A foot massaging device, a massage chair and a foot massaging method

Abstract

The application provides a foot massage device, a massage chair and a foot massage method, and relates to the technical field of massage equipment. The foot massage device comprises a foot accommodating part, the foot accommodating part defines an accommodating cavity for accommodating the feet of a user, and the foot accommodating part is provided with massage air bags, the massage air bags comprise a forefoot air bag, a heel air bag, a instep air bag and an ankle air bag, the forefoot air bag and the heel air bag are arranged at the lower part of the accommodating cavity and correspond to the positions of the sole of the forefoot and the heel of the user respectively, and the instep air bag and the ankle air bag are arranged at the upper part of the accommodating cavity and correspond to the positions of the instep and the ankle of the user; and a control module is configured to execute a dorsal extension control sequence and a plantar flexion control sequence. The dorsal extension control sequence enables the forefoot to complete a dorsal extension action, and the plantar flexion control sequence enables the heel to complete a plantar flexion action, thereby fully simulating the massage action in traditional manual massage and meeting the use requirements of the user.

Description

Technical Field

[0001] This invention relates to the field of massage equipment technology, and in particular to a foot massage device, a massage chair, and a foot massage method. Background Technology

[0002] The foot massage device in a massage chair is usually installed at the end of the calf massager at the front of the seat. Common massage methods include mechanical foot massage or airbag massage. However, due to the unique shape of the foot, existing foot massage devices have limited functionality. For example, mechanical foot massage often only massages the sole of the foot, while airbag massage generally only provides a full-body massage and is not suitable for dorsiflexion and plantar flexion movements of the foot, i.e., simulating the actions of flexing and tiptoeing. Therefore, the massage effect is poor and differs significantly from that of a manual massage, failing to meet the needs of users. Summary of the Invention

[0003] In a first aspect, the present invention provides a foot massage device, comprising: The foot receiving part defines a receiving cavity for accommodating the user's foot. The foot receiving part is equipped with massage airbags, including a forefoot airbag, a heel airbag, an instep airbag, and an ankle airbag. The forefoot airbag and the heel airbag are located in the lower part of the receiving cavity, corresponding to the bottom of the user's forefoot and the bottom of the heel, respectively. The instep airbag and the ankle airbag are located in the upper part of the receiving cavity, corresponding to the user's instep and ankle positions, respectively. The control module is configured to execute dorsiflexion control sequences and plantarflexion control sequences; The dorsiflexion control sequence includes: controlling the deflation of the instep airbag to release the instep, controlling the inflation of the ankle airbag to anchor the heel position, and controlling the cyclical inflation and deflation of the forefoot airbag. The plantar flexion control sequence includes: controlling the deflation of the ankle airbag to release the heel, controlling the inflation of the instep airbag to anchor the instep position, and controlling the heel airbag to cycle through inflation and deflation.

[0004] Preferably, the control module is configured to cyclically and alternately execute the dorsiflexion control sequence and the plantarflexion control sequence.

[0005] Preferably, it also includes a foot detection mechanism disposed within the foot receiving portion, for acquiring the size and / or shape information of the user's foot, and the control module is configured to adjust the inflation pressure and / or inflation volume of the massage airbag according to the detection results of the foot detection mechanism.

[0006] Preferably, the foot detection mechanism includes a pressure sensor array disposed on the bottom and / or side of the receiving cavity, and the control module is configured to determine the size and / or shape information of the foot based on the detection results of the pressure sensor array.

[0007] Preferably, the foot detection mechanism includes a capacitive sensing array disposed on the bottom and / or side of the receiving cavity, and the control module is configured to determine the size and / or shape information of the foot based on the detection results of the capacitive sensing array.

[0008] Preferably, the control module is configured to adjust the maximum inflation parameters of the massage airbags based on the size and / or shape information of the foot.

[0009] Preferably, the ankle airbag is a U-shaped airbag; or, the ankle airbag includes at least two, each corresponding to the side of the user's ankle.

