshold, R1, R2, R3: Rate of change, Sr1, Sr2, Sr3: Rate of change threshold. Detailed implementation mode

[0033] The embodiments of the present invention will be described below with reference to the accompanying drawings. It should be noted that in the following description, "trunk" refers to the central part of the body other than the head, neck, and limbs. "Thigh part" refers to the part from the hip joint to the knee. "Hip joint" refers to the joint part connecting the pelvis and the bone of the thigh part (i.e., the femur). "Lower leg part" refers to the part from the knee to the ankle. "Knee" refers to the joint part between the thigh part and the lower leg part. "Ankle" refers to the part where the bones protrude to the left and right on both sides of the ankle. "Foot" refers to the part from the ankle to the front end (i.e., the toe tip). "Sole" is the lower surface of the foot (the sole of the foot), and is the part that contacts the ground or the floor surface when standing barefoot, etc.

[0034] <1. First Embodiment>

[0035] Figure 1 This is a schematic perspective view of the chair-type massage machine 100. Hereinafter, the chair-type massage machine 100 will be referred to as the "massage machine 100".

[0036] <1-1. Massage machine 100>

[0037] The massage machine 100 includes a seat portion 101, a backrest portion 102, a pair of left and right base portions 103, a pair of left and right armrest portions 104, and a leg rest 105.

[0038] The subject to be treated sits on the seat portion 101. The seat portion 101 supports the buttocks and thighs of the subject to be treated.

[0039] The backrest portion 102 is erected relative to the seat portion 101 and supports the head, trunk (such as shoulders, waist, and spine) of the subject to be treated, etc. The backrest portion 102 can be rotatably mounted on the rear end portion of the seat portion 101 about a reclining rotation axis J1 extending in the left-right direction. The backrest portion 102 can be tilted backward by rotating about the reclining rotation axis J1. A treatment unit 1021 is disposed on the backrest portion 102. The treatment unit 1021 can move up and down along the length direction (such as the up-down direction) of the backrest portion 102 and perform treatment on the spine of the subject to be treated.

[0040] The base portions 103 are erected on both sides in the left-right direction of the seat portion 101 and support the armrest portions 104.

[0041] The armrest portions 104 support the forearms and hands of the subject to be treated. The pair of left and right armrest portions 104 are of a shape that is symmetric with each other left and right.

[0042] The leg rest 105 is pivotally supported on the front side of the seat portion 101 and houses the lower legs and feet of the subject to be treated. In the present embodiment, the upper end portion (such as the pivot support portion 1051 described later) of the leg rest 105 is pivotally supported on the front end portion of the seat portion 101. However, this example does not exclude the structure in which the leg rest 105 is pivotally supported on a component other than the front end portion of the seat portion 101. For example, the leg rest 105 can also be pivotally supported on the base portion 103 or the like. In addition, the leg rest 105 can rotate about a rotation axis J2 extending in the left-right direction at a position near the front end portion of the seat portion 101 or in front of the front end portion. An airbag (not shown) is provided on the leg rest 105. By the expansion and contraction of this airbag, the lower legs of the subject to be treated are held or treated.

[0043] In addition, when the massage machine 100 starts treatment, it detects the position of the feet of the subject to be treated. Thereby, the massage machine 100 can perform treatment in a state where the feet are sufficiently supported by the leg rest 105 without restricting the lower limbs of the subject to be treated.

[0044] <1-2, Control system of the massage machine 100>

[0045] Next, an example of the structure of the control system of the massage machine 100 will be described. Figure 2 It is a block diagram showing the control system that controls the operation of the massage machine 100.

[0046] The massage machine 100 includes an operation unit 1061, a storage unit 1062, a control unit 107, an actuator group 1081, an air pump 1082, and a solenoid valve group 1083.

[0047] The operation unit 1061 is an input device for the subject to select a treatment mode, adjust the intensity of the treatment, and adjust the position of the heel part (described later), etc. The operation unit 1061 is connected to the control unit 107 via a cable, for example. The operation unit 1061 receives operation inputs from the subject and others, and outputs a signal based on the operation input to the control unit 107. The operation unit 1061 can be attached to and detached from a bracket (reference numeral omitted). The bracket is fixed to an armrest 104 disposed on the left (or right) side of the seat portion 101.

[0048] The storage unit 1062 is a non - volatile storage medium that retains the stored information even when the power supply is stopped. The storage unit 1062 stores, for example, programs and data required for the control unit 107 to control the operation of the massage machine 100.

[0049] The control unit 107 is disposed, for example, below the seat portion 101, and controls each part of the massage machine 100 based on signals output from the operation unit 1061, etc. For example, the control unit 107 controls the actuator group 1081, the air pump 1082, and the solenoid valve group 1083. Also, the control unit 107 detects the position of the foot by controlling the leg rest 105.

[0050] In addition, the control unit 107 has an arithmetic unit 1071, a determination unit 1072, and a movement control unit 1073. Their descriptions will be given later.

[0051] The actuator group 1081 includes a plurality of actuators. For example, the actuator group 1081 includes a backrest actuator that rotates the backrest 102, a leg rest actuator that rotates the leg rest 105, and actuators disposed on the leg rest 105 (for example, refer to the actuators 4 and 7 described later). Figures 3 to 5B and Figures 10A to 12 actuator 4 of Figures 10A to 12 actuator 7 of

[0052] The solenoid valve group 1083 includes a plurality of solenoid valves. A part of the plurality of solenoid valves is disposed between the air pump 1082 and the airbag group provided in the massage machine 100, and switches the connection / block between the two. It should be noted that the airbag group includes, for example, airbags provided in the leg rest member 105. In addition, another part of the plurality of solenoid valves is disposed between the airbag group and the outside, and switches the connection / block between the two. For example, when the air pump 1082 and the airbag are connected through a part of the solenoid valves, air is supplied from the air pump 1082 to the airbag through the solenoid valves, so that the airbag expands. On the other hand, when the outside and the airbag are connected through the operation of another part of the solenoid valves, the air in the airbag is discharged to the outside through the solenoid valves. Thus, the airbag contracts. In addition, when the airbag is not connected to both the air pump 1082 and the outside through the operation of each solenoid valve, the air volume in the airbag is maintained.

[0053] <1-3. Structure for detecting the position of the foot>

[0054] Next, with reference to Figures 3 to 5B an example of the structure for detecting the position of the foot will be described. Figure 3 is a perspective view showing an example of the structure of the leg rest member 105 of the first embodiment. Figure 4A is a side view of the leg rest member 105 obtained by observing from the right side in the first embodiment the state in which the mounting portion 1 has been moved in the direction H1 approaching the seat portion 101. Figure 4B is a side view of the leg rest member 105 obtained by observing from the right side in the first embodiment the state in which the mounting portion 1 has been moved in the direction H2 away from the seat portion 101. Figure 5A is a front view of the leg rest member 105 obtained by observing from the front side in the first embodiment the state in which the mounting portion 1 has been moved in the direction H1 approaching the seat portion 101. Figure 5B is a front view of the leg rest member 101 obtained by observing from the front side in the first embodiment the state in which the mounting portion 1 has been moved in the direction H2 away from the seat portion 101. It should be noted that Figures 3 to 5B the main part of the leg rest member 105 is illustrated, and for easy observation of this main part, for example, the housing member 21 (refer to Figure 1 ), the cloth or leather cover disposed on the surface, and external decorations such as cushioning materials are omitted.

[0055] The leg rest member 105 of the massage machine 100 includes a mounting portion 1, a housing portion 2, a sliding mechanism 3, an actuator 4, and a sensor portion 5.

[0056] The placing portion 1 is a part of the leg rest 105 for placing the feet of the seated patient to be treated, and is movable relative to the front end portion of the seat portion 101 (or the shaft support portion 1051 of the leg rest 105) in the direction H0. It should be noted that the direction H0 is an example of the "first direction" of the present invention and is the direction in which the placing portion 1 moves. In other words, it is the direction of approaching or separating from the front end portion of the seat portion 101 (or the above-mentioned shaft support portion 1051).

[0057] The placing portion 1 has a table portion 11 and a pair of left and right L-shaped portions 12. The table portion 11 is a member for placing the feet and is in the shape of a plate perpendicular to the direction H0. Each L-shaped portion 12 has a pair of left and right support portions 121 and a pair of left and right first sliding rods 122. The support portions 121 extend in a direction perpendicular to the direction H0 and the left and right directions and are arranged on both sides of the table portion 11 in the left and right directions, and support the table portion 11. The first sliding rods 122 extend from the rear end portions of the support portions 121 along the direction H0 and guide the sliding mechanism 3 along the direction H0.

[0058] The accommodating portion 2 is disposed between the placing portion 1 and the front end portion of the seat portion 101 (or the shaft support portion 1051). The accommodating portion 2 has an accommodating member 21 (refer to Figure 1 ) and a frame 22. The accommodating member 21 accommodates the calves of the seated patient to be treated. The frame 22 supports the accommodating member 21. The frame 22 has a pair of upper and lower U-shaped arms 221, a column portion 222, a pair of left and right second sliding rods 223, and a connecting plate 224. The pair of upper and lower U-shaped arms 221 are each in a U-shape when viewed from the direction H1 side. The U-shaped arm 221 is composed of a first rod-shaped body 2211 extending in the left and right directions and a second rod-shaped body 2212 extending from both ends in the left and right directions of the first rod-shaped body 2211 in a direction perpendicular to the direction H0 and the left and right directions. The column portion 222 connects the central portions of the pair of upper and lower U-shaped arms 221 in the left and right directions. The second sliding rods 223 connect the end portions of the pair of upper and lower U-shaped arms 221 in the left and right directions and, together with the first sliding rods 122, guide the sliding mechanism 3 along the direction H0. The connecting plate 224 is a fixture for fixing the first detection portion 53, which will be described later, of the sensor portion 5 to the accommodating portion 2 and is disposed between the pair of upper and lower U-shaped arms 221.

[0059] The sliding mechanism 3 supports the placing portion 1 and the accommodating portion 2. In the present embodiment, the sliding mechanism 3 is disposed on both sides of the leg rest 105. The sliding mechanism 3 has, for example, a frame 31 and a sliding member 32.

[0060] The frame 31 has a pair of left and right column portions 311 and a plurality of beam portions 312 extending in the left-right direction. The end portion on the H1 side of the column portion 311 is rotatably connected to the front end portion of the seat portion 101 in the present embodiment. The plurality of beam portions 312 connect the pair of left and right column portions 311. In the present embodiment, the beam portion 312 has a first beam portion 3121, a second beam portion 3122, and a third beam portion 3123. The first beam portion 3121 connects the end portions on the H1 side of the pair of left and right column portions 311 to each other. The second beam portion 3122 connects the central portions on the H0 side of the pair of left and right column portions 311 to each other. The third beam portion 3123 connects the end portions on the H2 side of the pair of left and right column portions 311 to each other.

[0061] The sliding member 32 is connected to the left and right direction end portions of the second beam portion 3122 and the left and right direction end portions of the third beam portion 3123 of the frame 31. In addition, the sliding member 32 is slidably connected to the first sliding rod 122 and the second sliding rod 223, and is guided by the first sliding rod 122 and the second sliding rod 223 to be able to slide relative to the frame 31 in the direction H0. In other words, the first sliding rod 122 and the second sliding rod 223 are guided by the sliding member 32 to be able to move in the direction H0.

[0062] It should be noted that in the present embodiment, the housing portion 2 cannot move relative to the frame 31 in the direction H0. However, this example does not exclude a structure in which the housing portion 2 can move relative to the frame 31 in the direction H0.

[0063] The actuator 4 is an example of the "first moving mechanism" of the present invention, can expand and contract in the direction H0, and moves the mounting portion 1 in the direction H0. In addition, the actuator 4 makes the distance between the mounting portion 1 and the housing portion 2 variable. The actuator 4 is included in the actuator group 1081. One end of the actuator 4 (for example, the end portion on the H1 side of the working cylinder 41) is fixed to the U-shaped arm 221 on the H1 side together with the drive source by means of a clamp. The other end of the actuator 4 (for example, the end portion on the H2 side of the rod 42) is connected to the mounting portion 1 by means of a clamp. The mounting portion 1 moves in the direction H1 corresponding to the contraction of the actuator 4, and moves in the direction H2 corresponding to the extension of the actuator 4. It should be noted that the direction H1 is an example of the "second direction" of the present invention, is one of the orientations in the direction H0 and is the direction in which the mounting portion 1 approaches the seat portion 101, and is the direction from the ankle of the seated subject to the knee. The direction H2 is an example of the "third direction" of the present invention, is the orientation in the direction H0 opposite to the direction H1 and is the direction in which the mounting portion 1 moves away from the seat portion 101, and is the direction from the knee of the seated subject to the ankle.

[0064] In the present embodiment, the actuator 4 is a conductive linear actuator, and uses a brushless motor 43 (preferably a stepping motor) as a drive source to move the rod 42 housed in the working cylinder 41 in the pulling-out direction and the insertion direction. For example, a worm is arranged on the side of the rod 42, and a gear meshing with the worm is arranged on the shaft side of the brushless motor 43. Through the meshing of the two, the rotational motion of the brushless motor 43 is transformed into the linear motion of the rod 42. By mounting the brushless motor 43 on the actuator 4, even if the actuator 4 is slowly expanded and contracted, its expansion and contraction amount can be accurately controlled. However, this example does not exclude the structure of using an actuator 4 other than the conductive linear actuator. For example, the actuator 4 can also be a ball screw mechanism driven by a motor, etc.

[0065] The sensor unit 5 is an example of the "first sensor unit" of the present invention, and is arranged on the leg member 105 in order to detect the position and movement of the placement unit 1 in the direction H0.

[0066] For example, when the massage machine 100 starts treating a seated subject, based on the detection results of the position and movement of the placement unit 1 in the direction H0, the position of the subject's foot is detected. At this time, the control unit 107 controls the actuator 4 based on the detection results of the sensor unit 5. Specifically, in the control unit 107, the arithmetic unit 1071 calculates the position and the change in the moving speed of the placement unit 1 based on the detection results of the sensor unit 5. The determination unit 1072 determines whether the foot (especially the sole) abuts on the placement unit 1 (the end face on the direction H1 side of the placement unit 1) based on the speed change of the placement unit 1 when the actuator 4 is driven with a constant voltage. It should be noted that hereinafter, the end face on the direction H1 side of the placement unit 1 is referred to as the "upper surface". The movement control unit 1073 controls the actuator 4. When the determination unit 1072 determines that the foot abuts on the placement unit 1, the movement control unit 1073 stops the movement of the placement unit 1.

[0067] In the massage machine 100 of the present embodiment, the control unit 107 can detect the position and movement of the placement unit 1 in the direction H0 based on the detection results of the sensor unit 5. And the control unit 107 can detect the change in the moving speed of the placement unit 1 in the direction H1.

[0068] For example, when the placement unit 1 is moved in the direction H1 at a constant speed by the actuator 4 with a constant voltage in a state where the subject's foot (the sole) does not abut on the placement unit 1 (for example, the upper surface), if the subject's foot (the sole) abuts on the placement unit 1 (for example, the upper surface), a load of the foot is applied to the placement unit 1 in the direction H2, so the speed change of the placement unit 1 in the direction H1 is dulled. Therefore, at the timing when this dulling occurs, the determination unit 1072 can determine that the foot abuts on the placement unit 1. That is, the control unit 107 of the massage machine 100 detects the position of the placement unit 1 at this timing in the direction H0 as the position where the subject's foot abuts.

[0069] Therefore, the massage machine 100 can detect whether the feet of the subject are in contact with the placement part without arranging a pressure sensor or the like on the part where the feet of the leg rest 105 are placed (for example, the upper surface of the placement part 1). Also, the massage machine 100 can arrange treatment members such as air bags and rollers, and a heater for warming the feet from the soles of the feet, on the part of the leg rest 105 where the feet are placed (that is, the upper surface of the placement part 1). Therefore, the layout of the treatment members, the heater, etc. can be designed more freely.

[0070] In addition, the movement control unit 1073 can prevent the feet of the seated subject from being pushed in the direction H1 due to the movement of the placement part 1 by stopping the movement of the placement part 1 at the above timing. Therefore, the massage machine 100 can support the feet at an appropriate position using the placement part 1 without restricting the lower limbs (especially the knees, calves, feet, etc.) of the subject. Thus, the subject can receive the treatment of the massage machine 100 in a comfortable state suitable for the treatment.

[0071] Preferably, when the control unit 107 detects the contact position where the feet (the soles of the feet) of the subject in the direction H0 are in contact with the placement part 1 (the upper surface thereof), the control unit 107 associates the contact position (that is, the position of the placement part 1 in the direction H0) with the subject information of the subject and stores it in the storage unit 1062. In this way, once the massage machine 100 stores the contact position, it can retrieve the position of the placement part 1 suitable for the subject from the next time. Thus, when the subject uses the massage machine 100, the subject can retrieve the position of the placement part 1 and receive the treatment of the calves and feet. For example, when the massage machine 100 receives an input operation for identifying the subject at the operation unit 1061, it reads the contact position associated with the subject information from the storage unit 1062 and moves the placement part 1 so that the upper surface of the placement part 1 in the direction H0 becomes the contact position. Therefore, the massage machine 100 does not have to perform the detection operation of the contact position as described above every time during the treatment, and thus the subject can conveniently receive the treatment of the calves and feet at a position suitable for the treatment. However, this example does not exclude a structure in which the above-described detection of the contact position is performed every time the calves and feet are treated.

[0072] In addition, preferably, when detecting the position of the feet (that is, when the determination unit 1072 determines whether the feet are in contact with the placement part 1), the movement control unit 1073 moves the placement part 1 in the direction H2 and then moves the placement part 1 in the direction H1 from the ankle of the subject toward the knee.

[0073] In this way, the massage machine 100 can prevent the detection of the position of the foot from starting when the foot has already abutted (been placed) on the placement part 1. For example, when detecting the position of the foot, the massage machine 100 first moves the placement part 1 in the direction H2, so that the upper surface of the placement part 1 is sufficiently far away from the sole of the foot of the seated subject being treated. After that, the massage machine 100 moves the placement part 1 in the direction H1. Thereby, the massage machine 100 can reliably and accurately detect the timing when the foot abuts on the placement part 1 and the position of the placement part 1 at that timing (i.e., the position of the subject's foot).

[0074] Next, an example of the structure of the sensor unit 5 will be described. As Figures 3 to 5B shown, the sensor unit 5 includes a plate member 51, a plurality of first openings 52, and a first detection unit 53. The plate member 51 extends in the direction H0. The plate member 51 is fixed to the placement part 1 by means of a fixture. The plurality of first openings 52 are arranged on the plate member 51. Each of the first openings 52 is arranged at equal intervals in the direction H0. The first detection unit 53 includes a first light emitting unit 531 and a first light receiving unit 532. The first light emitting unit 531 emits light toward the first light receiving unit 532. The first light receiving unit 532 is opposed to the first light emitting unit 531 across the plate member 51 in the light emission direction (in Figures 3 to 5B this case, the front-rear direction).