[0010] Secondly, the present invention provides a massage chair, including the aforementioned foot massage device.

[0011] Thirdly, the present invention provides a foot massage method based on the above-mentioned foot massage device or massage chair, comprising the following steps: Control the deflation of the massage airbags; Alternately execute the extension control sequence and the plantar flexion control sequence.

[0012] Preferably, the following steps are also included: Obtain the size and / or shape information of the user's feet; Adjust the maximum inflation parameters of the massage airbags based on the size and / or shape information of the user's feet; When adjusting the maximum inflation parameters of the massage airbags, the maximum inflation parameters of the forefoot airbag, heel airbag, instep airbag, and ankle airbag are adjusted separately.

[0013] The foot massage device, massage chair, and foot massage method provided by this invention have the following beneficial effects: 1. When using the device, the user's foot can be fully inserted into the receiving cavity. The combination of the forefoot airbag, heel airbag, instep airbag, and ankle airbag can achieve overall coverage of the foot. The dorsiflexion control sequence can enable the forefoot to dorsiflex while the ankle is fixed, simulating the flexion movement. The plantarflexion control sequence can enable the heel to plantarflex while the instep is fixed, simulating the tiptoeing movement. Therefore, it can not only provide all-round airbag pressure massage for the foot, but also enable the foot to complete dorsiflexion and plantarflexion activities, fully simulating the massage movements in traditional manual massage and meeting the user's needs. 2. It uses only airbags as the massage mechanism, without rigid drive components, which ensures good safety, reduces the risk of accidents, and avoids the risk of pinching injuries to users. Attached Figure Description

[0014] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0015] Figure 1 A three-dimensional structural diagram of the foot massage device provided in an embodiment of the present invention; Figure 2 A top view schematic diagram of the foot massage device provided in an embodiment of the present invention; Figure 3 A side view schematic diagram of the foot massage device provided in an embodiment of the present invention; Figure 4 This is a schematic flowchart of a foot massage method provided in an embodiment of the present invention.

[0016] Icons: 100 - Forefoot airbag; 200 - Heel airbag; 300 - Instep airbag; 400 - Ankle airbag; 500 - Foot testing unit. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0018] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0019] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0020] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0021] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0022] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0024] Reference Figures 1 to 4 This embodiment provides a foot massage device, a massage chair, and a foot massage method. Among them, Figure 1 This is a three-dimensional structural diagram of the foot massage device provided in this embodiment, showing the layout of the foot receiving part and each airbag; Figure 2 This is a top view of the foot massage device, showing the distribution of the instep airbag 300 and the ankle airbag 400 in the upper part of the receiving cavity; Figure 3 This is a side view of the foot massage device, showing the distribution of the forefoot airbag 100 and the heel airbag 200 in the lower part of the receiving cavity; Figure 4 This is a flowchart illustrating the foot massage method.

[0025] like Figures 1 to 3As shown, the foot massage device is installed at the end of the calf massage device of the massage chair. The foot receiving part has a receiving cavity for the user's foot to be placed in. The inner wall of the receiving cavity is provided with four sets of airbags distributed according to the foot area. The forefoot airbag 100 is located on the bottom front surface of the receiving cavity, corresponding to the bottom surface of the user's forefoot. The forefoot airbag 100 is a flat airbag. When inflated, it lifts the forefoot upward, raising the front of the foot. The ankle airbag 400 is located on the side walls and / or rear wall of the rear part of the receiving cavity, corresponding to the user's ankle position. When inflated, it clamps the ankle from the sides and / or rear, fixing the heel to the bottom of the receiving cavity. The instep airbag 300 is located on the upper inner wall of the receiving cavity, corresponding to the instep position of the user's foot. When inflated, it presses down on the instep, fixing the instep inside the receiving cavity. The heel airbag 200 is located on the bottom rear of the receiving cavity, corresponding to the bottom of the user's heel. The heel airbag 200 is a flat airbag that lifts the heel upward when inflated.