[0075] One of the plate member 51, the first light emitting unit 531, and the first light receiving unit 532 can move along the direction H0 together with the placement part 1. For example, in the present embodiment, the end portion of the plate member 51 on the H2 side is fixed to the table portion 11 of the placement part 1 by means of a fixture. The first detection unit 53 is fixed to the connection plate 224 of the frame 22 of the housing part 2. Therefore, the plate member 51 can move relative to the frame 31 (especially the shaft support portion 1051) in the direction H0, while the first detection unit 53 cannot move relative to the frame 31 (especially the shaft support portion 1051) in the direction H0. However, it is not limited to this example. The first detection unit 53 may also be fixed to the placement part 1 and be able to move relative to the frame 31 (especially the shaft support portion 1051) in the direction H0, and the plate member 51 may also be fixed to the housing part 2, for example, and cannot move relative to the frame 31 (especially the shaft support portion 1051) in the direction H0.

[0076] The first light receiving unit 532 of the sensor unit 5 outputs a first pulse signal Ps1 to the control unit 107. The first pulse signal Ps1 is output based on the detection result of the light incident on the first light receiving unit 532 through the first opening 52, and shows a signal intensity A corresponding to the detection of this light (refer to Figures 6A to 6C). The first pulse signal Ps1 includes a plurality of pulses p0. Each pulse p0 represents light detection in the first light receiving unit 532 and is arranged in time series. For example, the signal intensity A of the first pulse signal Ps1 becomes the first signal intensity a1 during the period when light is detected (i.e., pulse p0), and becomes the second signal intensity a2 during the period when light is not detected.

[0077] It should be noted that it is sufficient that the second signal intensity a2 is less than the first signal intensity a1, and it may not be a2 = 0. In the present embodiment, it is described assuming that the second signal intensity a2 = 0. However, it is not limited to this example, and the first signal intensity a1 may also be less than the second signal intensity a2. For example, it may be that the first signal intensity a1 = 0 and the second signal intensity a2 is a higher value. That is, in this case, the first pulse signal Ps1 may also be Figures 6A to 6C the pulse signal in which the signal intensity A shown is inverted.

[0078] The control unit 107 controls the actuator 4 based on the first pulse signal Ps1. At this time, the control unit 107 monitors (supervises) the detection result of the sensor unit 5 at each equally spaced time point. The monitoring time interval may be, for example, 1 time or less and 0.1 time or more of the normal time length of the pulse p0. It should be noted that the normal time length here refers to, for example, the time length of the pulse p0 detected when the placement unit 1 moves in the direction H0 in a state where the foot is not in contact with the placement unit 1. By setting the monitoring time interval to the above length, the control unit 107 can reduce the computational load borne by the control unit 107. Therefore, even if a high-performance computing device is not mounted on the control unit 107, the control unit 107 can sufficiently detect the position and movement of the foot and control the actuator 4. However, this example does not exclude a structure in which the monitoring time interval is less than 0.1 times the normal time length.

[0079] In this way, the massage machine 100 can use a linear scale encoder to detect the position and the change in the moving speed of the placement unit 1 in the direction H0. And the massage machine 100 can detect the position of the foot of the subject based on their detection results.

[0080] In the sensor unit 5 (linear scale encoder) of the present embodiment, the plate member 51 is fixed to the placement unit 1 and the placement unit 1 (the platen portion 11 thereof) moves, so that a plurality of first openings 52 (slits) provided in the plate member 51 (linear scale) move. On the other hand, the first detection unit 53 cannot move in the direction H0 relative to the frame 31 (the shaft support portion 1051 thereof). The first light emitting unit 531 emits light when the placement unit 1 moves (the position and the start of movement detection). At this time, the first light emitting unit 531 may emit light intermittently. For example, it may emit light during a period including the time point when the control unit 107 monitors the signal intensity A of the first pulse signal Ps1.

[0081] For example, when the plate member 51 moves in the direction H0, the plurality of first openings 52 also move in the direction H0. Therefore, if there is a first opening 52 between the first light receiving unit 532 and the first light emitting unit 531, the first light receiving unit 532 detects the light emitted from the first light emitting unit 531. On the other hand, if there is no first opening 52 between the first light receiving unit 532 and the first light emitting unit 531, the first light receiving unit 532 is blocked by the plate member 51 and cannot detect light. Therefore, the signal intensity A of the first pulse signal Ps1 output to the control unit 107 changes corresponding to the presence or absence of light detection in the first light receiving unit 532. For example, if the light receiving intensity in the first light receiving unit 532 is equal to or higher than a constant value, the signal intensity A of the first pulse signal Ps1 becomes the intensity indicating that light is detected (for example Figures 6A to 6C the signal intensity A = a1). On the other hand, if the light receiving intensity in the first light receiving unit 532 is less than the constant value, the signal intensity A of the first pulse signal Ps1 becomes the intensity indicating that light is not detected (for example Figures 6A to 6C the signal intensity A = a2).

[0082] By monitoring the moving direction of the placement unit 1 and the temporal change of the signal intensity A of the first pulse signal Ps1, the control unit 107 can determine, using the determination unit 1072, whether the foot of the seated patient abuts on the placement unit 1, and can detect the position of the placement unit 1 in the direction H0. For example, the first openings 52 are arranged at equal intervals in the direction H0. Therefore, the control unit 107 can detect the position of the placement unit 1 in the direction H0, for example, by the difference (subtraction) between the number of pulses p0 during the period when the signal intensity A = a1 when the placement unit 1 moves in the direction H1 and the number of pulses p0 during the period when the signal intensity A = a1 when the placement unit 1 moves in the direction H2. However, it is not limited to this example. In the above difference, the number of periods when the signal intensity A = a2 may also be used.

[0083] In addition, when the foot is not placed on the placement unit 1, the load (such as the weight of the lower limb) from the lower limb of the seated patient is not applied to the placement unit 1. Therefore, the position of the placement unit 1 in the direction H0 moves according to the drive of the actuator 4. For example, when the actuator 4 moves the placement unit 1 toward the direction H1 at a constant speed, the pulses p0 of the first pulse signal Ps1 are arranged at equal intervals with a constant width. Specifically, the pulse width of the pulse p0 representing the signal intensity A = a1 (for example, the period during which the signal intensity A = a1) is constant. That is, the moving speed of the placement unit 1 in the direction H1 is also constant. It should be noted that when the placement unit 1 moves toward the direction H2, the above-mentioned pulse width and moving speed are also constant. Therefore, if the moving speed of the placement unit 1 is constant, the determination unit 1072 can determine that the foot is not in contact with the placement unit 1.

[0084] On the other hand, if the foot comes into contact with the placement unit 1 when the placement unit 1 moves in the direction H1, a load is applied to the placement unit 1 from the lower limb of the seated patient. Therefore, it is difficult for the placement unit 1 to move according to the drive of the actuator 4. As a result, the movement of the placement unit 1 and the plate member 51 in the direction H1 suddenly slows down.

[0085] Therefore, the time for the light emitted from the first light emitting unit 531 to pass through the same first opening 52 and enter the first light receiving unit 532 suddenly becomes longer. Similarly, the time for the light emitted from the first light emitting unit 531 to be blocked by the plate member 51 and not enter the first light receiving unit 532 also suddenly becomes longer. Therefore, the pulse width of the pulse p0 representing the signal intensity A = a1 and the interval between two adjacent pulses p0 in the time series suddenly change and become wider. In addition, the rate of change of them with time also suddenly changes and becomes larger.

[0086] Therefore, the determination unit 1072 can determine that the foot comes into contact with the placement unit 1 at the time point by detecting the time point at which any of the above suddenly changes with time. In addition, the movement control unit 1073 can stop the actuator 4 at this time point to stop the movement of the placement unit 1.

[0087] <1-4. Detection example of foot position>

[0088] Next, with reference to Figures 6A to 6C the first detection example, the second detection example, and the third detection example of the foot position will be described. Figure 6A is a graph showing the change with time of the first pulse signal Ps1 in the first detection example. Figure 6B is a graph showing the change with time of the first pulse signal Ps1 in the second detection example. Figure 6C is a graph showing the change with time of the first pulse signal Ps1 in the third detection example. It should be noted that Figures 6A to 6CThe first pulse signal Ps1 is output from the sensor unit 5 when the placement unit 1 moves in the direction H1.

[0089] <1-4-1. First detection example>

[0090] In the first detection example, the control unit 107 monitors the signal intensity A of the first pulse signal Ps1 at regular intervals. The arithmetic unit 1071 calculates the first time width W1 when the placement unit 1 moves in the direction H1. It should be noted that the first time width W1 is the period from the first time point when the signal intensity A=a1 of the pulse p0 is detected to the next closest second time point when the signal intensity A=a1 of the pulse p0 is detected. That is, in the time series, this second time point is a time point later than this first time point and is the time point closest to this first time point among the time points where the same signal intensity A=a1 is detected.

[0091] And, the determination unit 1072 of the control unit 107 determines that the foot is in contact with the placement unit 1 at the time point when this first time width W1 becomes equal to or greater than the time threshold Sw1. For example, in Figure 6A , in the time series, the first time width W1 before the time point ta1 is less than the time threshold Sw1, so the determination unit 1072 determines that the foot is not in contact with the placement unit 1 moving in the direction H1. On the other hand, in the time series, the first time width W1 between the time point ta1 and the time point ta2 is greater than the time threshold Sw1. Therefore, the determination unit 1072 determines that the foot is in contact with the placement unit 1 moving in the direction H1, and sets the position of the placement unit 1 in the direction H0 at the time point ta2 as the position of the foot. In addition, the movement control unit 1073 stops the movement of the placement unit 1 at the time point ta2. Thus, the massage machine 100 can perform treatment in a state where the feet of the person to be treated are placed and supported on the placement unit 1.

[0092] It should be noted that it is not limited to the above example. The arithmetic unit 1071 can also calculate the change rate R1 (= {ΔW1 / Δt}) of the first time width W1 when the placement unit 1 moves in the direction H1. And, the determination unit 1072 of the control unit 107 can also determine that the foot is in contact with the placement unit 1 at the time point when this change rate R1 becomes equal to or greater than the change rate threshold Sr1. That is, the control unit 107 can also determine that the foot is in contact with the placement unit 1 at at least any one of the time points when W1≥Sw1 and when R1≥Sr1.

[0093] According to the first detection example, the control unit 107 calculates the first time width W1 (or its change rate R1) based on the signal intensity A of the first pulse signal Ps1 monitored intermittently, and compares it with the time threshold Sw1 (or the change rate threshold Sr1). Thus, the massage machine 100 can easily determine whether the foot is in contact with the placement unit 1. Moreover, since the massage machine 100 can simplify the determination process, the computational load borne by the control unit 107 can also be reduced.

[0094] <1-4-2. Second Detection Example>

[0095] In the second detection example, the control unit 107 monitors the signal intensity A of the first pulse signal Ps1 at constant intervals. The arithmetic unit 1071 calculates the second time width W2 when the placement unit 1 moves in the direction H1. It should be noted that the second time width W2 is the period from the next time point after the time point when the signal intensity A = a1 of the pulse p0 is detected and the first time point when the pulse p0 is not detected to the nearest second time point when the signal intensity A = a1 of the pulse p0 is detected next time. It should be noted that at the first time point, a signal intensity A = a2≠0 different from the pulse p0 may also be detected.

[0096] That is, in the time series, the second time point is a time point later than the first time point and is the nearest time point to the first time point among the time points when the pulse p0 is not detected (or the time points when a signal intensity A = a2 different from the pulse p0 is detected). In addition, the third time point is a time point later than the second time point and is the nearest time point to the second time point among the time points when the signal intensity A = a1 of the pulse p0 is detected.

[0097] Moreover, the determination unit 1072 of the control unit 107 determines that the foot is in contact with the placement unit 1 at the time point when the second time width W2 becomes equal to or greater than the time threshold Sw2. For example, in Figure 6B in the time series, before the time point tb1, the second time width W2 is less than the time threshold Sw2, so the determination unit 1072 determines that the foot is not in contact with the placement unit 1 moving in the direction H1. On the other hand, in the time series, the second time width W2 between the time point tb1 and the time point tb2 is greater than the time threshold Sw2. Therefore, the determination unit 1072 determines that the foot is in contact with the placement unit 1 moving in the direction H1, and sets the position of the placement unit 1 in the direction H0 at the time point tb2 as the position of the foot. In addition, the movement control unit 1073 stops the movement of the placement unit 1 at the time point tb2. Thus, the massage machine 100 can perform the treatment in a state where the foot of the person to be treated is placed and supported on the placement unit 1.

[0098] Note that the present invention is not limited to the above examples. The arithmetic unit 1071 may also calculate the change rate R2 (= {ΔW2 / Δt}) of the second time width W2 when the placement unit 1 moves in the direction H1. Further, the determination unit 1072 may determine that the foot is in contact with the placement unit 1 at the time point when the change rate R2 becomes equal to or greater than the change rate threshold Sr2. That is, the control unit 107 may determine that the foot is in contact with the placement unit 1 at at least one of the time points when W2 ≥ Sw2 and when R2 ≥ Sr2.

[0099] According to the second detection example, the control unit 107 calculates the second time width W2 (or its change rate R2) based on the signal intensity A of the first pulse signal Ps1 monitored at regular intervals, and compares it with the time threshold Sw2 (or the change rate threshold Sr2). Thereby, the massage machine 100 can easily determine whether the foot is in contact with the placement unit 1. Further, the massage machine 100 can use a second time width W2 (for example, as compared with the first time width W1) for the above determination that is shorter. Therefore, the control unit 107 can detect more accurately and quickly that the foot is in contact with the placement unit 1 and stop the movement of the placement unit 1.

[0100] <1-4-3. Third detection example>

[0101] In the third detection example, the control unit 107 may detect either the rising edge E1 or the falling edge E2 of each pulse p0. The control unit 107 detects the rising edge E1 in the present embodiment. Note that the rising edge E1 refers to the change in the signal intensity A from the low level (i.e., A = a2) to the high level (i.e., A = a1). Further, the falling edge E2 refers to the change in the signal intensity A from the high level (i.e., A = a1) to the low level (i.e., A = a2).

[0102] For example, as Figure 6C shown, for each pulse p0, the control unit 107 detects the time point when the signal intensity A rises from the low level and detects the time point when a predetermined signal intensity a3 is detected as the time point when the rising edge E1 is generated. Further, for each pulse p0, the control unit 107 detects the time point when the signal intensity A falls from the high level and detects the time point when a predetermined signal intensity a3 is detected as the time point when the falling edge E2 is generated.

[0103] Note that the above-mentioned predetermined signal intensity a3 is a value (a2 + Ad) obtained by adding a predetermined intensity Ad to the low-level signal intensity (A = a2). The predetermined intensity Ad is a value that is 30% or more and 80% or less of the signal intensity difference ΔA (= |a1 - a2|) between the high level and the low level (i.e., 0.3*ΔA ≤ Ad ≤ 0.8*ΔA). In the present embodiment, a value of 50% of the signal intensity difference ΔA (Ad = 0.5*ΔA) is adopted.

[0104] That is, in the present embodiment, the falling edge E2 is detected at the time point when the signal strength A decreases from a high level (A = a1) and a specified signal strength a3 (= {a2 + 0.5 * ΔA}) is detected. In addition, the rising edge E1 is detected at the time point when the signal strength A increases from a low level (A = a2) and a specified signal strength a3 (= {a2 + 0.5 * ΔA}) is detected.

[0105] It should be noted that when the rising edge E1 (falling edge E2) is detected, the control unit 107 monitors the signal strength A of the first pulse signal Ps1. Alternatively, the control unit 107 may monitor the signal strength A of the first pulse signal Ps1 at every minute constant time that can sufficiently detect the rising edge E1 (falling edge E2) of the pulse p0.

[0106] The arithmetic unit 1071 calculates the third time width W3 when the placing unit 1 moves in the direction H1. It should be noted that the third time width W3 is the period between the above-mentioned edges of two adjacent pulses p0 in the time series. For example, when the arithmetic unit 1071 detects the rising edge E1 of each pulse p0, the period between the rising edges E1 of two adjacent pulses p0 in the time series is calculated as the third time width W3. It should be noted that when the arithmetic unit 1071 detects the falling edge E2 of each pulse p0, the period between the falling edges E2 of two adjacent pulses p0 in the time series is calculated as the third time width W3.

[0107] In other words, the arithmetic unit 1071 calculates the period from the first time point when the rising edge E1 (or falling edge E2) of the pulse p0 is detected to the second time point when the rising edge E1 (or falling edge E2) is detected next in the time series as the third time width W3. It should be noted that the second time point is a time point later than the first time point and is the time point closest to the first time point among the time points when the rising edge E1 (or falling edge E2) is detected.

[0108] And, when the placing unit 1 moves in the direction H1, the determination unit 1072 determines that the foot is in contact with the placing unit 1 at the time point when the third time width W3 becomes equal to or greater than the time threshold Sw3. For example, in Figure 6CIn the time series, before time point tc1, the third time width W3 is less than the time threshold Sw3. Therefore, the determination unit 1072 determines that the foot is not in contact with the placement unit 1 moving in the direction H1. On the other hand, in the time series, the third time width W3 between time point tc1 and time point tc2 is greater than the time threshold Sw3. Therefore, the determination unit 1072 determines that the foot is in contact with the placement unit 1 moving in the direction H1, and sets the position of the placement unit 1 in the direction H0 at time point tc2 as the position of the foot. In addition, the movement control unit 1073 stops the movement of the placement unit 1 at time point tc2. Thus, the massage machine 100 can perform the treatment in a state where the foot of the person to be treated is placed and supported on the placement unit 1 at a position suitable for the treatment.

[0109] It should be noted that the present invention is not limited to the above examples. The arithmetic unit 1071 can also calculate the change rate R3 (= {ΔW3 / Δt}) of the third time width W3 when the placement unit 1 moves in the direction H1. And the determination unit 1072 can determine that the foot is in contact with the placement unit 1 at the time point when the change rate R3 becomes equal to or greater than the change rate threshold Sr3. That is, the control unit 107 can also determine that the foot is in contact with the placement unit 1 at at least one of the time points when W3≥Sw3 and when R3≥Sr3.

[0110] According to the third detection example, the control unit 107 can perform this determination with further good accuracy by using the rising edge E1 or the falling edge E2 of the pulse p0 in the determination of whether the foot is in contact with the placement unit 1 (for example, compared with the first detection example and the second detection example). Therefore, the control unit 107 can detect with further good accuracy that the foot is in contact with the placement unit 1, and further quickly stop the movement of the placement unit 1.