[0026] Each of the four airbags is connected to an air source via an independent air circuit control valve. The control module independently controls the inflation, deflation, and pressure maintenance of each airbag by controlling the on / off state and opening degree of each air circuit control valve. Thus, the four airbags correspond to the four functional areas of the foot—the forefoot, heel, instep, and ankle—providing a structural basis for segmented alternating anchoring-drive control. This invention employs a fully airbag flexible actuation method, eliminating the use of any rigid flipping components. This eliminates the risk of pinching injuries that rigid flipping mechanisms pose when encountering active resistance from the user, ensuring high safety and reducing the likelihood of accidents.

[0027] In this embodiment, the control module is configured to cyclically and alternately execute the dorsiflexion control sequence and the plantarflexion control sequence to achieve bidirectional reciprocating stretching motion of the ankle between dorsiflexion and plantarflexion.

[0028] Specifically, during the back extension execution phase, refer to Figure 1 , Figure 3 and combined Figure 4 The control module executes the dorsiflexion control sequence: First, the instep airbag 300 is deflated to release the instep, allowing it to move freely; second, the ankle airbag 400 is inflated to the anchoring pressure, which is exemplarily approximately 50 kPa to 70 kPa. The ankle airbag 400 clamps the user's ankle from both sides and rearward, fixing the heel to the bottom of the receiving cavity, forming the anchor point for the dorsiflexion movement; third, the forefoot airbag 100 is inflated to the top... When pressure is applied, typically 60 kPa to 80 kPa, the forefoot airbag 100 inflates and lifts the forefoot upwards, raising the user's foot. As the heel is anchored by the ankle airbag 400, the ankle dorsiflexes around the anchor point, i.e., a tiptoeing motion—the foot moves towards the calf. After maintaining this position for a first set time, typically 3 to 8 seconds, the control module simultaneously deflates the forefoot airbag 100 and the ankle airbag 400, allowing the foot to return to its natural state.

[0029] During the plantar flexion execution phase, refer to Figure 1 , Figure 3 and combined Figure 4 The control module executes the plantar flexion control sequence: First, the ankle airbag 400 is deflated to release the heel, allowing it to move freely; Second, the instep airbag 300 is inflated to the anchoring pressure, which is exemplarily about 50 kPa to 70 kPa. The instep airbag 300 presses down on the user's instep, fixing the instep within the receiving cavity, forming the anchor point for plantar flexion; Third, the heel airbag 200 is inflated to the lifting pressure, which is exemplarily about 60 kPa to 80 kPa. The heel airbag 200 expands and lifts the heel upward. Since the instep is anchored below by the instep airbag 300, the ankle performs plantar flexion around the anchor point, i.e., a flexion movement—the foot extends away from the lower leg; After maintaining this position for a second set time, exemplarily about 3 to 8 seconds, the control module simultaneously deflates the instep airbag 300 and the heel airbag 200, and the foot returns to its natural state.

[0030] Thus, through the anchor-drive pairing of the ankle airbag 400 as anchor and the forefoot airbag 100 as drive during the dorsiflexion phase, and another anchor-drive pairing of the instep airbag 300 as anchor and the heel airbag 200 as drive during the plantarflexion phase, the two pairs work alternately, so that the ankle can obtain active driving force in both dorsiflexion and plantarflexion directions. This makes up for the deficiency of existing technologies that can only achieve unidirectional dorsiflexion, and fully simulates the dorsiflexion and plantarflexion movements in traditional manual massage.

[0031] In this embodiment, the control module cyclically and alternately executes the dorsiflexion control sequence and the plantarflexion control sequence. The duration of each cycle is exemplarily set to approximately 6 to 16 seconds, and the number of consecutive cycles can be determined by the user or executed according to the default value, exemplarily 10 to 20 times. During the cycle, the interval between two adjacent dorsiflexions or plantarflexions, i.e., the time period during which all four airbags are in a deflated state, is exemplarily approximately 1 to 2 seconds, to allow the user's feet to briefly relax.