[0111] <1-5. Rebound portion 13>

[0112] Next, preferably, as Figure 7 shown, in the leg rest 105 of the massage machine 100, the placement unit 1 may further include a rebound portion 13. Figure 7 It is a side view showing another structural example of the leg rest 105 in the first embodiment. It should be noted that the leg rest 105 is observed from the right side in Figure 7 . In addition, Figure 7 the main part of the leg rest 105 is illustrated, and for easy observation of this main part, for example, the housing member 21 (refer to Figure 1 ), the cloth or leather cover arranged on the surface, and external decorations such as cushioning materials are omitted.

[0113] The rebound portion 13 is arranged on the table portion 11 (especially the part where the foot is placed). The rebound portion 13 has a plate-shaped contact portion 131 and an elastic member 132.

[0114] The contact portion 131 can come into contact with the soles of the seated patient. That is, as Figure 7 shown, the end face on the H1 side of the contact portion 131 becomes the upper surface of the placement portion 1.

[0115] The elastic member 132 is disposed between the platen portion 11 and the contact portion 131 in the direction H0 and can expand and contract along the direction H0. The contact portion 131 is, for example, in the shape of a horizontally extended plate and is disposed above the elastic member 132. The elastic member 132 is, for example, a coil spring. However, it is not limited to this example. For example, the elastic member 132 can also be a spring member other than a coil spring, or a highly resilient porous body such as rubber or urethane sponge.

[0116] Due to the arrangement of the resilient portion 13, when the placement portion 1 moves in the direction H1, the feet of the seated patient come into contact with the contact portion 131 of the resilient portion 13. At this time, due to the contraction of the elastic member 132, an elastic force in the direction H2 acts on the platen portion 11 of the placement portion 1. Therefore, the movement of the placement portion 1 in the direction H1 is further dulled. That is, the moving speed of the placement portion 1 when the feet come into contact is further sharply reduced. Therefore, the timing of generating this dulling is easy to detect. Therefore, the massage machine 100 can more accurately detect the position of the patient's feet and can support the feet at a more appropriate position using the placement portion 1.

[0117] Moreover, the massage machine 100 can also dispose treatment members such as airbags and rollers (i.e., the end face on the H1 side of the plate-shaped contact portion 131, that is, the upper surface of the contact portion 131) on the portion of the leg rest 105 where the feet are placed, and heaters for warming the feet from the soles. Therefore, even if the resilient portion 13 is arranged, the layout of the treatment members and heaters can be freely designed.

[0118] However, this example does not exclude the structure in which the leg rest 105 (the placement portion 1) of the massage machine 100 does not have the resilient portion 13.

[0119] <1-6. Variation of the First Embodiment>

[0120] Next, with reference to Figure 8 and Figure 9 a variation of the first embodiment will be described. Figure 8 is an external view showing a structural example of the leg rest 105 in the variation of the first embodiment. Figure 9 is a graph showing the temporal change of the first pulse signal Ps1 in the variation of the first embodiment. It should be noted that in Figure 8 , the leg rest 105 is observed from the rear side. In addition, Figure 8 illustrates the main part of the leg rest 105. For the sake of easy observation of this main part, for example, the housing member 21 (refer toFigure 1 ), a cloth or leather cover disposed on the surface, and external decorations such as cushioning materials.

[0121] In addition, in Figure 8 and Figure 9 , the position of the foot is detected by the same structure as the above-described first detection example. However, it is not limited to this example, and the foot position detection can also be implemented by a structure different from the first detection example. For example, it can also be implemented by the same structure as the aforementioned second detection example or third detection example.

[0122] In addition, hereinafter, structures different from the first embodiment will be described. In addition, sometimes the same reference numerals are assigned to the structural parts that are the same as those in the first embodiment, and their descriptions are omitted.

[0123] In a modification of the first embodiment, the sensor unit 5 further has a plurality of second openings 54. Each of the second openings 54 is disposed between the first openings 52 adjacent in the direction H0 among at least a part of the first openings 52 of the plate member 51. It should be noted that the second opening 54 disposed between the first openings 52 adjacent in the direction H0 is single in this embodiment, but may also be plural. In the direction H0, the first openings 52 and the single or plural second openings 54 are arranged at equal intervals. For example, in the direction H0, the first openings 52 and the single second opening 54 are alternately arranged at equal intervals. Or, in the direction H0, among the adjacent first openings 52, the plural second openings 54 are arranged at equal intervals. At this time, in the direction H0, the intervals between the plural second openings 54 disposed between the adjacent first openings 52 are the same as the intervals between the adjacent first openings 52 and the second openings 54.

[0124] In a modification of the first embodiment, the first pulse signal Ps1 is output based on the detection result of the light incident on the first light receiving part 532 through the first opening 52 or the second opening 54, and shows a signal intensity A corresponding to the detection of the light. For example, as Figure 9 shown, the first pulse signal Ps1 includes a plurality of first pulses p1 and a plurality of second pulses p2. The first pulse p1 is a pulse p0 output from the first light receiving part 532 based on the light receiving result of the light passing through the first opening 52. The second pulse p2 is a pulse p0 output from the first light receiving part 532 based on the light receiving result of the light passing through the second opening 54. Hereinafter, the first pulse p1 and the second pulse p2 are sometimes collectively referred to as "pulse p0".

[0125] For example, in Figure 9Among them, after the time point td0, a second pulse p2 is generated. Each of the second pulses p2 is arranged alternately with the first pulse p1 in the time series. In addition, in the time series, the fourth time width W4 before the time point td1 is smaller than the time threshold Sw4, so the determination unit 1072 determines that the foot is not in contact with the placement unit 1 moving in the direction H1. It should be noted that the fourth time width W4 is the period from the first time point when the signal intensity A = a1 of the pulse p0 is detected to the next closest second time point when the signal intensity A = a1 of the pulse p0 is detected. That is, in the time series, this second time point is a time point later than this first time point and is the closest time point among the time points when the same signal intensity A = a1 is detected to this first time point.

[0126] On the other hand, in the time series, the fourth time width W4 between the time point td1 and the time point td2 is larger than the time threshold Sw4. Therefore, the determination unit 1072 determines that the foot is in contact with the placement unit 1 moving in the direction H1, and sets the position of the placement unit 1 in the direction H0 at the time point td2 as the position of the foot. In addition, the movement control unit 1073 stops the movement of the placement unit 1 at the time point td2. Thus, the massage machine 100 can perform treatment in a state where the foot of the person to be treated is placed and supported on the placement unit 1.

[0127] In this way, by arranging the second opening 54 (sub-slit) between at least a part of the first openings 52 (main slits) of the plate member 51 (scale), the total number of openings (slits) arranged in the plate member 51 is increased. That is, compared with the case where only the first opening 52 is arranged, the distance between adjacent openings (slits) in the direction H0 becomes narrower. By increasing the number of openings within a specified distance, during the movement of the placement unit 1, the number of pulses p0 of the output signal of the sensor unit 5 is larger than in the case where only the first opening 52 is arranged in the plate member 51.

[0128] Since the distance between adjacent openings (slits) in the direction H0 is narrow, the fourth time width W4 between the time point td1 and the time point td2 is narrower than the first time width W1 between the time point td1 and the time point td3. It should be noted that in Figure 9 Among them, the fourth time width W4 is the period from the time point (such as the time point td1) when the signal intensity A = a1 of the pulse p0 is detected to the next closest time point (such as the time point td2) when the signal intensity A = a1 of the pulse p0 is detected. The first time width W1 is the period from the time point (such as the time point td1) when the signal intensity A = a1 of the first pulse p1 is detected to the next closest time point (such as the time point td3) when the signal intensity A = a1 of the first pulse p1 is detected.

[0129] Therefore, compared with the case where only the first opening 52 is provided in the on-board member 51, the control unit 107 can detect the time point when the signal strength A = a1 will be reached next earlier. For example, in Figure 9 in the case where both the first opening 52 and the second opening 54 are provided, the time point td2 at which it is determined that the foot abuts against the mounting portion 1 is earlier than the time point td3 at which it is determined that the foot abuts against the mounting portion 1 in the case where only the first opening 52 is provided.

[0130] That is, by providing the second opening 54, the control unit 107 can detect the position of the mounting portion 1 in the direction H0 and its moving speed with higher accuracy. Therefore, the massaging machine 100 can detect the position of the mounting portion 1 of the subject to be treated with higher accuracy, and can support the foot at a more appropriate position by the mounting portion 1.

[0131] In addition, preferably, for example, if the subject to be treated has a normal build, in order to detect the position where the foot abuts against the mounting portion 1, the second opening 54 may be provided between the first openings 52. For example, the second opening 54 is provided between adjacent first openings 52 at the center of a group of first openings 52 arranged in the direction H0. However, it is not limited to this example, and one or more second openings 54 provided between adjacent first openings 52 may be provided on the H1 side or one or more may be provided on the H2 side in a group of first openings 52 arranged in the direction H0.

[0132] In this way, when the mounting portion 1 moves in the direction H0, the number of pulses p0 detected when the mounting portion 1 moves near the position of the foot of the subject to be treated increases. Therefore, the control unit 107 can detect the position of the mounting portion 1 when the foot abuts with higher accuracy.

[0133] <2. Second Embodiment>

[0134] Next, refer to Figures 10A to 11B to describe the second embodiment. Figures 10A to 11B The structural example of the leg rest 105 in the second embodiment is shown. Figure 10A is a perspective view of the leg rest 105 in a state where the mounting portion 1 has moved in the direction H1 approaching the seat portion 101 in the second embodiment. Figure 10B is a perspective view of the leg rest 105 in a state where the mounting portion 1 has moved in the direction H2 away from the seat portion 101 in the second embodiment. Figure 11A is a rear view of the leg rest 105 in a state where the mounting portion 1 has moved in the direction approaching the seat portion 101 as viewed from the rear in the second embodiment. Figure 11B is a rear view of the leg rest 105 in a state where the mounting portion 1 has moved in the direction away from the seat portion 101 as viewed from the rear in the second embodiment. It should be noted that, Figures 10A to 11BThe main part of the leg rest member 105 is shown. To make this main part easily observable, for example, the housing member 21 (refer to Figure 1 ), the cloth or leather cover disposed on the surface, and external decorations such as cushioning materials are omitted.

[0135] Hereinafter, the structures different from those of the first embodiment and its modified examples in the second embodiment will be described. In addition, sometimes the same reference numerals are assigned to the structural parts that are the same as those of the first embodiment and its modified examples, and their descriptions are omitted.

[0136] In the second embodiment, the housing portion 2 of the leg rest member 105 can move in the direction H0. It should be noted that the housing portion 2 can move independently of the placement portion 1 or can move in conjunction with the placement portion 1.

[0137] As Figures 10A to 11B shown, the leg rest member 105 includes an actuator 7 and a support sensor portion 8.

[0138] The actuator 7 is an example of the "second moving mechanism" of the present invention, can expand and contract in the direction H0, and moves the housing portion 2 in the direction H0. The actuator 7 is included in the actuator group 1081. One end of the actuator 7 (for example, the end on the H1 side of the working cylinder 71) is fixed to the first beam portion 3121 of the frame 31 together with the drive source by means of a fixture. The other end of the actuator 7 (for example, the end on the H2 side of the rod 72) is connected to the frame 22 (the U-shaped arm 221 on the H2 side) of the housing portion 2 by means of a fixture. The housing portion 2 moves in the direction H1 corresponding to the contraction of the actuator 7 and moves in the direction H2 corresponding to the extension of the actuator 7.

[0139] In the present embodiment, the actuator 7 is an electroconductive linear actuator, and the rod 72 housed in the working cylinder 71 is moved in the pulling-out direction and the insertion direction with a brushless motor 73 (preferably a stepping motor) as the drive source. For example, a worm is disposed on the rod 72 side, and a gear meshing with the worm is disposed on the shaft side of the brushless motor 73. Through the meshing of the two, the rotational motion of the brushless motor 73 is converted into the linear motion of the rod 72. By mounting the brushless motor 73 on the actuator 7, even if the actuator 7 is slowly expanded and contracted, its expansion and contraction amount can be accurately controlled. However, this example does not exclude the structure of using an actuator 7 other than the electroconductive linear actuator. For example, the actuator 7 can also be a ball screw mechanism driven by a motor.

[0140] The support sensor unit 8 is an example of the "second sensor unit" of the present invention, and is disposed on the leg rest member 105 to detect the position and movement of the housing unit 2 in the direction H0. The support sensor unit 8 includes a plate member 81, an opening 82, and a detection unit 83. In the second embodiment, the support sensor unit 8 is a member different from the sensor unit 5, but is a linear scale encoder having the same structure as the sensor unit 5 except that the plate member 81 (linear scale) moves together with the housing unit 2 in the direction H0.

[0141] The control unit 107 detects the position of the housing unit 2 in the direction H0 based on the detection result of the support sensor unit 8. In addition, the control unit 107 controls the actuator 7 based on the detection result of the support sensor unit 8. The position detection of the support sensor unit 8 and the movement control of the actuator 7 are implemented in the same manner as the position detection of the placement unit 1 and the position detection of the actuator 4.

[0142] For example, when the massage machine 100 starts treating a seated subject, the position of the subject's foot is detected based on the detection results of the positions and movements of the placement unit 1 and the housing unit 2 in the direction H0. At this time, the control unit 107 controls the actuator 4 based on the detection result of the sensor unit 5 and controls the actuator 7 based on the detection result of the support sensor unit 8. Specifically, in the control unit 107, the arithmetic unit 1071 calculates the change in the position and movement speed of the placement unit 1 relative to the housing unit 2 based on the detection result of the sensor unit 5, and calculates the change in the position and movement speed of the housing unit 2 relative to the frame 31 based on the detection result of the support sensor unit 8. Then, the arithmetic unit 1071 calculates the change in the position and movement speed of the placement unit 1 relative to the frame 31 based on the above calculation results. The determination unit 1072 determines whether the foot (especially the sole) abuts on the placement unit 1 (the upper surface of the placement unit 1) based on the speed change of the placement unit 1 when the actuator 4 is driven with a constant voltage and the speed change of the housing unit 2 when the actuator 7 is driven with a constant voltage. When it is determined that there is an abutment, the control unit 107 sets the position of the placement unit 1 relative to the frame 31 as the position where the subject's foot abuts on the placement unit 1. The movement control unit 1073 controls the actuator 4 and the actuator 7. When the determination unit 1072 determines that the foot abuts on the placement unit 1, the movement control unit 1073 stops the movement of the placement unit 1 and the housing unit 2.

[0143] For example, when the placement unit 1 moves in the direction in which the distance between the placement unit 1 and the housing unit 2 decreases (e.g., direction H1), the determination unit 1072 of the control unit 107 determines whether the foot is in contact with the placement unit 1. In one example, the massage machine 100 drives the actuator 4 to move the placement unit 1 in the direction H1. If the control unit 107 does not detect the foot in contact during the movement of the placement unit 1 in the direction H1, the control unit 107 drives the actuator 7 in a state where the movement of the placement unit 1 is stopped, moves the housing unit 2 in the direction H1, and detects whether the foot is in contact with the placement unit 1. When the control unit 107 detects the foot during the movement of the housing unit 2 in the direction H1, the control unit 107 stops the movement of the housing unit 2. Thus, the massage machine 100 can arrange the placement unit 1 at a position in the direction H0 suitable for the body shape of the subject to be treated, particularly the length of the part below the knees (calf and foot).

[0144] In this way, in the massage machine 100 of the second embodiment, the control unit 107 can detect the position and movement of the housing unit 2 in the direction H0 based on the detection result of the support sensor unit 8. And the control unit 107 can detect the change in the moving speed of the housing unit 2 in the direction H1.

[0145] For example, when the placement unit 1 and the housing unit 2 moving at a constant speed are moved in the direction H1 by using the actuator 4 and the actuator 7 with a constant voltage, if the foot (sole) of the subject to be treated comes into contact with the placement unit 1 (e.g., the upper surface), a load of the foot is applied to the placement unit 1 (and the housing unit 2) in the direction H2, so the speed change of the placement unit 1 and the housing unit 2 in the direction H1 is dulled. Therefore, at the timing when this dulling occurs, the determination unit 1072 can determine that the foot is in contact with the placement unit 1. That is, the control unit 107 of the massage machine 100 detects the position of the placement unit 1 at this timing in the direction H0 as the position of the foot of the subject to be treated.

[0146] Therefore, the massage machine 100 can detect whether the foot of the subject to be treated is in contact with the placement unit 1 without arranging a pressure sensor or the like on the part where the foot of the leg rest 105 is placed (e.g., the upper surface of the placement unit 1). And the massage machine 100 can also arrange treatment members such as airbags and rollers, and a heater for warming the foot from the sole of the foot on the part of the leg rest 105 for placing the foot (i.e., the upper surface of the placement unit 1). Therefore, the layout of the treatment members and the heater can be designed more freely.

[0147] In addition, the movement control unit 1073 can prevent the foot of the seated subject to be treated from being pushed in the direction H1 due to the movement of the placement unit 1 by stopping the movement of the placement unit 1 and the housing unit 2 at the above timing. Therefore, the massage machine 100 can support the foot at an appropriate position by using the placement unit 1 without restricting the lower limbs (especially the knees, calves, feet, etc.) of the subject to be treated. Thus, the subject to be treated can receive the treatment of the massage machine 100 in a comfortable state.

[0148] Preferably, when detecting the position of the foot (i.e., when the determination unit 1072 determines whether the foot is in contact with the placement unit 1), after moving the placement unit 1 and the housing unit 2 in the direction H2, the movement control unit 1073 moves the placement unit 1 and the housing unit 2 in the direction H1 from the ankle of the subject toward the knee.

[0149] In this way, the massage machine 100 can prevent the detection of the position of the foot from starting in a state where the foot is already in contact (placed) with the placement unit 1. For example, when detecting the position of the foot, the massage machine 100 first moves the placement unit 1 and the housing unit 2 in the direction H2, so that the upper surface of the placement unit 1 is sufficiently far from the sole of the foot of the seated subject. After that, the massage machine 100 moves the placement unit 1 and the housing unit 2 in the direction H1. Thereby, the massage machine 100 can reliably detect the timing when the foot comes into contact with the placement unit 1 and the position of the placement unit 1 at that timing (i.e., the position of the subject's foot).

[0150] In addition, the massage machine 100 moves the housing unit 2 that supports the calf of the subject relative to the frame 31 in the direction H0 by controlling the actuator 7. That is, the actuator 7 changes the distance between the housing unit 2 in the direction H0 and the seat portion 101. Therefore, the subject can move the housing unit 2 to a more comfortable position, for example, by an input operation that changes the position of the housing unit 2 in the direction H0. This effect is particularly effective when the housing unit 2 is provided with a treatment member (such as an airbag, a roller, etc.) for treating the calf.