[0032] In a mass production verification, the cycle was set to approximately 10 seconds, including approximately 4 seconds of dorsiflexion, 4 seconds of plantar flexion, and 2 seconds of relaxation. 20 cycles constituted a complete massage program, with a total duration of approximately 3 minutes and 20 seconds. Test subjects reported that the rhythm was natural and caused no discomfort. The working pressure of each airbag was configured, for example, not exceeding a preset safe pressure threshold, such as 80 kPa, far below the airbag pressure that could cause discomfort. Furthermore, the segmented group control ensured that only a portion of the airbags were under high pressure each time, further reducing the overall pressure on the feet and preventing excessive compression of the user's feet.

[0033] In this embodiment, as Figure 3As shown, the ankle airbag 400 is a U-shaped airbag that, when inflated, surrounds the user's ankle on both sides and behind, clamping the ankle from multiple directions to provide a stable anchor. The U-shaped airbag allows for multi-directional clamping with a single airbag, and its simple structure and convenient airflow control make it easy to implement.

[0034] In other embodiments, optionally, the ankle airbag 400 includes at least two airbags, respectively disposed on the side walls of the rear portion of the receiving cavity, corresponding to the sides of the user's ankle, which clamp the ankle from both sides when inflated. Using two independent airbags allows for separate control of the clamping force on both sides, adapting to different ankle widths and providing better personalized adjustment. In other embodiments, other airbag layouts such as three airbags (on both sides plus the rear) or a ring-shaped airbag can also be used, as long as they can clamp or hold the ankle to fix the heel position.

[0035] In this embodiment, the foot massage device can also be integrated into a massage chair and installed at the end of the calf massage device of the massage chair to provide users with a synergistic massage experience for their legs and feet.

[0036] Furthermore, a foot detection mechanism 500 can be installed inside the foot housing to obtain the size and / or shape information of the user's foot. The control module adjusts the inflation pressure and / or inflation volume of each airbag in a personalized manner according to the detection results of the foot detection mechanism 500.

[0037] In this embodiment, the foot detection mechanism 500 is a pressure sensor array: multiple pressure sensing units are arranged in rows and columns on the bottom and / or side of the foot receiving part. After the user's foot is placed into the receiving cavity, the sensing units in the foot contact area detect the pressure signal and output the pressure value, while the sensing units in the non-contact area output a value of zero. The control module reads the output values ​​of all sensing units and determines the outline of the foot by the area covered by the sensing units with pressure values ​​greater than zero. The number of continuously distributed pressure sensing units along the length direction, i.e. from the toe to the heel, represents the foot length, and the maximum number of continuously distributed pressure sensing units along the width direction represents the foot width.

[0038] The pressure sensor array solution can directly obtain size information by utilizing the natural pressure distribution after the foot is placed, without the need for additional excitation signals. It features a simple structure and high reliability. The control module automatically adjusts the inflation parameters of each airbag based on the detected foot size: for example, when the foot length is relatively long, such as greater than approximately 260mm, the inflation volume of the forefoot airbag 100 and heel airbag 200 is increased by approximately 10% to 20% to ensure sufficient lifting stroke; when the foot width is relatively wide, such as greater than approximately 100mm, the anchoring pressure of the ankle airbag 400 and instep airbag 300 is reduced by approximately 5% to 10% to avoid excessive clamping; when the foot length is relatively short or the foot width is relatively narrow, the inflation volume or anchoring pressure is reduced accordingly. Actual testing shows that users with foot lengths ranging from 220mm to 290mm and foot widths ranging from 80mm to 110mm can obtain a consistent massage stretch amplitude through the above adaptive adjustment, providing a personalized comfort experience for users with different foot shapes.