[0151] It should be noted that in the above example, when detecting the contact between the foot and the placement unit 1, the massage machine 100 drives the actuator 4 and the actuator 7 to move the placement unit 1 and the housing unit 2 in the direction H0. However, it is not limited to this example. At the above time, the massage machine 100 may also drive only one of the actuator 4 and the actuator 7. For example, the massage machine 100 may drive only the actuator 4 to move only the placement unit 1 in the direction H0. Alternatively, the massage machine 100 may drive only the actuator 7 to move the placement unit 1 and the housing unit 2 in the direction H0.

[0152] In addition, in the second embodiment, the actuator 4 is disposed between the placement unit 1 (upper surface) and the housing unit 2 so as to be able to expand and contract, and changes the distance between the placement unit 1 (upper surface) and the housing unit 2 in the direction H0. However, it is not limited to this example. The actuator 4 may also be disposed between the placement unit 1 (upper surface) and the frame 31 so as to be able to expand and contract, and changes the distance between the seat portion 101 and the placement unit 1 (upper surface) in the direction H0. That is, the end portion on the H1 side of the actuator 4 may be connected to, for example, the beam portion 312 of the frame 31. In this way, the massage machine 100 can detect the contact between the foot and the placement unit 1 by moving the placement unit 1 in the direction H0 by driving the actuator 4. That is, the massage machine 100 can detect the contact between the foot and the placement unit 1 with the same operation as the first embodiment regardless of the housing unit 2.

[0153] <2-1. Variation of the Second Embodiment>

[0154] Next, with reference to Figure 12 a variation of the second embodiment will be described. Figure 12 is a rear view showing a structural example of the leg rest 105 in the variation of the second embodiment. It should be noted that in Figure 12 the leg rest 105 is observed from the rear side. In addition, Figure 12 the main part of the leg rest 105 is illustrated, and in order to make this main part easy to observe, for example, the housing member 21 (refer to Figure 1 ) and external decorations such as a cloth or leather cover disposed on the surface and cushioning materials are omitted.

[0155] In addition, hereinafter, the structures different from those of the first embodiment and its variations and the second embodiment in the variation of the second embodiment will be described. In addition, the same structural parts as those of the first embodiment and its variations and the second embodiment may be denoted by the same reference numerals and their descriptions may be omitted.

[0156] In the variation of the second embodiment, the support sensor unit 8 of the second embodiment is the same as the sensor unit 5 of the first embodiment and its variations. In other words, the support sensor unit 8 is assembled into the sensor unit 5. That is, the sensor unit 5 and the support sensor unit 8 are the same sensor unit 5a. This sensor unit 5a is another example of the "first sensor unit" of the present invention.

[0157] The sensor unit 5a includes a plate member 51, a plurality of first openings 52, a first detection unit 53, and a second detection unit 55. The plate member 51 extends in the direction H0 and at least cannot move together with the placement unit 1 and the housing unit 2. The plurality of first openings 52 are arranged on the plate member 51 and are arranged at equal intervals in the direction H0. The first detection unit 53 has the same structure as that in the first embodiment and the second embodiment, etc., includes a first light emitting unit and a first light receiving unit, and is fixed to the connection plate 224 of the housing unit 2. The first light receiving unit 532 faces the first light emitting unit 531 with the plate member 51 therebetween. The first light emitting unit 531 emits light toward the first light receiving unit 532. The second detection unit 55 has the same structure as the detection unit 83 of the support sensor unit 8 in the second embodiment, includes a second light emitting unit 551 and a second light receiving unit 552, and is arranged on, for example, the second beam portion 3122 of the frame 31. The second light receiving unit 552 faces the second light emitting unit 551 with the plate member 51 therebetween. The second light emitting unit 551 emits light toward the second light receiving unit 552. It should be noted that the sensor unit 5a (especially the plate member 51) is arranged at a position behind the actuator 4 (i.e., on the side of the frame 31), so it does not contact the actuator 4. In addition, the sensor unit 5a may also have a second opening 54 of a modified example of the first embodiment (refer to Figure 8 ).

[0158] The first light receiving unit 532 of the first detection unit 53 of the sensor unit 5a outputs a first pulse signal Ps1 to the control unit 107. The first pulse signal Ps1 is output based on the detection result of the light incident on the first light receiving unit 532 through the first opening 52, and shows a signal intensity A corresponding to the detection of this light (refer to Figures 6A to 6C ). It should be noted that when the sensor unit 5a has the second opening 54, the first pulse signal Ps1 is output based on the detection result of the light incident on the first light receiving unit 532 through the first opening 52 and the second opening 54 (refer to Figure 9 ).

[0159] The second light receiving unit 552 of the second detection unit 55 of the sensor unit 5a outputs a second pulse signal Ps2 to the control unit 107. The second pulse signal Ps2, similar to the first pulse signal Ps1 in the first embodiment (refer to Figures 6A to 6C ), is output based on the detection result of the light incident on the second light receiving unit 552 through the first opening 52, and shows a signal intensity A corresponding to the detection of this light. It should be noted that when the sensor unit 5a has the second opening 54, the second pulse signal Ps2, similar to the first pulse signal Ps1 in the modified example of the first embodiment (refer to Figure 9 ), is output based on the detection result of the light incident on the second light receiving unit 552 through the first opening 52 and the second opening 54.

[0160] The control unit 107 controls the actuator 4 for the placement unit 1 based on the first pulse signal Ps1. In addition, the control unit 107 controls the actuator 7 for the housing unit 2 based on the second pulse signal Ps2. In the modification of the second embodiment, these actuators 4 and 7 are controlled in the same manner as the actuator 4 in the first embodiment and its modification.

[0161] For example, when the massage machine 100 starts treating a seated subject, based on the detection results of the positions and movements of the placement unit 1 and the housing unit 2 in the direction H0, the position of the subject's foot is detected. At this time, the control unit 107 controls the actuator 4 based on the detection result of the first detection unit 53 and controls the actuator 7 based on the detection result of the second detection unit 55. Specifically, in the control unit 107, the arithmetic unit 1071 calculates the changes in the position and movement speed of the placement unit 1 relative to the housing unit 2 based on the detection result of the first detection unit 53, and calculates the changes in the position and movement speed of the housing unit 2 relative to the frame 31 based on the detection result of the second detection unit 55. And the arithmetic unit 1071 calculates the changes in the position and movement speed of the placement unit 1 relative to the frame 31 based on the above calculation results. The determination unit 1072 determines whether the foot (especially the sole) is in contact with the placement unit 1 (the upper surface of the placement unit 1) based on the speed change of the placement unit 1 when the actuator 4 is driven at a constant voltage and the speed change of the housing unit 2 when the actuator 7 is driven at a constant voltage. When it is determined that there is contact, the control unit 107 sets the position of the placement unit 1 relative to the frame 31 to the position where the subject's foot is in contact with the placement unit 1. The movement control unit 1073 controls the actuator 4 and the actuator 7. When the determination unit 1072 determines that the foot is in contact with the placement unit 1, the movement control unit 1073 stops the movement of the placement unit 1 and the housing unit 2.

[0162] In the massage machine 100 of the modification of the second embodiment, the first detection unit 53 corresponds to the sensor unit 5 of the second embodiment, and the second detection unit 55 corresponds to the support sensor unit 8 of the second embodiment. The detection process of contact with the placement unit 1 is implemented in the same manner as in the second embodiment.

[0163] In the massage machine 100 of the modification of the second embodiment, by using a linear scale encoder that performs optical detection at two locations, it is possible to implement the movement control of the placement unit 1, the detection of the position and movement of the foot, and the movement control of the housing unit 2 using a single sensor unit 5a. Therefore, the number of components of the leg rest 105 can be reduced, so the cost and manufacturing process can be reduced, and thus the productivity of the massage machine 100 can be improved. In addition, it is also possible not to arrange multiple sensor units 5, so space can be saved. Therefore, the leg rest 105 can be configured compactly.

[0164] <4. Remarks>

[0165] The embodiments of the present invention have been described above. It should be noted that the above embodiments are illustrative, and various modifications can be made in the combination of each of its constituent elements and each process. Those skilled in the art can understand that it is within the scope of the present invention.

[0166] <5. Summary>

[0167] Hereinafter, the embodiments described above will be narratively summarized.

[0168] For example, the massage machine 100 disclosed in this specification is configured as follows (first configuration), that is, it includes:

[0169] A placement part 1 for placing the feet of the subject sitting on the seat part;

[0170] A first moving mechanism 4 that moves the placement part 1 along the calf of the subject;

[0171] First sensor parts 5, 5a for detecting the position and movement of the placement part 1 in the first direction H0 in which the placement part 1 moves; and

[0172] A control part 107 that controls the first moving mechanism 4 based on the detection results of the first sensor parts 5, 5a,

[0173] The control part 107 has:

[0174] A determination part 1072 that determines whether the foot abuts against the placement part 1 based on a change in the moving speed of the placement part 1; and

[0175] A movement control part 1073 that stops the movement of the placement part 1 when the determination part 1072 determines that the foot abuts against the placement part 1.

[0176] The massage machine 100 of the above first configuration may also be configured as follows (second configuration), that is,

[0177] When the first moving mechanism 4 moves the placement part 1 in the second direction H1 approaching the seat part 101 in the first direction H0, the determination part 1072 determines whether the foot abuts against the placement part 1.

[0178] The massage machine 100 of the above second configuration may also be configured as follows (third configuration), that is,

[0179] When the determination part 1072 determines whether the foot abuts against the placement part 1, the movement control part 1073 moves the placement part 1 in the third direction H2 away from the seat part 101 in the first direction H0 and then moves the placement part 1 in the second direction H1.