[0039] In other embodiments, optionally, the foot detection mechanism 500 is a capacitive sensing array: a capacitive sensing electrode array is arranged on the bottom surface of the receiving cavity. When the user's foot approaches or touches the electrodes, the capacitance value between the electrodes and the foot changes; the control module scans the capacitance value of each electrode, and the area where the capacitance value changes significantly is the foot coverage area, thereby determining the length and width of the foot. The capacitive sensing array solution is a non-contact or light-contact detection method, which does not put additional pressure on the foot, and is especially suitable for users with sensitive or injured feet. In other embodiments, other detection methods such as infrared ranging sensor arrays and mechanical displacement sensors can also be used, as long as the size and / or shape information of the user's foot can be obtained, all of which can achieve the technical effect of personalized adjustment of the inflation parameters of each airbag.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A foot massage device, characterized in that, include: The foot receiving part defines a receiving cavity for receiving a user's foot (600). The foot receiving part is provided with massage airbags, including a forefoot airbag (100), a heel airbag (200), an instep airbag (300), and an ankle airbag (400). The forefoot airbag (100) and the heel airbag (200) are located in the lower part of the receiving cavity, corresponding to the bottom surface of the user's forefoot and the bottom surface of the user's heel, respectively. The instep airbag (300) and the ankle airbag (400) are located in the upper part of the receiving cavity, corresponding to the instep and ankle positions of the user. The control module is configured to execute dorsiflexion control sequences and plantarflexion control sequences; The dorsiflexion control sequence includes: controlling the instep airbag (300) to deflate to release the instep, controlling the ankle airbag (400) to inflate to anchor the heel position, and controlling the forefoot airbag (100) to cyclically inflate and deflate; The plantar flexion control sequence includes: controlling the ankle airbag (400) to deflate to release the heel, controlling the instep airbag (300) to inflate to anchor the instep position, and controlling the heel airbag (200) to cyclically inflate and deflate.

2. The foot massage device according to claim 1, characterized in that, The control module is configured to cyclically and alternately execute the dorsiflexion control sequence and the plantarflexion control sequence.

3. The foot massage device according to claim 1, characterized in that, It also includes a foot detection mechanism (500) disposed within the foot receiving portion for acquiring the size and / or shape information of the user's foot, and the control module is configured to adjust the inflation pressure and / or inflation volume of the massage airbag according to the detection results of the foot detection mechanism (500).

4. The foot massage device according to claim 3, characterized in that, The foot detection mechanism (500) includes a pressure sensor array disposed on the bottom and / or side of the receiving cavity, and the control module is configured to determine the size and / or shape information of the foot based on the detection results of the pressure sensor array.

5. The foot massage device according to claim 3, characterized in that, The foot detection mechanism (500) includes a capacitive sensing array disposed on the bottom and / or side of the receiving cavity, and the control module is configured to determine the size and / or shape information of the foot based on the detection results of the capacitive sensing array.

6. The foot massage device according to claim 3, characterized in that, The control module is configured to adjust the maximum inflation parameter of the massage airbag according to the size and / or shape information of the foot.

7. The foot massage device according to claim 1, characterized in that, The ankle airbag (400) is a U-shaped airbag; or, the ankle airbag (400) includes at least two, which are respectively set to correspond to the side of the user's ankle.

8. A massage chair, characterized in that, Includes the foot massage device according to any one of claims 1 to 7.

9. A foot massage method, characterized in that, The foot massage device according to any one of claims 1 to 7 or the massage chair according to claim 8 includes the following steps: Control the deflation of the massage airbag; Alternately execute the extension control sequence and the plantar flexion control sequence.

10. The foot massage method according to claim 9, characterized in that, It also includes the following steps: Obtain the size and / or shape information of the user's feet; Based on the size and / or shape information of the user's feet, adjust the maximum inflation parameter of the massage airbag; When adjusting the maximum inflation parameter of the massage airbag, the maximum inflation parameters of the forefoot airbag (100), the heel airbag (200), the instep airbag (300), and the ankle airbag (400) are adjusted respectively.

Images