[0180] In addition, the massage machine 100 with any one of the above first to third structures may also have the following structure (the fourth structure), that is,

[0181] The massage machine 100 further includes a receiving portion 2 for receiving the calf of the subject being treated.

[0182] The first moving mechanism 4 makes the distance between the receiving portion 2 and the placing portion 1 variable.

[0183] When the placing portion 1 moves in the direction in which the distance between the placing portion 1 and the receiving portion 2 is reduced (for example, the second direction H1), the determination unit 1072 determines whether the foot abuts against the placing portion 1.

[0184] In addition, the massage machine 100 with any one of the above first to fourth structures may also have the following structure (the fifth structure), that is,

[0185] The placing portion 1 further has:

[0186] A table plate portion 11 on which the feet of the subject being treated are placed; and

[0187] A resilient portion 13 disposed on the table plate portion 11.

[0188] The resilient portion 13 has:

[0189] A contact portion 131 that can contact the soles of the feet of the seated subject being treated; and

[0190] An elastic member 132 disposed between the table plate portion 11 and the contact portion 131 and capable of expanding and contracting along the first direction H0.

[0191] In addition, the massage machine 100 with any one of the above first to fifth structures may also have the following structure (the sixth structure), that is,

[0192] The first sensor portion 5 has:

[0193] A plate member 51 on which a plurality of first openings 52 are arranged at equal intervals along the first direction H0; and

[0194] A detection portion 53 including a first light emitting portion 531 that emits light and a first light receiving portion 532 that is opposed to the first light emitting portion 531 with the plate member 51 interposed therebetween.

[0195] The first light emitting portion 531 emits light toward the first light receiving portion 532.

[0196] One of the plate member 51 and the detection portion 53 can move along the first direction H0 together with the placing portion 1.

[0197] During the movement of the one part of the plate member 51 and the detection unit 53 in the first direction H0, the first light receiving unit 532 outputs a first pulse signal Ps1 corresponding to the light incident through the first opening 52 to the control unit 107.

[0198] The control unit 107 controls the first moving mechanism 4 based on the interval of the first pulse signal Ps1.

[0199] In addition, the massage machine 100 having any one of the above first to sixth structures may also have the following structure (seventh structure), that is,

[0200] The massage machine 100 further includes:

[0201] A housing part 2 that supports the calves of the seated subject being treated;

[0202] A second moving mechanism 7 that moves the housing part 2 in the first direction H0; and

[0203] A second sensor unit 8 that is used to detect the position and movement of the housing part 2 in the first direction H0,

[0204] The control unit 107 controls the second moving mechanism 7 based on the detection result of the second sensor unit 8.

[0205] In addition, the massage machine 100 having the above sixth structure may also have the following structure (eighth structure), that is,

[0206] The first sensor unit 5 further has a second opening 54, and the second opening 54 is disposed between the first openings 52 adjacent in the first direction H0 among at least a part of the first openings 52 of the plate member 51.

[0207] In addition, the massage machine having any one of the above first to eighth structures may also have the following structure (ninth structure), that is,

[0208] The first sensor unit 5 outputs a first pulse signal Ps1 including a plurality of pulses p0 representing the detected light in the first light receiving unit and arranged in time series to the control unit 107.

[0209] The control unit 107 monitors the first pulse signal Ps1 at constant intervals.

[0210] At least at any time point among the time point when the time width W1 from the first time point when the pulse p0 is detected to the second time point when the pulse p0 is detected next time becomes equal to or greater than the time threshold Sw1 and the time point when the change rate R1 of the time width W1 becomes equal to or greater than the change rate threshold Sr1, the control unit 107 determines that the foot is in contact with the placement unit 1.

[0211] In addition, the massage machine 100 having any one of the above-described first to eighth configurations may also have the following configuration (tenth configuration), that is,

[0212] The first sensor unit 5 outputs a first pulse signal Ps1 including a plurality of pulses p0 that are detected by the light in the first light receiving unit 532 and arranged in time series to the control unit 107.

[0213] The control unit 107 monitors the first pulse signal Ps1 at regular intervals.

[0214] At least at any time point among the time point when the time width W2 from the first time point when the pulse p0 is not detected next to the time point when the pulse p0 is detected to the second time point when the pulse p0 is detected next time becomes equal to or greater than the time threshold Sw2 and the time point when the change rate R2 of the time width W2 becomes equal to or greater than the change rate threshold Sr2, the control unit 107 determines that the foot is in contact with the placement unit 1.

[0215] In addition, the massage machine 100 having any one of the above-described first to eighth configurations may also have the following configuration (eleventh configuration), that is,

[0216] The first sensor unit 5 outputs a first pulse signal Ps1 including a plurality of pulses p0 that are detected by the light in the first light receiving unit 532 and arranged in time series to the control unit 107.

[0217] The control unit 107 detects either the rising edge E1 or the falling edge E2 of each pulse p0.

[0218] At least at any time point among the time point when the time width W3 of the edge becomes equal to or greater than the time threshold Sw3 and the time point when the change rate R3 of the time width W3 becomes equal to or greater than the change rate threshold Sr3, the control unit 107 determines that the foot is in contact with the placement unit 1.

Claims

1. A massage machine, wherein: The massage machine comprises: A placing portion for placing the feet of a person seated on the seat portion; A first moving mechanism that moves the placing portion along the lower leg of the person being treated; a first sensor unit for detecting a position and movement of the placing unit in a first direction in which the placing unit moves; and a control unit that controls the first moving mechanism based on a detection result of the first sensor unit, The control unit has: a determination unit that determines whether the foot is in contact with the placing portion based on a change in the moving speed of the placing portion; and The movement control unit stops the movement of the placing unit when the determination unit determines that the foot is in contact with the placing unit.

2. The massage machine according to claim 1, wherein: The determination unit determines whether the foot is in contact with the placing portion when the first moving mechanism moves the placing portion in a second direction approaching the seat portion in the first direction.

3. The massage machine according to claim 2, wherein: When the determination unit determines whether the foot is in contact with the placement unit, the movement control unit moves the placement unit in the second direction after moving the placement unit in a third direction away from the seat in the first direction.

4. The massage machine according to any one of claims 1 to 3, wherein: The massage machine further comprises a receiving portion for receiving the lower leg of the person being treated. The first moving mechanism makes the distance between the placing portion and the receiving portion variable. The determination unit determines whether the foot is in contact with the placing portion when the placing portion moves in a direction in which a distance between the placing portion and the storage portion is reduced.

5. The massage machine according to any one of claims 1 to 4, wherein: The loading portion further comprises: a table portion on which the feet of the person being treated are placed; and a rebound portion, which is arranged on the table portion, The rebound portion has: a plate-shaped contact portion capable of contacting the sole of a seated person's foot; and The elastic member is disposed between the base plate portion and the contact portion and is capable of stretching and contracting along the first direction.

6. The massage machine according to any one of claims 1 to 5, wherein: The first sensor unit has: a plate member provided with a plurality of first openings arranged at equal intervals along the first direction; and a detection unit including a first light emitting unit that emits light and a first light receiving unit that is opposed to the first light emitting unit with the plate member interposed therebetween, The first light emitting portion emits light toward the first light receiving portion, One of the plate member and the detection portion is movable along the first direction together with the placement portion. During the movement of the plate member and the one portion of the detection unit in the first direction, the first light receiving unit outputs a first pulse signal corresponding to the light incident through the first opening to the control unit, The control unit controls the first moving mechanism based on an interval of the first pulse signal.

7. The massage machine according to any one of claims 1 to 6, wherein: The massage machine also has: A receiving portion that supports the lower leg of a seated person being treated; a second moving mechanism, which moves the receiving portion along the first direction; as well as a second sensor unit for detecting the position and movement of the receiving unit in the first direction, The control unit controls the second moving mechanism based on a detection result of the second sensor unit.

8. The massage machine according to claim 6, wherein: The first sensor portion further includes a second opening disposed between the first openings adjacent to each other in the first direction and between at least a portion of the first openings of the plate member.

9. The massage machine according to any one of claims 1 to 8, wherein: The first sensor unit outputs a first pulse signal including a plurality of pulses indicating light detection in the first light receiving unit and arranged in time series to the control unit, The control unit monitors the first pulse signal at a constant time interval. The control unit determines that the foot is in contact with the placing portion at at least one of a time point when a time width from a first time point when the pulse is detected to a second time point when the pulse is detected next becomes greater than a time threshold and a time point when a change rate of the time width becomes greater than a change rate threshold.

10. The massage machine according to any one of claims 1 to 8, wherein: The first sensor unit outputs a first pulse signal including a plurality of pulses indicating light detection in the first light receiving unit and arranged in time series to the control unit, The control unit monitors the first pulse signal at regular intervals, and determines that the foot is in contact with the carrying portion at at least any one of the following time points: a time point when a time width from a first time point after a time point when the pulse is not detected to a second time point closest to a next detection of the pulse becomes greater than a time threshold and a time point when a rate of change of the time width becomes greater than a rate of change threshold.

11. The massage machine according to any one of claims 1 to 8, wherein: The first sensor unit outputs a first pulse signal including a plurality of pulses indicating light detection in the first light receiving unit and arranged in time series to the control unit, The control unit detects any one of the rising edge and the falling edge of each of the pulses. The control unit determines that the foot is in contact with the placement unit at at least one of a time point when the time width of the edge becomes equal to or larger than a time threshold and a time point when the rate of change of the time width becomes equal to or larger than a rate of change threshold.

Images